CN111608731A - Shield tunnel safety state monitoring and early warning device and monitoring and early warning method thereof - Google Patents
Shield tunnel safety state monitoring and early warning device and monitoring and early warning method thereof Download PDFInfo
- Publication number
- CN111608731A CN111608731A CN202010448869.8A CN202010448869A CN111608731A CN 111608731 A CN111608731 A CN 111608731A CN 202010448869 A CN202010448869 A CN 202010448869A CN 111608731 A CN111608731 A CN 111608731A
- Authority
- CN
- China
- Prior art keywords
- tunnel
- early warning
- inclination angle
- measuring
- monitoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 104
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000005259 measurement Methods 0.000 claims abstract description 31
- 238000011156 evaluation Methods 0.000 claims abstract description 17
- 230000009347 mechanical transmission Effects 0.000 claims abstract description 9
- 230000008569 process Effects 0.000 claims description 13
- 210000003781 tooth socket Anatomy 0.000 claims description 10
- 238000005286 illumination Methods 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 7
- 230000008859 change Effects 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 239000000284 extract Substances 0.000 claims description 2
- 230000032683 aging Effects 0.000 abstract 1
- 238000004801 process automation Methods 0.000 abstract 1
- 238000005516 engineering process Methods 0.000 description 12
- 238000001514 detection method Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 8
- 238000010276 construction Methods 0.000 description 6
- 230000007547 defect Effects 0.000 description 5
- 238000006073 displacement reaction Methods 0.000 description 5
- 230000000704 physical effect Effects 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 201000010099 disease Diseases 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
- 238000011179 visual inspection Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/32—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring the deformation in a solid
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The application discloses shield tunnel safety state monitoring and early warning device and monitoring and early warning method thereof, includes: the digital measuring camera is used for shooting a target which is fixed on the side wall of the tunnel and serves as a coding point in the tunnel monitoring area; the servo system is used for shooting the same target at different specified positions by carrying the measuring digital camera through mechanical transmission; the inclination angle sensor is fixed on the side wall of the tunnel and positioned on the periphery of the target and used for measuring the inclination angle of the tunnel; and the Mini industrial personal computer is used for controlling the operation of the servo system, collecting and measuring the photos shot by the digital camera and the tunnel inclination angle measured by the inclination angle sensor, calculating the deformation amount, analyzing and evaluating the deformation amount, and comparing the evaluation result with the threshold value table so as to carry out graded early warning on the safety state of the tunnel. Carry out real-time supervision to the tunnel through above-mentioned device, can acquire the sectional whole information in tunnel fast, and use non-contact measurement, do not destroy the physics nature of structure, whole process automation degree is high, and ageing is strong, easy operation.
Description
Technical Field
The invention relates to the technical field of tunnel detection, in particular to a shield tunnel safety state monitoring and early warning device and a monitoring and early warning method thereof.
Background
The deformation monitoring of the tunnel is a very important work in the tunnel construction process and the subsequent operation period. The monitoring of the tunnel deformation mainly means that the deformation condition in a certain interval of the tunnel is reflected by collecting related data of the tunnel in different periods and comparing design values of the same position in the tunnel. The monitoring of tunnel deformation is actually to detect the tunnel section by using related instruments, and relates to a method for detecting the tunnel section.
Common methods for monitoring the deformation of the shield tunnel include a geodetic measuring method and a sensor measuring method. The geodetic survey method is the most common method for deformation monitoring, and mainly comprises the steps of utilizing a level gauge and a total station to acquire three-dimensional coordinates of monitoring points through angle and distance observation, but the timeliness of deformation monitoring by adopting the geodetic survey method is poor, the working period is long, and observation of a plurality of monitoring points cannot be completed in a short time; secondly, the requirements on the illumination condition and the space condition also limit the exertion of the illumination condition and the space condition; furthermore, when a total station performs high-precision measurement, a prism is generally required to be installed, which is difficult to realize in many cases. The application of a sensor measuring method, especially a contact sensor, in the displacement and deformation measuring field is more and more extensive, commonly used displacement meters comprise a dial indicator or a dial indicator, a stay wire type displacement meter, a resistance strain gauge and the like, the sensor is applied to deformation monitoring and mainly is embedded in a structural body or is arranged on the surface of the structural body, but the sensor has some defects when being used for deformation monitoring: firstly, because the sensor needs to be buried in the structure or arranged on the surface of the structure, the sensor needs to be in contact with the structure, the physical property of the structure can be damaged or certain influence is caused, and the installation process also brings much inconvenience to engineering; secondly, monitoring is carried out by selectively arranging points, a large number of monitoring points are generally required to be arranged to comprehensively reflect the deformation and displacement conditions of the structural body, and sensors can be arranged at certain key positions; in addition, the sensors are generally expensive, and one sensor usually needs thousands of yuan; in addition, there is a reliability problem, since the sensor signal is influenced by many external factors when converted into displacement, resulting in a distorted measurement result.
The existing detection means of the shield tunnel diseases mainly comprises two categories of manual detection and automatic detection. The method mainly comprises the steps of adopting manual visual inspection and tunnel detection vehicle testing for water leakage diseases, mainly adopting manual measurement for segment breakage, mainly adopting total station manual measurement and convergence ruler manual measurement for convergence deformation measurement, mainly adopting a ground penetrating radar and static level gauge method for ballast bed emptying, and adopting a static level gauge mode for tunnel settlement.
The analysis can be known to various existing detection equipment of the shield tunnel, the total station manual measurement and the tunnel detection vehicle manual measurement both need construction skylight points, so that the detection timeliness is poor, when a tunnel is suddenly damaged seriously, the situation of data lag may occur, and the timely treatment of tunnel damage is influenced. Meanwhile, the data analysis time of the tunnel detection vehicle is long, and the timeliness is poor. The static force level can only measure the tunnel settlement, but cannot effectively measure the tunnel convergence deformation and the tunnel torsion, and the measuring effect is single.
Disclosure of Invention
In view of the above, the invention aims to provide a shield tunnel safety state monitoring and early warning device and a monitoring and early warning method thereof, which can automatically monitor in real time, and have the advantages of strong timeliness, high efficiency, simple operation and low requirement on the operating environment. The specific scheme is as follows:
the utility model provides a shield tunnel safety condition monitoring early warning device, includes:
the digital measuring camera is used for shooting a target which is fixed on the side wall of the tunnel and serves as a coding point in the tunnel monitoring area;
the servo system is used for carrying the measuring digital camera to shoot the same target at different specified positions through mechanical transmission;
the inclination angle sensor is fixed on the side wall of the tunnel, is positioned on the periphery of the target and is used for measuring the inclination angle of the tunnel;
and the Mini industrial personal computer is used for controlling the operation of the servo system, collecting the photos shot by the measuring digital camera and the tunnel inclination angle measured by the inclination angle sensor, calculating the deformation amount, analyzing and evaluating the deformation amount, and comparing the evaluation result with a threshold value table so as to perform graded early warning on the safety state of the tunnel.
Preferably, in the shield tunnel safety state monitoring and early warning apparatus provided in the embodiment of the present invention, the Mini industrial personal computer is specifically configured to extract coded point information on a photo taken by the measurement digital camera, process the coded point information through an algorithm to obtain a relative position relationship of each coded point in an actual space, calculate a deformation amount according to the obtained relative position relationship and an axial and radial inclination angle of the tunnel measured by the inclination angle sensor, and analyze and evaluate deformation of a cross section of the tunnel, tunnel settlement, and axial and radial inclination angle changes of the tunnel according to the calculated deformation amount.
Preferably, in the shield tunnel safety state monitoring and early warning apparatus provided in the embodiment of the present invention, the shield tunnel safety state monitoring and early warning apparatus further includes:
and the self-power supply system is used for generating power by utilizing piston wind generated by vehicles running in the tunnel and supplying power to the measuring digital camera, the servo system and the Mini industrial personal computer.
Preferably, in the shield tunnel safety state monitoring and early warning apparatus provided in the embodiment of the present invention, the self-powered system includes a vertical axis wind turbine, an inverter, and a storage battery; wherein,
the vertical axis wind driven generator is used for converting wind energy into electric energy by utilizing piston wind when a running vehicle in the tunnel passes through;
the inverter is used for storing the electric energy converted by the vertical axis wind driven generator in the storage battery through voltage transformation and frequency conversion.
Preferably, in the shield tunnel safety state monitoring and early warning device provided in the embodiment of the present invention, the servo system includes a guide rail holder system, a servo controller and an illumination light source; wherein,
the servo controller is used for controlling the motion of a guide rail and a cradle head in the guide rail cradle head system;
the guide rail holder system is used for installing and carrying the measuring digital camera to move to a specified position;
and the illumination light source is used for providing a light source for the digital measuring camera during shooting.
Preferably, in the shield tunnel safety state monitoring and early warning apparatus provided in the embodiment of the present invention, the shield tunnel safety state monitoring and early warning apparatus further includes:
an external tooth socket with a hanging lug is arranged on the side wall of the tunnel through a shield segment longitudinal connecting bolt;
the machine cabinet is fixed at the corresponding position of the externally hanging tooth groove through a nut; the equipment cabinet is used for directly fixing the Mini industrial personal computer, the illuminating light source, the transparent windshield for covering the shield tunnel safety state monitoring and early warning device and is also used for fixing the guide rail holder system through the universal hanging rack.
Preferably, in the shield tunnel safety state monitoring and early warning device provided in the embodiment of the present invention, the self-powered system is placed on the ground next to the side wall of the tunnel, and is fixedly connected to the external tooth socket by a bolt.
Preferably, in the shield tunnel safety state monitoring and early warning device provided by the embodiment of the invention, the tilt sensor is connected with the Mini industrial personal computer through a serial port;
the measuring digital camera is connected with the Mini industrial personal computer through WIFI.
The embodiment of the invention also provides a monitoring and early warning method of the shield tunnel safety state monitoring and early warning device provided by the embodiment of the invention, which comprises the following steps:
the Mini industrial personal computer controls a servo system to carry the measuring digital camera to move to a specified position through mechanical transmission;
the digital measuring camera shoots a target which is fixed on the side wall of the tunnel and serves as a coding point in the tunnel monitoring area;
meanwhile, the inclination angle sensor measures the inclination angle of the tunnel;
and the Mini industrial personal computer collects the pictures shot by the measuring digital camera and the tunnel inclination angle measured by the inclination angle sensor, calculates the deformation amount, analyzes and evaluates the deformation amount, and compares the evaluation result with a threshold value table so as to carry out graded early warning on the tunnel safety state.
Preferably, in the monitoring and warning method of the shield tunnel safety state monitoring and warning apparatus provided in the embodiment of the present invention, the Mini industrial personal computer collects the photos taken by the measurement digital camera and the tunnel inclination angle measured by the inclination angle sensor, and performs deformation calculation, analysis and evaluation, specifically including:
the Mini industrial personal computer extracts the coding point information on the photo shot by the measuring digital camera, and the coding point information is processed through an algorithm to obtain the relative position relation of each coding point in the actual space;
calculating deformation according to the obtained relative position relation and the axial and radial inclination angles of the tunnel measured by the inclination angle sensor;
and analyzing and evaluating the deformation of the cross section of the tunnel, the settlement of the tunnel and the change of the axial and radial inclination angles of the tunnel according to the calculated deformation.
According to the technical scheme, the shield tunnel safety state monitoring and early warning device and the monitoring and early warning method thereof provided by the invention comprise the following steps: the digital measuring camera is used for shooting a target which is fixed on the side wall of the tunnel and serves as a coding point in the tunnel monitoring area; the servo system is used for shooting the same target at different specified positions by carrying the measuring digital camera through mechanical transmission; the inclination angle sensor is fixed on the side wall of the tunnel and positioned on the periphery of the target and used for measuring the inclination angle of the tunnel; and the Mini industrial personal computer is used for controlling the operation of the servo system, collecting and measuring the pictures shot by the digital camera and the tunnel inclination angle measured by the inclination angle sensor, calculating the deformation amount, analyzing and evaluating the deformation amount, and comparing the evaluation result with the threshold value table so as to carry out graded early warning on the safety state of the tunnel.
The invention comprehensively adopts close-range photogrammetry technology, inclination angle measurement technology, image processing technology and the like to monitor the tunnel in real time, can quickly acquire the whole information of the tunnel section, overcomes the defect that the traditional monitoring method can not acquire all the measurement data at the same time, and non-contact measurement is used, the physical property of the structure body is not damaged, the shot image data and the measured tunnel inclination angle data are processed by a Mini industrial personal computer, the whole process has high automation degree, strong timeliness, small workload, simple operation and high efficiency, and is convenient for information management and sharing, has low requirement on the working environment, and judges the stability of the tunnel after analyzing and evaluating the measured data, the risk hidden danger that exists is early warned, so that problems can be found in time, accidents can be prevented, and dynamic and information construction and maintenance can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present invention or technical solutions in related arts, the drawings used in the description of the embodiments or related arts will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a shield tunnel safety state monitoring and early warning device provided in an embodiment of the present invention;
fig. 2 is a schematic diagram of four structures of a coding point according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a specific entity of the shield tunnel safety state monitoring and early warning apparatus provided in the embodiment of the present invention;
FIG. 4 is a schematic view of a cross-sectional effect of the externally-hung tooth slot after installation according to the embodiment of the invention;
fig. 5 is a flowchart of a monitoring and early warning method of a shield tunnel safety state monitoring and early warning device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a shield tunnel safety state monitoring and early warning device, as shown in figure 1, comprising:
the digital measuring camera 1 is used for shooting a target which is fixed on the side wall of the tunnel in the tunnel monitoring area and serves as a coding point;
the servo system 2 is used for shooting the same target at different specified positions by carrying the measuring digital cameras through mechanical transmission;
the inclination angle sensor 3 is fixed on the side wall of the tunnel and positioned on the periphery of the target and used for measuring the inclination angle of the tunnel;
and the Mini industrial personal computer 4 is used for controlling the operation of the servo system, collecting and measuring the pictures shot by the digital camera and the tunnel inclination angle measured by the inclination angle sensor, calculating the deformation amount, analyzing and evaluating the deformation amount, and comparing the evaluation result with the threshold value table so as to carry out graded early warning on the safety state of the tunnel.
It should be noted that, in order to reduce the workload of the Mini industrial personal computer 4 and speed up the processing efficiency, the Mini industrial personal computer 4 may transmit the collected and measured photos taken by the digital camera and the monitoring data such as the tunnel inclination angle measured by the inclination angle sensor to the remote database server in a wired or wireless manner, so as to realize the functions of state monitoring and grading early warning. The Mini industrial personal computer 4 can have a local storage function, and can perform data local storage when network communication is interrupted so as not to lose measurement data.
In the shield tunnel safety state monitoring and early warning device provided by the embodiment of the invention, the tunnel is monitored in real time by comprehensively adopting a close-range photogrammetry technology, an inclination angle measurement technology, an image processing technology and the like, the whole information of the tunnel section can be rapidly acquired, the defect that the traditional monitoring method cannot acquire all measurement data at the same time is overcome, non-contact measurement is used, the physical property of a structural body is not damaged, the shot image data and the measured tunnel inclination angle data are processed by a Mini industrial personal computer, the automation degree of the whole process is high, the timeliness is strong, the workload is small, the operation is simple, the efficiency is high, the information management and sharing are convenient, the requirement on the operating environment is low, in addition, the stability of the tunnel is judged after the analysis and evaluation of the measurement data, the early warning is carried out on the existing risk hidden danger, the problem can be found, the accident is prevented, and dynamic and information construction and maintenance can be realized.
It should be noted that the close-range photogrammetry technology mainly refers to a measurement processing technology for shooting images on the ground with a depth of less than 100 meters, and digital products such as digital cameras are used for close-range photogrammetry, so that the image acquisition speed is high; the full digitalization processing image has high automation degree; the information management and sharing are convenient; the operation process is simple, the requirement on the operation environment is low, and the requirement on the informatization mapping can be met. The invention uses the calibrated measuring digital camera for close-range measurement as the measuring camera, has small and stable conformation distortion, known internal orientation elements, and stored measured information by using a digital image as a carrier, has the advantage of repeated use, does not damage a measuring target, does not interfere the natural state of a measured object, can carry out non-contact measurement in severe environment, has strict theoretical basis and advanced software and hardware technical support, and can provide high-precision and reliable three-dimensional data achievement. In summary, the present invention has the advantages of fast target acquisition, non-contact measurement and scene reproduction capability by using the digital measuring camera.
The invention moves the measuring digital camera through the servo system to ensure that the measuring digital camera carries out multi-angle shooting on the same target (namely, a measuring point on the section of the tunnel) at different positions to obtain a plurality of pictures of the tunnel monitoring area at different periods, and code point information on the pictures is extracted through computer processing.
In addition, it should be noted that, in order to ensure automatic detection, the required marking points on the tunnel side wall must be coding points, targets for shooting are fixedly adhered to the tunnel side wall as the coding points, and the targets can be made of PVC adhesive silver labels. Fig. 2 shows four encoding point shapes, but other shapes are also possible, and are not limited herein.
In specific implementation, in the shield tunnel safety state monitoring and early warning device provided in the embodiment of the present invention, as shown in fig. 1 and 3, the servo system 2 may include a guide rail holder system, a servo controller, and an illumination light source 21; the servo controller is used for controlling the motion of a guide rail 22 and a tripod head 23 in the guide rail tripod head system; the guide rail holder system is used for installing and carrying the digital measuring camera 1 to move to a specified position; and the illumination light source 21 is used for providing a light source for the digital measuring camera 1 during shooting. Preferably, because the light in the subway tunnel is extremely poor, in order to ensure that the Mini industrial personal computer can identify the coding point in the shot picture, the coding point needs to be ensured to have good light, and the LED lamp can be used as an illumination light source.
In addition, the shield tunnel safety state monitoring and early warning device provided in the embodiment of the present invention needs to have a self-powered capability when a power supply cannot be provided to the device in a tunnel due to a long-term monitoring requirement, and in specific implementation, as shown in fig. 1, the device may further include: and the self-power supply system 5 is used for generating power by utilizing piston wind generated by running vehicles in the tunnel, and supplies power to the vector measurement digital camera 1, the servo system 2 and the Mini industrial personal computer 4.
Further, specifically, as shown in fig. 1, the self-powered system 5 may include a vertical axis wind turbine, an inverter, and a battery; the vertical axis wind driven generator is used for converting wind energy into electric energy by utilizing piston wind when vehicles running in the tunnel pass through; and the inverter is used for storing the electric energy converted by the vertical axis wind driven generator in the storage battery through voltage transformation and frequency conversion. The characteristic that the running vehicles in the subway tunnel generate piston wind is fully considered in the design, and the self-power supply of the equipment is realized by utilizing a small wind power generation system, so that the energy is saved and the emission is reduced.
In practical application, the shield tunnel safety state monitoring and early warning device provided by the embodiment of the invention can be summarized into an intelligent digital photography + guide rail and cradle head + inclination angle sensing + self-powered comprehensive online monitoring and early warning device based on close-range measurement technology, and the device can automatically complete preset data acquisition and analysis and calculation after personnel of a control platform formulate and issue monitoring instructions.
Because the monitoring and early warning device is not suitable for being wholly embedded in the shield segment or adhered and fixed on the surface of the shield segment, in order to not damage the shield segment, in the shield tunnel safety state monitoring and early warning device provided by the embodiment of the invention, as shown in fig. 3, the device can further comprise: an external tooth socket 6 with a hanging lug is arranged on the side wall of the tunnel through a shield segment longitudinal connecting bolt; the cabinet 7 is fixed at the corresponding position of the external tooth groove 6 through a nut; and the equipment cabinet 7 is used for directly fixing the Mini industrial personal computer 4, the illuminating light source 21, the transparent windshield 8 (made of glass and optional in material) for covering the monitoring and early warning device through screws and is also used for fixing the guide rail holder system through the universal hanging rack 9.
Specifically, as shown in fig. 4, the specific operation of installing the external gullet to the side wall of the tunnel by using the shield segment longitudinal connecting bolt 100 may be: two longitudinal connecting nuts of adjacent shield segments are disassembled, and the original longitudinal connecting bolt 100 and two external tooth grooves for fixing the band hangers 200 are utilized. Figure 4 also shows the externally splined channel 300 and T-bolt 400. Each tooth socket is fixed on one pipe sheet by two hangers 200, and one tooth socket is fixed on each pipe sheet. And two tooth grooves are required to be fixed at corresponding positions of two adjacent pipe pieces.
The specific operation of installing the cabinet to the external tooth socket can be as follows: and fixing the cabinet to the lug groove by using a nut at a corresponding position on the external tooth groove. The equipment cabinet is fixed on the side wall of the tunnel by the aid of the existing bolts of the shield tunnel segment through the externally-hung tooth grooves, and the method has the advantage that the shield segment is not damaged.
The specific operation of installing the monitoring and early warning device to the cabinet can be as follows: measuration digital camera installs on guide rail cloud platform system, and guide rail cloud platform system is fixed in the rack through universal stores pylon again, this is because tunnel wall mosaic structure, stride the fixed ear in splice area probably to lead to the position precision behind the rack is poor, if with rack direct and guide rail cloud platform headtotail, the normal motion that can influence the guide rail because of the deformation that the compensation error leads to, consequently increase general universal stores pylon, with universal stores pylon of screw fixation to keysets, can reduce the assembly and warp the influence to the guide rail cloud platform. Therefore, by adopting the mounting mode of the external tooth socket and the holder guide rail, one measuring digital camera can realize multi-position multi-angle automatic shooting, and complete 360-degree section state information of the shield tunnel is obtained.
In specific implementation, in the shield tunnel safety state monitoring and early warning device provided by the embodiment of the invention, the self-powered system can be placed on the ground close to the side wall of the tunnel and is fixedly connected with the external tooth socket through a bolt.
In addition, in specific implementation, in the shield tunnel safety state monitoring and early warning device provided by the embodiment of the invention, the inclination angle sensor can be adhered and fixed on the side wall of the tunnel, and the inclination angle sensor is connected with the Mini industrial personal computer through a serial port; specifically, the inclination angle sensor is connected with a Mini industrial personal computer through a cable. And the measuring digital camera is connected with the Mini industrial personal computer through WIFI.
In specific implementation, in the shield tunnel safety state monitoring and early warning device provided in the embodiment of the present invention, the Mini industrial personal computer 4 may be specifically configured to extract encoded point information from a photograph taken by a digital camera, process the encoded point information through an algorithm to obtain a relative position relationship between the encoded points in an actual space, calculate a deformation amount according to the obtained relative position relationship and an axial and radial inclination angle of the tunnel measured by an inclination angle sensor, and analyze and evaluate deformation of a cross section of the tunnel, tunnel settlement, and axial and radial inclination angle changes of the tunnel according to the calculated deformation amount. Therefore, through the organic combination and analysis of various monitoring variables, the online monitoring and early warning of various tunnel diseases in the severely damaged tunnel section, such as tunnel settlement, tunnel convergence deformation, stress, tunnel torsion and the like, can be realized at the same time.
Specifically, an analytic relational expression among the camera stations, the image points and the object points corresponding to the image points is described by a collinear equation. Considering the influence of relevant interference factors such as distortion of the photographic objective lens and the like, therefore, deviation parameters delta x and delta y are introduced for correction, and a strict collinear equation expression is as follows:
in the formula, x0，y0F is an inner orientation element of the camera; (X)s,Ys,Zs) Coordinates of the camera shooting points are obtained; (X, Y, Z) are object space coordinates; (x, y) are the corresponding image point coordinates; a is1,a2,a3,b1,b2,b3,c1,c2,c3For the rotation angles that are commonly used in photogrammetry,
ω, κ (Y is the main optical axis).
Iterative solution is carried out by utilizing a beam method adjustment, and an object space coordinate (X, Y, Z) is obtained by combining a Levenberg-Marquardt optimization algorithm, so that the relative position relation of each encoding point in the actual space is obtained.
Meanwhile, the axial alpha and radial inclination beta of the tunnel are monitored by a differential inclination sensor.
Then, automatically comparing radial section coordinate data values (X, Y) of the same target shot at different moments with tunnel inclination angle values (axial inclination angle alpha and radial inclination angle beta) through a program to obtain measuring point data comprising tunnel cross section deformation; settling the tunnel; the inclination angle of the tunnel changes in the axial and radial directions. And comprehensively analyzing and evaluating all variables to realize the graded early warning of the tunnel safety state.
Wherein, the deformation of the cross section of the tunnel is evaluated by ovality, and the ovality is calculated by obtaining a two-dimensional coordinate value (Z, Y) of the cross section of each measuring point from a radial inclination angle β and a longitudinal coordinate value Y of each measuring point of the shield tunnel with the same section, wherein Z is Y. tan β, fitting each measuring point into an ellipse, and the ellipse equation is eY2+fYZ+gZ2+ hY + jZ +1 ═ 0, where e, f, g, h, j are parameters; calculating ellipse major semiaxis
Calculating ellipse minor semi-axis
Calculate ellipticity as λ 2 × (l)a-lb)。
The cross section strain of the tunnel is the deformation of the tunnel under the action of external force, the deformation degree is called strain, the strain is determined by the position variation (delta X, delta Y, delta Z) of a test target in the test, the stress and the strain are in positive correlation, and the stress (F) is obtained according to a stress-strain curveΔX,FΔY,FΔZ) Tunnel settlement is comprehensively evaluated by the change amount delta Y of the ordinate and the change amount delta α of the axial inclination angle, an evaluation function is set as f (delta Y, delta α), deformation of the axial section of the tunnel is comprehensively evaluated by the change amounts delta X and delta Y of the abscissa and the ordinate, and the evaluation function is g (delta X, delta Y).
And finally, after obtaining each evaluation result, comparing the evaluation result with a threshold value table, and realizing grading early warning according to the comparison result.
Based on the same invention concept, the embodiment of the invention also provides a monitoring and early warning method of the shield tunnel safety state monitoring and early warning device, and as the principle of solving the problems of the monitoring and early warning method is similar to that of the shield tunnel safety state monitoring and early warning device, the implementation of the monitoring and early warning method can refer to the implementation of the shield tunnel safety state monitoring and early warning device, and repeated parts are not repeated.
In specific implementation, the monitoring and early warning method of the shield tunnel safety state monitoring and early warning device provided by the embodiment of the invention, as shown in fig. 5, specifically includes the following steps:
s501, a Mini industrial personal computer controls a servo system to carry a measuring digital camera to move to a specified position through mechanical transmission;
s502, shooting a target which is fixed on the side wall of the tunnel and serves as a coding point in the tunnel monitoring area by a measuring digital camera;
s503, measuring a tunnel inclination angle by an inclination angle sensor;
s504, the Mini industrial personal computer collects the pictures shot by the digital camera and the tunnel inclination angle measured by the inclination angle sensor, calculates the deformation amount, analyzes and evaluates the deformation amount, and compares the evaluation result with a threshold value table to perform grading early warning on the tunnel safety state.
In the monitoring and early warning method of the shield tunnel safety state monitoring and early warning device provided by the embodiment of the invention, by executing the steps, the tunnel is monitored in real time, the whole information of the tunnel section can be rapidly acquired, the defect that the traditional monitoring method can not acquire all measurement data at the same time is overcome, and non-contact measurement is used, the physical property of the structure body is not damaged, the shot image data and the measured tunnel inclination angle data are processed by a Mini industrial personal computer, the whole process has high automation degree, strong timeliness, small workload, simple operation and high efficiency, and is convenient for information management and sharing, the requirement on the operation environment is low, in addition, the early warning is carried out on the existing risk hidden dangers after the measured data is analyzed and evaluated, the problems can be found in time, the accidents are prevented, and dynamic and information construction and maintenance can be realized.
It should be noted that before step S501 is executed, the digital metrology camera needs to be calibrated. Specifically, the calibration of the digital measuring camera (close-range camera) mainly includes: measuring the main distance and the image main point position; measuring an optical distortion coefficient; and measuring the eccentricity constant of the mobile phone camera.
In specific implementation, in the monitoring and early warning method of the shield tunnel safety state monitoring and early warning device provided in the embodiment of the present invention, in step S504, the Mini industrial personal computer collects and measures a picture taken by the digital camera and a tunnel inclination angle measured by the inclination angle sensor, and performs deformation calculation, analysis and evaluation, which may specifically include: extracting the coding point information on the photo shot by the digital camera by the Mini industrial personal computer, and processing the coding point information by an algorithm to obtain the relative position relation of each coding point in the actual space; calculating the deformation according to the obtained relative position relation and the axial and radial inclination angles of the tunnel measured by the inclination angle sensor; and analyzing and evaluating the deformation of the cross section of the tunnel, the settlement of the tunnel and the change of the axial and radial inclination angles of the tunnel according to the calculated deformation.
For more specific working processes of the above steps, reference may be made to corresponding contents disclosed in the foregoing embodiments, and details are not repeated here.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
To sum up, the shield tunnel safety state monitoring and early warning device and the monitoring and early warning method provided by the embodiment of the invention comprise: the digital measuring camera is used for shooting a target which is fixed on the side wall of the tunnel and serves as a coding point in the tunnel monitoring area; the servo system is used for shooting the same target at different specified positions by carrying the measuring digital camera through mechanical transmission; the inclination angle sensor is fixed on the side wall of the tunnel and positioned on the periphery of the target and used for measuring the inclination angle of the tunnel; and the Mini industrial personal computer is used for controlling the operation of the servo system, collecting and measuring the pictures shot by the digital camera and the tunnel inclination angle measured by the inclination angle sensor, calculating the deformation amount, analyzing and evaluating the deformation amount, and comparing the evaluation result with the threshold value table so as to carry out graded early warning on the safety state of the tunnel. The invention comprehensively adopts close-range photogrammetry technology, inclination angle measurement technology, image processing technology and the like to monitor the tunnel in real time, can quickly acquire the whole information of the tunnel section, overcomes the defect that the traditional monitoring method can not acquire all the measurement data at the same time, and non-contact measurement is used, the physical property of the structure body is not damaged, the shot image data and the measured tunnel inclination angle data are processed by a Mini industrial personal computer, the whole process has high automation degree, strong timeliness, small workload, simple operation and high efficiency, and is convenient for information management and sharing, has low requirement on the working environment, and judges the stability of the tunnel after analyzing and evaluating the measured data, the risk hidden danger that exists is early warned, so that problems can be found in time, accidents can be prevented, and dynamic and information construction and maintenance can be realized.
Finally, it should also be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The shield tunnel safety state monitoring and early warning device and the monitoring and early warning method thereof provided by the invention are introduced in detail, a specific example is applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. The utility model provides a shield tunnel safety condition monitoring early warning device which characterized in that includes:
the digital measuring camera is used for shooting a target which is fixed on the side wall of the tunnel and serves as a coding point in the tunnel monitoring area;
the servo system is used for carrying the measuring digital camera to shoot the same target at different specified positions through mechanical transmission;
the inclination angle sensor is fixed on the side wall of the tunnel, is positioned on the periphery of the target and is used for measuring the inclination angle of the tunnel;
and the Mini industrial personal computer is used for controlling the operation of the servo system, collecting the photos shot by the measuring digital camera and the tunnel inclination angle measured by the inclination angle sensor, calculating the deformation amount, analyzing and evaluating the deformation amount, and comparing the evaluation result with a threshold value table so as to perform graded early warning on the safety state of the tunnel.
2. The shield tunnel safety state monitoring and early warning device according to claim 1, wherein the Mini industrial personal computer is specifically configured to extract coded point information on a photo taken by the digital measurement camera, process the coded point information through an algorithm to obtain a relative position relationship of each coded point in an actual space, calculate a deformation amount according to the obtained relative position relationship and an axial and radial inclination angle of the tunnel measured by the inclination angle sensor, and analyze and evaluate deformation of a cross section of the tunnel, tunnel settlement, and axial and radial inclination angle changes of the tunnel according to the calculated deformation amount.
3. The shield tunnel safety state monitoring and early warning device according to claim 2, further comprising:
and the self-power supply system is used for generating power by utilizing piston wind generated by vehicles running in the tunnel and supplying power to the measuring digital camera, the servo system and the Mini industrial personal computer.
4. The shield tunnel safety state monitoring and early warning device according to claim 3, wherein the self-powered system comprises a vertical axis wind turbine, an inverter and a storage battery; wherein,
the vertical axis wind driven generator is used for converting wind energy into electric energy by utilizing piston wind when a running vehicle in the tunnel passes through;
the inverter is used for storing the electric energy converted by the vertical axis wind driven generator in the storage battery through voltage transformation and frequency conversion.
5. The shield tunnel safety state monitoring and early warning device according to claim 4, wherein the servo system comprises a guide rail holder system, a servo controller and an illumination light source; wherein,
the servo controller is used for controlling the motion of a guide rail and a cradle head in the guide rail cradle head system;
the guide rail holder system is used for installing and carrying the measuring digital camera to move to a specified position;
and the illumination light source is used for providing a light source for the digital measuring camera during shooting.
6. The shield tunnel safety state monitoring and early warning device of claim 5, further comprising:
an external tooth socket with a hanging lug is arranged on the side wall of the tunnel through a shield segment longitudinal connecting bolt;
the machine cabinet is fixed at the corresponding position of the externally hanging tooth groove through a nut; the equipment cabinet is used for directly fixing the Mini industrial personal computer, the illuminating light source, the transparent windshield for covering the shield tunnel safety state monitoring and early warning device and is also used for fixing the guide rail holder system through the universal hanging rack.
7. The shield tunnel safety state monitoring and early warning device of claim 6, wherein the self-powered system is placed on the ground next to the tunnel side wall and is fixedly connected with the externally-hung tooth socket through bolts.
8. The shield tunnel safety state monitoring and early warning device according to claim 7, wherein the tilt sensor is connected with the Mini industrial personal computer through a serial port;
the measuring digital camera is connected with the Mini industrial personal computer through WIFI.
9. A monitoring and early-warning method for the shield tunnel safety state monitoring and early-warning device according to any one of claims 1 to 8, comprising:
the Mini industrial personal computer controls a servo system to carry the measuring digital camera to move to a specified position through mechanical transmission;
the digital measuring camera shoots a target which is fixed on the side wall of the tunnel and serves as a coding point in the tunnel monitoring area;
meanwhile, the inclination angle sensor measures the inclination angle of the tunnel;
and the Mini industrial personal computer collects the pictures shot by the measuring digital camera and the tunnel inclination angle measured by the inclination angle sensor, calculates the deformation amount, analyzes and evaluates the deformation amount, and compares the evaluation result with a threshold value table so as to carry out graded early warning on the tunnel safety state.
10. The monitoring and early warning method of claim 9, wherein the Mini industrial personal computer collects the photos taken by the digital measuring camera and the tunnel inclination angle measured by the inclination angle sensor and performs deformation calculation, analysis and evaluation, specifically comprising:
the Mini industrial personal computer extracts the coding point information on the photo shot by the measuring digital camera, and the coding point information is processed through an algorithm to obtain the relative position relation of each coding point in the actual space;
calculating deformation according to the obtained relative position relation and the axial and radial inclination angles of the tunnel measured by the inclination angle sensor;
and analyzing and evaluating the deformation of the cross section of the tunnel, the settlement of the tunnel and the change of the axial and radial inclination angles of the tunnel according to the calculated deformation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010448869.8A CN111608731B (en) | 2020-05-25 | 2020-05-25 | Shield tunnel safety state monitoring and early warning device and monitoring and early warning method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010448869.8A CN111608731B (en) | 2020-05-25 | 2020-05-25 | Shield tunnel safety state monitoring and early warning device and monitoring and early warning method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111608731A true CN111608731A (en) | 2020-09-01 |
| CN111608731B CN111608731B (en) | 2022-05-13 |
Family
ID=72205709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010448869.8A Active CN111608731B (en) | 2020-05-25 | 2020-05-25 | Shield tunnel safety state monitoring and early warning device and monitoring and early warning method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111608731B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113420962A (en) * | 2021-05-31 | 2021-09-21 | 中铁工程服务有限公司 | Scanning detection method and device for shield subway tunnel segment and storage medium |
| CN113686254A (en) * | 2021-08-13 | 2021-11-23 | 中铁第四勘察设计院集团有限公司 | Method and device for measuring surface stretching deformation of shield tunnel segment |
| CN114166178A (en) * | 2021-12-09 | 2022-03-11 | 上海勘察设计研究院(集团)有限公司 | Real-time deformation monitoring method and system for frame section of tunnel shield machine under construction |
| CN114593708A (en) * | 2022-03-15 | 2022-06-07 | 中铁七局集团第四工程有限公司 | Tunnel deformation automatic monitoring system based on inclination angle and reference point position compensation |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8725130D0 (en) * | 1987-10-27 | 1987-12-02 | Hughes Ltd Stewart | Blade incidence tracker system |
| CN102587986A (en) * | 2012-03-12 | 2012-07-18 | 西安建筑科技大学 | Tunnel construction informatization dynamic monitoring system and monitoring method thereof |
| CN107024182A (en) * | 2017-03-16 | 2017-08-08 | 东华理工大学 | A kind of shield tunnel deformation wireless monitor system and method |
| CN109375619A (en) * | 2018-09-30 | 2019-02-22 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | A kind of tunnel cruising inspection system |
-
2020
- 2020-05-25 CN CN202010448869.8A patent/CN111608731B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8725130D0 (en) * | 1987-10-27 | 1987-12-02 | Hughes Ltd Stewart | Blade incidence tracker system |
| CN102587986A (en) * | 2012-03-12 | 2012-07-18 | 西安建筑科技大学 | Tunnel construction informatization dynamic monitoring system and monitoring method thereof |
| CN107024182A (en) * | 2017-03-16 | 2017-08-08 | 东华理工大学 | A kind of shield tunnel deformation wireless monitor system and method |
| CN109375619A (en) * | 2018-09-30 | 2019-02-22 | 中国铁道科学研究院集团有限公司铁道建筑研究所 | A kind of tunnel cruising inspection system |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113420962A (en) * | 2021-05-31 | 2021-09-21 | 中铁工程服务有限公司 | Scanning detection method and device for shield subway tunnel segment and storage medium |
| CN113686254A (en) * | 2021-08-13 | 2021-11-23 | 中铁第四勘察设计院集团有限公司 | Method and device for measuring surface stretching deformation of shield tunnel segment |
| CN113686254B (en) * | 2021-08-13 | 2023-12-01 | 中铁第四勘察设计院集团有限公司 | Method and device for measuring surface expansion deformation of shield tunnel segment |
| CN114166178A (en) * | 2021-12-09 | 2022-03-11 | 上海勘察设计研究院(集团)有限公司 | Real-time deformation monitoring method and system for frame section of tunnel shield machine under construction |
| CN114166178B (en) * | 2021-12-09 | 2024-05-10 | 上海勘察设计研究院(集团)股份有限公司 | Real-time deformation monitoring method and system for frame section of on-building tunnel shield machine |
| CN114593708A (en) * | 2022-03-15 | 2022-06-07 | 中铁七局集团第四工程有限公司 | Tunnel deformation automatic monitoring system based on inclination angle and reference point position compensation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111608731B (en) | 2022-05-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111608731B (en) | Shield tunnel safety state monitoring and early warning device and monitoring and early warning method thereof | |
| US11519724B2 (en) | Method for monitoring ground settlement based on computer vision | |
| CN109870108B (en) | Method and device for detecting icing of power transmission line | |
| CN103913117B (en) | A kind of three-dimensional laser scanner positioner and laser point cloud absolute fix method | |
| CN105526909B (en) | A kind of sedimentation detection method and device based on image recognition principle | |
| US11119016B2 (en) | Image measurement device and method for the surface deformation of specimen based on sub-pixel corner detection | |
| CN111947578A (en) | Structure displacement measuring system and measuring method thereof | |
| CN103698001B (en) | A kind of transmission line galloping monitoring method analyzing method based on monocular vision | |
| CN205825950U (en) | A kind of settlement detecting device based on image recognition principle | |
| WO2016033181A1 (en) | Method and apparatus for contrast enhanced photography of wind turbine blades | |
| CN103743356A (en) | Multi-point real-time video measuring method for building and measuring system | |
| CN106197292A (en) | A kind of building displacement monitoring method | |
| CN111781113A (en) | Dust grid positioning method and dust grid monitoring method | |
| CN110702343B (en) | Deflection measurement system and method based on stereoscopic vision | |
| CN103940344B (en) | A kind of High Precision Long-distance displacement transducer | |
| CN112802004B (en) | Portable intelligent video detection device for health of power transmission line and pole tower | |
| Wang et al. | Transmission line sag measurement based on single aerial image | |
| CN108204800B (en) | Automatic monitoring device and method for differential settlement of power equipment foundation | |
| CN105300303A (en) | Ground automatic measurement device for measuring vertical distance between power transmission circuit and tree and method | |
| CN216081957U (en) | Bridge deflection measuring device | |
| CN112014043A (en) | Digital large plate girder deflection measuring device and method | |
| CN104034266A (en) | Surface microstructure based high-accuracy length detection method | |
| CN214366548U (en) | Fan tower section of thick bamboo slope monitoring devices based on optical dispersion | |
| CN103940345B (en) | A kind of long-range displacement measurement system and method | |
| CN114648575A (en) | Track slope displacement binocular vision detection method and system based on ORB algorithm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220426 Address after: 100044 Metro building, 2 Xizhimenwai street, Xicheng District, Beijing Applicant after: BEIJING SUBWAY OPERATION Corp. Applicant after: Beijing Metro Engineering Management Co., Ltd Address before: 100044 subway building, No. 2, Xizhimenwai street, Xicheng District, Beijing Applicant before: BEIJING SUBWAY OPERATION Corp. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |