CN208282788U - A kind of sleeve configuration structures real-time deformation monitoring system - Google Patents
A kind of sleeve configuration structures real-time deformation monitoring system Download PDFInfo
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Abstract
The utility model discloses a kind of sleeve configuration structures real-time deformations to monitor system, which includes data measurin system；The data measurin system includes in-site measurement module and the first communication module: the in-site measurement module includes: the first datum mark group and the second datum mark group, overlapped points group, monitoring point group, two or more robot measurements；The robot measurement is connected to first communication module, and according to the measurement instruction first or second datum mark group adjacent to its, the monitoring prism of the overlapped points group and monitoring point group setting measures to obtain measurement data；The measurement instruction is used to indicate the time of measuring and measurement object of the robot measurement.It by the technical solution in the utility model, does not need manually to measure structures, may be implemented accurately to monitor structures.
Description
Technical Field
The utility model belongs to engineering monitoring field mainly relates to a long and narrow structure real-time deformation monitoring system.
Background
The long and narrow structures, including underground pipe gallery tunnels, urban rail transit tunnels, highway tunnels, bridge tunnels, high-speed railway tunnels and other long and narrow concrete buildings (structures), are usually buried underground or cross mountains, are greatly influenced by geological and hydrological conditions, and may sink, converge and other deformations under the action of external factors, thus influencing normal use. In the process of monitoring the deformation of the long and narrow structure in the prior art, technical personnel are required to operate on site, and under the condition that the terrain is complex and threatens, the measurement method in the prior art obviously has potential safety hazards and difficulty in operation.
SUMMERY OF THE UTILITY MODEL
The utility model aims to prior art's defect provides a long and narrow structure real-time deformation monitoring system, through the technical scheme in the utility model, measure through setting up measuring robot at the scene, do not need the manual work to measure the structure, can realize carrying out accurate monitoring to the structure, and utilize first communication module to acquire the measured data of structure in real time, avoided the manual work to measure the potential safety hazard that brings and the hysteresis that measured data acquireed to the structure.
The utility model adopts the following technical scheme:
a long and narrow structure real-time deformation monitoring system is characterized in that: comprises a data measurement system; the data measurement system comprises a field measurement module and a first communication module:
the field measurement module includes: the robot comprises a first datum point group, a second datum point group, a lap joint point group, a monitoring point group and two or more measuring robots;
the first datum point group and the second datum point group are respectively arranged in non-deformation areas at two ends of the tunnel and are provided with monitoring prisms; the two or more than two measuring robots are arranged between the two ends of the tunnel at uniform intervals, and the two measuring robots closest to the two ends of the tunnel can directly observe the first reference point group or the second reference point group; the lap joint groups are arranged between the adjacent measuring robots, and monitoring prisms are placed and can be directly observed by the adjacent measuring robots on two sides; the monitoring point group is arranged in a tunnel deformation area and is provided with a monitoring prism;
the measuring robot is connected to the first communication module, and measures the first or second reference point group, the lap joint group and the monitoring prisms arranged on the monitoring point group adjacent to the first or second reference point group according to a measuring instruction to obtain measuring data; the measurement instruction is used for indicating the measurement time and the measurement object of the measurement robot.
Further, the system also comprises a data analysis system; the data analysis system includes:
the second communication module is connected with the first communication module to transmit data;
the data analysis module is connected to the second communication module, sends the measurement instruction to the data measurement system, and processes the measurement data to obtain a monitoring result;
furthermore, the data analysis system further comprises an early warning forecasting module, the early warning forecasting module is connected to the data analysis module, and when a monitoring result obtained by analysis of the data analysis module exceeds a preset threshold value, a person receiving alarm information is selected to send the alarm information.
Furthermore, the data analysis system further comprises a data storage module, wherein the data storage module is connected to the second communication module and the data analysis module and stores the measurement data and the monitoring result.
Further, the data analysis system further comprises a data query module for querying the measurement data and the monitoring result, and the data query module is connected to the data storage module.
Further, the first reference point group and the second reference point group respectively include not less than 3 reference points.
Furthermore, the lap joint group comprises a plurality of lap joints arranged on one side or two sides of the tunnel.
Furthermore, the lap joint group comprises two groups of lap joints which are arranged on two sides of the tunnel and have the same quantity.
Furthermore, the number of the two groups of lap joints included in the lap joint group is not less than 3.
Further, the lap joint groups arranged between the adjacent measuring robots comprise lap joints which are uniformly distributed at certain intervals.
Compared with the prior art, the utility model discloses a beneficial technological effect as follows:
through the system, the measurement robot is arranged on the site for measurement, the structure does not need to be manually measured, the structure can be accurately monitored, the first communication module is used for acquiring the measurement data of the structure in real time, the potential safety hazard caused by manual measurement of the structure and the lag of acquisition of the measurement data are avoided, and the subsequent processing of the measurement data is facilitated.
Drawings
Fig. 1 is a schematic structural diagram of a real-time deformation monitoring system for an elongated structure according to embodiment 1 of the present invention;
fig. 2 is a schematic step diagram of a method for monitoring real-time deformation of an elongated structure according to embodiment 2 of the present invention.
Detailed Description
In order to fully understand the objects, features and effects of the present invention, the following embodiments are further described with reference to the accompanying drawings.
Example 1
As shown in fig. 1, this embodiment 1 discloses a real-time deformation monitoring system for an elongated structure, which includes a data measurement system 1 and a data analysis system 2; the data measurement system 1 comprises an on-site measurement module 3 and a first communication module 4:
the field measurement module 3 includes: the system comprises a first datum point group 5, a second datum point group 6, a lapping point group 7, a monitoring point group 8 and two or more than two measuring robots 9;
the first reference point group 5 and the second reference point group 6 are respectively arranged in non-deformation areas at two ends of the tunnel and are provided with monitoring prisms; two or more than two measuring robots 9 are arranged between the two ends of the tunnel at uniform intervals, and the two measuring robots 9 closest to the two ends of the tunnel can directly observe the first reference point group 5 or the second reference point group 6; the lapping point group 7 is arranged between the adjacent measuring robots 9, is provided with a monitoring prism and can be directly observed by the adjacent measuring robots on two sides; the monitoring point group 8 is arranged in a tunnel deformation area and is provided with a monitoring prism; by adopting the layout method, the measuring robots do not need to see through; the contact points do not need to be seen through; the sight between the reference points is not needed; the datum point only needs to be in communication with the nearest measuring robot; the measuring robot only needs to be in communication with the lap joint. The point location is flexibly arranged, and the method can be effectively suitable for difficult monitoring environments such as long and narrow tunnels.
Specifically, in the actual engineering, the first reference point group and the second reference point group need to be checked by using a VT checking method, unstable reference points are removed, and the measurement accuracy is ensured.
The measuring robot 9 is connected to the first communication module 4, and measures the monitoring prisms arranged in the adjacent first reference point group 5 or second reference point group 6, the lap joint group 7 and the monitoring point group 8 according to the measuring instruction to obtain measuring data; the measurement instruction is used to instruct the measurement robot 9 to measure the measurement time and the measurement target.
Specifically, in the actual engineering, the measuring robot 9 used is a high-precision intelligent total station; the high-precision intelligent total station is a measuring platform integrating automatic target identification, automatic collimation, automatic angle measurement and distance measurement, automatic target tracking and automatic recording into one body. Due to the ATR automatic target recognition mode, when field workers roughly aim at the prism, the automatic total station can automatically search the target and aim, and the operation efficiency is improved.
Specifically, the measurement command may be used to instruct a measurement mode (including a free station that determines coordinates by distance and azimuth, and a range station that determines coordinates by distance only), a start time, a cycle parameter, and an end time, which are measured by the measurement robot 9.
Specifically, first benchmark group 5 and second benchmark group 6 are respectively including being no less than 3 benchmarks, and the benchmark group sets up at the tunnel both ends of keeping away from the deformation region, has guaranteed the stability of benchmark group, and 3 benchmarks have also been guaranteed to the setting simultaneously and have been no less than.
Specifically, the lap joint group 7 includes a plurality of lap joints disposed on a single side or both sides of the tunnel.
Specifically, the lap joint group 7 includes two groups of lap joints with the same number arranged on two sides of the tunnel, and the two groups of lap joints with the same number can improve the measurement precision and reduce the measurement error generated in the coordinate calculation transmission.
Specifically, the lap joint that lap joint group 7 includes is according to certain interval evenly distributed, and two sets of lap joint quantity are no less than 3 respectively, and this is quantitative to be set up by the result of net type precision assessment and decides, and the biggest point location error of deformation monitoring benchmark net is located the middle survey station of whole net, and the horizontal error in single-conductor weakest point position and vertical error in are respectively:
error in the transverse direction:
error in the longitudinal direction:
wherein m isβError in angle measurement; m issError in range observation; s is the direct distance between the reference points at the two ends of the reference net; and n is the number of stations.
For the condition that the number of two groups of overlap points included in the overlap point group is 1,2, 3 and 4 respectively, the longitudinal median error and the transverse median error of the 12 periodic weakest point positions are calculated respectively to obtain the data shown in the following table. From the data, it is clear that the accuracy of the 4 lap points is highest. In the actual network type arrangement process, the problem of small field angle of the measuring robot is considered, and the arrangement mode of 3 overlapping points is adopted to meet the standard requirement.
The data analysis system 2 includes:
the second communication module 10 is connected with the first communication module to transmit data;
the data analysis module 11 is connected to the second communication module 10, and sends a measurement instruction to the data measurement system 1 to process the measurement data to obtain a monitoring result;
specifically, the data analysis system 2 further includes an early warning prediction module 12, the early warning prediction module 12 is connected to the data analysis module 11, and when a monitoring result obtained by the data analysis module 11 exceeds a preset threshold, a person receiving alarm information is selected to send the alarm information.
Specifically, the data analysis system 2 further includes a data storage module 13, and the data storage module 13 is connected to the second communication module 10 and the data analysis module 11, and stores the measurement data and the monitoring result.
Specifically, the data analysis system 2 further includes a data query module 14 for querying the measurement data and the monitoring result, and the data query module 14 is connected to the data storage module 13.
Example 2
As shown in fig. 2, the present embodiment 2 discloses a real-time elongated structure deformation monitoring method applied to the real-time elongated structure deformation monitoring system according to embodiment 1, including the steps of:
s1, respectively arranging a first reference point group 5 and a second reference point group 6 in non-deformation areas at two ends of the tunnel; two or more than two measuring robots 9 are uniformly arranged between the two ends of the tunnel; two measuring robots 9 closest to the two ends of the tunnel can directly observe the first datum point group 5 or the second datum point group 6 adjacent to the two measuring robots; a lap joint point group 7 is arranged between adjacent measuring robots 9; the lapping point group 7 can be directly observed by the adjacent measuring robots 9 at two sides; a monitoring point group 8 is arranged in a tunnel deformation area; the three-dimensional coordinates of the first and second groups of fiducial points are known; monitoring prisms are placed on the first reference point group 5, the second reference point group 6, the lap joint point group 7 and the monitoring point group 8;
by adopting the layout method, the measuring robots do not need to see through; the contact points do not need to be seen through; the sight between the reference points is not needed; the datum point only needs to be in communication with the nearest measuring robot; the measuring robot only needs to be in communication with the lap joint. The point location is flexibly arranged, and the method can be effectively suitable for difficult monitoring environments such as long and narrow tunnels.
Specifically, in the actual engineering, the first reference point group and the second reference point group need to be checked by using a VT checking method, unstable reference points are removed, and the measurement accuracy is ensured.
Specifically, first benchmark group 5 and second benchmark group 6 are respectively including being no less than 3 benchmarks, and the benchmark group sets up at the tunnel both ends of keeping away from the deformation region, has guaranteed the stability of benchmark group, and 3 benchmarks have also been guaranteed to the setting simultaneously and have been no less than.
Specifically, the lap joint group 7 includes a plurality of lap joints disposed on a single side or both sides of the tunnel.
Specifically, the lap joint group 7 includes two groups of lap joints with the same number arranged on two sides of the tunnel, and the two groups of lap joints with the same number can improve the measurement precision and reduce the measurement error generated in the coordinate calculation transmission.
Specifically, the lap joint that lap joint group 7 includes is according to certain interval evenly distributed, and two sets of lap joint quantity are no less than 3 respectively, and this is quantitative to be set up by the result of net type precision assessment and decides, and the biggest point location error of deformation monitoring benchmark net is located the middle survey station of whole net, and the horizontal error in single-conductor weakest point position and vertical error in are respectively:
error in the transverse direction:
error in the longitudinal direction:
wherein m isβError in angle measurement; m issFor in the observation of distanceAn error; s is the direct distance between the reference points at the two ends of the reference net; and n is the number of stations.
For the condition that the number of two groups of overlap points included in the overlap point group is 1,2, 3 and 4 respectively, the longitudinal median error and the transverse median error of the 12 periodic weakest point positions are calculated respectively to obtain the data shown in the following table. From the data, it is clear that the accuracy of the 4 lap points is highest. In the actual network type arrangement process, the problem of small field angle of the measuring robot is considered, and the arrangement mode of 3 overlapping points is adopted to meet the standard requirement.
S2, the first communication module 4 is connected with the second communication module 10;
s3, the data analysis module 11 sends a measurement instruction to the measurement robots 9, and all the measurement robots 9 measure the monitoring prisms arranged in the adjacent first reference point group 5 or second reference point group 6, overlapping point group 7 and monitoring point group 8 according to the measurement instruction to obtain a direction value, a zenith distance value and an oblique distance value; the measuring instruction is used for indicating the measuring time and the measuring object of the measuring robot;
specifically, in the actual engineering, the measuring robot 9 used is a high-precision intelligent total station; the high-precision intelligent total station is a measuring platform integrating automatic target identification, automatic collimation, automatic angle measurement and distance measurement, automatic target tracking and automatic recording into one body. Due to the ATR automatic target recognition mode, when field workers roughly aim at the prism, the automatic total station can automatically search the target and aim, and the operation efficiency is improved.
Specifically, the measurement command may be used to instruct a measurement mode (including a free station that determines coordinates by distance and azimuth, and a range station that determines coordinates by distance only), a start time, a cycle parameter, and an end time, which are measured by the measurement robot 9.
S4, the first communication module 4 transmits the measured direction value, zenith distance value and slant distance value to the second communication module 10;
s5, the second communication module 10 receives the direction value, the zenith distance value and the slant distance value transmitted by the first communication module 4;
s6, the data analysis module 11 calculates and analyzes the direction value, the zenith distance value and the slant distance value to obtain a monitoring result;
specifically, the step S6 includes the following steps:
s61, the data analysis module 11 respectively uses the known three-dimensional coordinates of the first reference point group 5 and the second reference point group 6 as calculation data, uses the lap point group 7 as a conversion medium of coordinates according to the direction value, the zenith distance value and the slant distance value, and calculates two groups of approximate three-dimensional coordinates of all the measuring robots 9 and the lap point group 7 by a back intersection method and a triangle elevation measuring method; the two groups of approximate three-dimensional coordinates of each measuring robot 9 and each lap joint point group 7 are leveled by utilizing an indirect leveling principle to obtain accurate three-dimensional coordinates of all the measuring robots 9 and the lap joint point groups 7;
specifically, the specific steps in step S61 include:
s611, with the known three-dimensional coordinates of the first reference point group 5 as calculation data, according to a direction value, a zenith distance value and an oblique distance value which are obtained by measuring the first reference point group 5 by the measuring robot 9 closest to the first reference point group 5, an approximate plane coordinate of the measuring robot 9 closest to the first reference point group 5 is calculated by a backward intersection method, an approximate height difference of the measuring robot 9 closest to the first reference point group 5 is calculated by a triangulation height measurement method, and the approximate plane coordinate and the approximate height difference form an approximate three-dimensional coordinate of the measuring robot 9; the measuring robot 9 closest to the first reference point group 5 calculates approximate three-dimensional coordinates of the adjacent lap joint point group 7 by taking the approximate three-dimensional coordinates of the measuring robot as calculation data and by measuring a direction value, a zenith distance value and an oblique distance value of the adjacent lap joint point group 7 by a rear intersection method and a triangulation height measurement method; approximate three-dimensional coordinates of the adjacent lap joint point group 7 are used as calculation data, and the approximate three-dimensional coordinates of the adjacent measuring robot 9 on the other side are calculated by a backward intersection method and a triangular elevation measurement method through a direction value, a zenith distance value and an oblique distance value which are obtained by measuring the approximate three-dimensional coordinates by the adjacent measuring robot 9 on the other side; until the known three-dimensional coordinates of the first reference point group 5 are used as calculation data, a group of approximate three-dimensional coordinates of all the lap joint point groups 7 and the measuring robot 9 are calculated;
similarly, the known three-dimensional coordinates of the second reference point group 6 are used as calculation data to calculate another set of approximate three-dimensional coordinates of all the lap joint point groups 7 and the measuring robot 9;
and S612, balancing the two groups of three-dimensional approximate coordinates obtained in the step S611 by utilizing an indirect balancing principle to obtain accurate three-dimensional coordinates of all the lap joint point groups and the measuring robot.
Specifically, the specific steps of using the indirect adjustment principle to adjust the two groups of approximate three-dimensional coordinates include:
establishing an error equation set according to the two groups of obtained approximate three-dimensional coordinates, determining the weight of the error equation set, and establishing an indirect adjustment normal equation by using the error equation;
and solving the equation according to the least square principle to obtain two groups of correction numbers of the approximate three-dimensional coordinates, and combining the approximate three-dimensional coordinates to obtain the corresponding accurate three-dimensional coordinates.
Specifically, the error equation set includes a wire mesh error equation and an elevation mesh error equation:
the wire grid error equation comprises an oblique distance observation value error equation and a direction observation value error equation:
the skew observation error equation is as follows:
in the formula:
wherein,and j point is obtained by the same method as the approximation of the coordinate of the k point.Is an approximation of the distance between two points j, k.Is the slant range observation error.
The directional observation error equation is as follows:
wherein,is an approximate coordinate azimuth; n'jkIs a direction observation;d α is the correction of the orientation angle approximation.
The elevation net error equation comprises an elevation observed value error equation:
wherein L isij＝Sj·cosβj-Si·cosβiAnd directly calculating the height difference of the triangular elevation observed values from the robot to the two points i, j.
Wherein SiAnd SjRespectively measuring the slant range observed values from the robot to the i, j points βiAnd βjRespectively observing zenith distances of the i and j points for the measuring robot;andis the correction number of the elevation approximate value;andto an approximate elevation.
Specifically, the determination of the weights of the error equation set is realized by the following steps:
1. determination of weights of wire grid error equation:
slope observation Sj(j 1, 2.) has a variance of
Order:namely, the error in the angle measurement is taken as the error in the prior unit weight in the adjustment of the wire mesh, then:
the weight p of the directional observationi＝1，
Weighting of slope observations
Wherein a, b are determined by the measuring robot used.
2. Determination of weights of the elevation net error equation:
weight of i, j two-point triangle elevation difference observed valueWhere C is an arbitrary constant that is weighted.
WhereinA median error of the elevation observations;
wherein,respectively measuring errors in the distance measurement of the robot pair i and j;respectively measuring errors in the zenith distance observation of the robot for the i and j points.
S62, the data analysis module 11 calculates the accurate three-dimensional coordinates of the monitoring point group 7 in a polar coordinate mode by taking the accurate three-dimensional coordinates of the measuring robot near the monitoring point group 7 as calculation data and according to the direction value, the zenith distance value and the slant distance value which are obtained by the measuring robot through measuring the monitoring point group 7;
and S63, the data analysis module 11 displays the change trend of the accurate three-dimensional coordinates of the monitoring points by using the time-course change curve graph according to parameters such as the station, the point location, the period and the time period, thereby obtaining the monitoring result of the monitoring point group 7.
Specifically, the method further comprises the following steps:
s7, the early warning and forecasting module 12 selects the person receiving the alarm information and sends the alarm information when the monitoring value exceeds the preset threshold value according to the alarm threshold value set in the system and the monitoring result obtained by the analysis of the data analysis module 11.
Specifically, the method further comprises the following steps:
s8, the data storage module 13 stores the direction value, the zenith distance value, the slant distance value and the monitoring result.
Specifically, the method further comprises the following steps:
s9, the data query module 14 queries the direction value, the zenith distance value, the slant distance value, and the monitoring result stored in the data storage module 13.
Through the long and narrow structure real-time deformation monitoring system and the long and narrow structure real-time deformation monitoring method disclosed in the embodiment 1 and the embodiment 2, a remote control measuring robot can be used for accurately monitoring a structure, potential safety hazards caused by manual entering of the structure for measurement do not exist, the data analysis module is used for adjusting and calculating monitoring data to obtain visual and comprehensive display of a monitoring result, errors caused by manual measurement of the structure are avoided, meanwhile, the monitoring result of the structure is obtained in real time, the problem of delay of obtaining the monitoring result caused by manual measurement and early warning caused by the delay is solved, and the deformation condition can be timely processed.
While the preferred embodiments of the present invention have been described in detail, it should be understood that modifications and variations can be made by persons skilled in the art without inventive faculty, and in light of the above teachings. Therefore, the technical solutions according to the present invention, which can be obtained by logical analysis, reasoning or limited experiments based on the prior art, should be within the scope of protection defined by the claims.
Claims (10)
1. A long and narrow structure real-time deformation monitoring system is characterized in that: comprises a data measurement system; the data measurement system comprises an on-site measurement module and a first communication module for transmission:
the field measurement module includes: the robot comprises a first datum point group, a second datum point group, a lap joint point group, a monitoring point group and two or more measuring robots;
the first datum point group and the second datum point group are respectively arranged in non-deformation areas at two ends of the tunnel and are provided with monitoring prisms; the two or more than two measuring robots are arranged between the two ends of the tunnel at uniform intervals, and the two measuring robots closest to the two ends of the tunnel can directly observe the first reference point group or the second reference point group; the lap joint groups are arranged between the adjacent measuring robots, and monitoring prisms are placed and can be directly observed by the adjacent measuring robots on two sides; the monitoring point group is arranged in a tunnel deformation area and is provided with a monitoring prism;
the measuring robot is connected to the first communication module and measures the first reference point group or the second reference point group adjacent to the first communication module, the lap joint point group and the monitoring prisms arranged on the monitoring point group to obtain measuring data.
2. A long and narrow structure real-time deformation monitoring system as claimed in claim 1, wherein: the system also comprises a data analysis system; the data analysis system includes:
the second communication module is connected with the first communication module to transmit data;
the data analysis module is connected to the second communication module, sends a measurement instruction to the data measurement system, and processes the measurement data to obtain a monitoring result; the measurement instruction is used for indicating the measurement time and the measurement object of the measurement robot.
3. A long and narrow structure real-time deformation monitoring system as claimed in claim 2, wherein: the data analysis system further comprises an early warning forecasting module, the early warning forecasting module is connected to the data analysis module, and when a monitoring result obtained by analysis of the data analysis module exceeds a preset threshold value, a person receiving alarm information is selected to send the alarm information.
4. A long and narrow structure real-time deformation monitoring system as claimed in claim 2, wherein: the data analysis system further comprises a data storage module, wherein the data storage module is connected to the second communication module and the data analysis module and stores the measurement data and the monitoring result.
5. A long and narrow structure real-time deformation monitoring system as claimed in claim 2, wherein: the data analysis system also comprises a data query module used for querying the measurement data and the monitoring result, and the data query module is connected to the data storage module.
6. A long and narrow structure real-time deformation monitoring system as claimed in claim 1, wherein: the first reference point group and the second reference point group include not less than 3 reference points, respectively.
7. A long and narrow structure real-time deformation monitoring system as claimed in claim 1, wherein said set of lap points comprises a plurality of lap points disposed on one or both sides of the tunnel.
8. A long and narrow structure real-time deformation monitoring system as claimed in claim 1, wherein said set of lap points comprises two sets of equal number of lap points disposed on either side of the tunnel.
9. An elongate structure real-time deformation monitoring system according to claim 8, wherein the set of lap points comprises two sets of lap points each having a number of at least 3.
10. The elongate structure real-time deformation monitoring system of claim 7, wherein the set of lap points between adjacent ones of the plurality of measuring robots includes the lap points evenly spaced apart.
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| CN114166174A (en) * | 2021-11-10 | 2022-03-11 | 中铁二十局集团第一工程有限公司 | Deformation monitoring system and method for steel truss girder slideway support |
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| CN114166174A (en) * | 2021-11-10 | 2022-03-11 | 中铁二十局集团第一工程有限公司 | Deformation monitoring system and method for steel truss girder slideway support |
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