Deformation monitoring system and method for underground waterproof closed wall

Abstract

The invention relates to the technical field of mineral engineering, in particular to an underground waterproof closed wall deformation monitoring system and method. The system comprises a monitoring device arranged in front of an underground waterproof closed wall; the upper computer is arranged on the ground and is in communication connection with the monitoring device; the monitoring device comprises a light projection module which generates a structured light pattern and projects the structured light pattern to the underground waterproof airtight wall, and the light projection module generates the structured light pattern to form a plurality of light spots on the underground waterproof airtight wall; the two light receiving modules are used for receiving the structured light patterns reflected by the light spots; the data processing module is used for acquiring structured light patterns reflected by all the light spots and performing deformation calculation according to the structured light patterns reflected by all the light spots; the image editing module is used for acquiring deformation calculation results of all the light spots and drawing a waterproof closed wall full-surface deformation three-dimensional graph based on the calculation results; and the data transmission module is used for transmitting a calculation result and the waterproof closed wall full-surface deformation three-dimensional graph to an upper computer. Full coverage of surface deformation of the waterproof closed wall is achieved, meanwhile, the laying workload is small, and maintenance is easy.

Description

Technical Field

[0001] The present invention relates to the technical field of mining engineering, and particularly to a deformation monitoring system and method for an underground waterproof airtight wall. Background Technique

[0002] As a new type of underground water conservancy structure, the underground coal mine reservoir has greatly solved the problem of production water use for major coal mines in the northwest, and at the same time has great significance for the geographical environmental protection and water resource utilization of the mining area. As an important part of the underground coal mine reservoir, the waterproof airtight wall is an important prerequisite for ensuring the safe operation of the underground reservoir. During the process of the stress action of the waterproof airtight wall by the complex underground time-space environment and the water body in the goaf, the surface deformation data of the airtight wall is an important parameter for presenting the structural stability of the waterproof airtight wall.

[0003] In the prior art, the deformation monitoring method for the waterproof airtight wall is usually realized by arranging single-point sensors. For example, the patent No. 202110336166.0 discloses a deformation monitoring method for a waterproof airtight wall, which discloses that continuous optical fibers are pre-arranged in the artificial dam body bearing wall. In this way, when monitoring the deformation of the artificial dam body, the waveform signal generated by the continuous optical fiber can be obtained, and the deformation of the artificial dam body can be monitored based on this waveform signal. This method pre-buries continuous optical fibers in the bearing wall, but the pre-arrangement of continuous optical fibers cannot completely cover the surface of the dam body, that is, the full coverage of the surface deformation of the waterproof airtight wall cannot be realized. At the same time, the layout workload is large and the maintenance is difficult. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: to solve the technical problems that the prior art cannot achieve full coverage of the surface deformation of the waterproof airtight wall, with a large layout workload and difficult maintenance, the present invention provides an underground waterproof airtight wall deformation monitoring system, which can achieve full coverage of the surface deformation of the waterproof airtight wall, with a small layout workload and easy maintenance.

[0005] The technical solution adopted by the present invention to solve its technical problems is: an underground waterproof airtight wall deformation monitoring system, the system includes:

[0006] A monitoring device, arranged in front of the underground waterproof airtight wall;

[0007] And a host computer, arranged on the ground, and communicatively connected with the monitoring device through an industrial Ethernet ring network;

[0008] Wherein, the monitoring device includes:

[0009] A light projection module, used for generating a structured light pattern and projecting it onto the underground waterproof airtight wall, and the structured light pattern generated by the light projection module forms a number of light spots on the underground waterproof airtight wall;

[0010] Two optical receiving modules, configured to receive the structured light pattern reflected by the light spots;

[0011] A data processing module, configured to obtain the structured light patterns reflected by all the light spots, and perform deformation calculation based on the structured light pattern reflected by each of the light spots;

[0012] An image editing module, configured to obtain the deformation calculation results of all the light spots, and draw a three-dimensional deformation graph of the entire surface of the waterproof and airtight wall based on the calculation results;

[0013] A data transmission module, configured to connect to the industrial Ethernet ring network, and transmit the calculation results and the three-dimensional deformation graph of the entire surface of the waterproof and airtight wall to the host computer.

[0014] Further, specifically, the light projection module is arranged opposite to the center point of the underground waterproof and airtight wall;

[0015] The two optical receiving modules are respectively a first optical receiving module and a second optical receiving module, and the first optical receiving module and the second optical receiving module are symmetrically arranged left and right with the light projection module as the center.

[0016] Further, specifically, the structured light pattern generated by the light projection module is projected onto the center point of the underground waterproof and airtight wall, forming a light spot A, the light spot A will coincide with the center point of the underground waterproof and airtight wall, the light spot A forms an imaging point F after being reflected and received by the first optical receiving module, and the light spot A forms an imaging point G after being reflected and received by the second optical receiving module;

[0017] Assume that the installation position of the first optical receiving module is point B, the installation position of the light projection module is point C, and the installation position of the second optical receiving module is point D. The deformation calculation based on the structured light pattern reflected by each of the light spots specifically includes:

[0018] Obtain the distance between the first optical receiving module and the second optical receiving module, and this distance is the first distance l BD ;

[0019] Based on the focal lengths of the first optical receiving module and the second optical receiving module and the first distance l BD Calculate the distance between the light projection module and the light spot A, and this distance is the second distance denoted as l AC ;

[0020] Assume that a light spot M is deformed to form a deformed light spot M1. Based on the focal lengths of the first optical receiving module and the second optical receiving module and the first distance l BD , calculate the distance between the monitoring device and the deformed light spot M1, and this distance is the third distance denoted as l CM1 ;

[0021] Based on the third distance l CM1 and the second distance l AC calculate the deformation distance of the deformed light spot M1.

[0022] Furthermore, specifically, drawing a three-dimensional deformation graph of the entire surface of the waterproof airtight wall based on the calculation results specifically includes:

[0023] Obtain the deformation distance of the light spot, where the deformation distance of the light spot is the value in the Z-axis direction, and obtain the three-dimensional coordinates (Xi, Yi, Zi) of the light spot;

[0024] Perform interpolation fitting based on the three-dimensional coordinates of all light spots to obtain the deformation data of the entire surface of the waterproof airtight wall;

[0025] Draw a three-dimensional deformation graph of the entire surface of the waterproof airtight wall based on the deformation data of the entire surface of the waterproof airtight wall.

[0026] Furthermore, specifically, several of the light spots are arranged in a matrix.

[0027] Furthermore, specifically, the interpolation fitting method includes polynomial interpolation, linear interpolation, or quadratic interpolation.

[0028] A method for monitoring the deformation of an underground waterproof airtight wall, the method using the underground waterproof airtight wall deformation monitoring system as described above;

[0029] The method includes the following steps:

[0030] Equipment installation, place the monitoring device in front of the measured underground waterproof airtight wall, and communicatively connect the upper computer with the monitoring device through an industrial Ethernet ring network;

[0031] Generate a structured light pattern through the light projection module of the monitoring device and project it onto the underground waterproof airtight wall, and the structured light pattern generated by the light projection module forms several light spots on the underground waterproof airtight wall;

[0032] Receive the structured light pattern reflected by the light spot through the light receiving module of the monitoring device;

[0033] Obtain the structured light patterns reflected by all light spots through the data processing module of the monitoring device, and perform deformation calculations according to the structured light patterns reflected by each light spot;

[0034] Obtain the deformation calculation results of all the light spots through the image editing module of the monitoring device, and draw a three-dimensional deformation graph of the entire surface of the waterproof airtight wall based on the calculation results;

[0035] Connect with the industrial Ethernet ring network through the data transmission module of the monitoring device, and transmit the calculation results and the three-dimensional deformation graph of the entire surface of the waterproof airtight wall to the upper computer.

[0036] Further, specifically, the light projection module is directly opposite to the center point of the underground waterproof airtight wall;

[0037] The two light receiving modules are respectively a first light receiving module and a second light receiving module, and the first light receiving module and the second light receiving module are symmetrically arranged left and right with the light projection module as the center.

[0038] Further, specifically, the structured light pattern generated by the light projection module will be projected onto the center point of the underground waterproof airtight wall, forming a light spot A. After reflection, the light spot A is received by the first light receiving module to form an imaging point F, and after reflection, the light spot A is received by the second light receiving module to form an imaging point G;

[0039] The deformation calculation based on the structured light pattern reflected by each light spot specifically includes:

[0040] Obtain the distance between the first light receiving module and the second light receiving module, and this distance is the first distance l BD ;

[0041] Based on the focal lengths of the first light receiving module and the second light receiving module and the first distance l BD Calculate the distance between the light projection module and the light spot A, and this distance is the second distance denoted as l AC ;

[0042] Suppose a light spot M is deformed to form a deformed light spot M1. Based on the focal lengths of the first light receiving module and the second light receiving module and the first distance l BD , calculate the distance between the monitoring device and the deformed light spot M1, and this distance is the third distance denoted as l MM1 ;

[0043] Based on the third distance l MM1 and the second distance l AC Calculate the deformation distance of the deformed light spot M1.

[0044] Further, specifically, the drawing of the three-dimensional deformation graph of the entire surface of the waterproof airtight wall based on the calculation results specifically includes:

[0045] Obtain the deformation distance of the light spot. The deformation distance of the light spot is the value in the Z-axis direction, and the three-dimensional coordinates (Xi, Yi, Zi) of the light spot are obtained;

[0046] Based on the three-dimensional coordinates of all light spots, perform interpolation fitting to obtain the deformation data of the entire surface of the waterproof airtight wall;

[0047] Based on the deformation data of the entire surface of the waterproof airtight wall, draw the three-dimensional deformation graph of the entire surface of the waterproof airtight wall.

[0048] The beneficial effects of the present invention are as follows:

[0049] (1) The deformation monitoring system for the underground waterproof airtight wall of the present invention realizes non-contact monitoring by arranging monitoring devices in front of the underground waterproof airtight wall, can achieve full coverage of the surface deformation of the waterproof airtight wall, ensures the original safety and stability of the waterproof airtight wall, optimizes the current complex deployment method and operation and maintenance difficulty of deformation monitoring. The present invention has a small layout workload, is easy to maintain, and improves the reliability of the actual application of this monitoring device;

[0050] (2) Through the structural design of the monitoring device, the present invention forms the construction of the local deformation area of the monitoring data and the drawing of the three-dimensional graph of the full-surface deformation of the waterproof airtight wall by setting the data processing module and the image editing module. This not only reduces the data computing resources of the ground monitoring center (host computer), but also uploads the important calculation result data and graphics to the ground monitoring center (host computer) in real time to ensure the retention and viewing of key data. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The present invention will be further described below in conjunction with the drawings and embodiments.

[0052] Figure 1 It is a schematic diagram of the system structure of the first embodiment of the present invention.

[0053] Figure 2 It is a schematic diagram of the light spot arrangement of the first embodiment of the present invention.

[0054] Figure 3 It is an imaging schematic diagram of the first embodiment of the present invention.

[0055] Figure 4 It is a schematic diagram of the calculation of a light spot of the first embodiment of the present invention.

[0056] Figure 5 It is a schematic diagram of the calculation principle of the deformation of a light spot of the first embodiment of the present invention.

[0057] In the figure, 100 is the monitoring device; 200 is the host computer; 11 is the light projection module; 12 is the first light receiving module; 13 is the second light receiving module; 14 is the data processing module; 15 is the image editing module; 16 is the data transmission module. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] The present invention will now be further described in detail with reference to the drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0059] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the features defined as "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0060] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] Embodiment 1

[0062] The embodiment of the present application provides a deformation monitoring system for an underground waterproof airtight wall, as Figure 1 shown. The system includes: a monitoring device 100 and a host computer 200. The monitoring device 100 is arranged in front of the underground waterproof airtight wall; the host computer 200 is arranged on the ground and is communicatively connected with the monitoring device 100 through an industrial Ethernet ring network. Among them, the monitoring device 100 includes:

[0063] A light projection module 11, which is used to generate a structured light pattern and project it onto the underground waterproof airtight wall. The structured light pattern generated by the light projection module 11 forms several light spots on the underground waterproof airtight wall;

[0064] Two light receiving modules, which are used to receive the structured light pattern reflected by the light spots;

[0065] A data processing module 14, which is used to obtain the structured light patterns reflected by all the light spots and perform deformation calculations according to the structured light patterns reflected by each light spot;

[0066] An image editing module 15, which is used to obtain the deformation calculation results of all the light spots and draw a three-dimensional deformation graph of the entire surface of the waterproof airtight wall based on the calculation results;

[0067] The data transmission module 16 is used to connect to the industrial Ethernet ring network and transmit the calculation results and the three-dimensional graph of the full-surface deformation of the waterproof and airtight wall to the host computer 200.

[0068] In the embodiment, the light projection module 11 is arranged opposite to the center point of the underground waterproof and airtight wall; the two light receiving modules are the first light receiving module 12 and the second light receiving module 13 respectively, and the first light receiving module 12 and the second light receiving module 13 are symmetrically arranged left and right with the light projection module 11 as the center.

[0069] It should be noted that after the structured light pattern generated by the light projection module 11 is projected onto the underground waterproof and airtight wall, a number of light spots will be formed on the underground waterproof and airtight wall. The number of light spots can be arranged in a matrix, such as Figure 2 shown, the number of light spots is arranged in a 9×9 matrix. By encoding the structured light pattern generated by the light projection module 11, the distance between the light spots can be adjusted. For example, the distance between two adjacent light spots can be 5 cm, 10 cm or 20 cm.

[0070] In the embodiment, as Figure 2 shown, since the light projection module 11 is arranged opposite to the center point of the underground waterproof and airtight wall, the structured light pattern generated by the light projection module 11 will surely be projected onto the center point of the underground waterproof and airtight wall, forming a light spot A, and the light spot A will coincide with the center point of the underground waterproof and airtight wall. Further, the two light receiving modules will capture the light reflected by the light spot A. After reflection, the light spot A is received by the first light receiving module 12 to form an imaging point F, and after reflection, the light spot A is received by the second light receiving module 13 to form an imaging point G, as Figure 3 shown. Let the installation position of the first light receiving module 12 be point B, the installation position of the light projection module 11 be point C, and the installation position of the second light receiving module 13 be point D. The specific deformation calculation based on the structured light pattern reflected by each light spot includes:

[0071] Obtain the distance between the first light receiving module 12 and the second light receiving module 13, and this distance is the first distance l BD ;

[0072] Based on the focal lengths of the first light receiving module 12 and the second light receiving module 13 and the first distance l BD Calculate the distance between the light projection module 11 and the light spot A, and this distance is the second distance denoted as l AC ;

[0073] When the included angle between the light spot and the first light receiving module 12 is less than 90 degrees, and the included angle between the light spot and the second light receiving module is greater than 90 degrees, the calculation formula is:

[0074]

[0075] Among them, f is the focal length of the first optical receiving module 12 and the second optical receiving module 13, and l is calculated based on the focal length f and the imaging angle θ of the first optical receiving module and the second optical receiving module. EF and l GH .

[0076] When the included angle between the light spot and the first optical receiving module 12 is greater than 90 degrees, the calculation formula is:

[0077]

[0078] When the included angle between the light spot and the second optical receiving module 13 is less than 90 degrees, the calculation formula is:

[0079]

[0080] As Figures 4 - 5 shown, assume that a light spot M is deformed to form a deformed light spot M1. Based on the focal lengths of the first optical receiving module 12 and the second optical receiving module 13 and the first distance l BD , calculate the distance between the monitoring device 100 and the deformed light spot M1. This distance is the third distance denoted as l CM1 ;

[0081] Combined with Figure 4 and Figure 5 , the included angle between the light spot M and the first optical receiving module 12 is less than 90 degrees, and the included angle between the light spot M and the second optical receiving module is greater than 90 degrees. The third distance is denoted as l CM1 The calculation formula is:

[0082]

[0083] Based on the third distance l CM1 and the second distance l AC Calculate the deformation distance of the deformed light spot M1. The calculation formula is:

[0084]

[0085] Among them, Combined with as Figure 4 it can be seen that (l X3Y3 +l x3Y5 ) is the distance from the point (X3, Y3) to the point (X3, Y3), and (l X5Y5 +l x3Y5 ) is the distance from the point (X5, Y5) to the point (X3, Y3).

[0086] In the embodiment, when l MM1 is a positive value, the waterproof and airtight wall at the light spot M bulges and deforms. When l MM1 is a negative value, the waterproof and airtight wall at the light spot M sinks and deforms.

[0087] In an embodiment, specifically drawing a three-dimensional graph of the deformation of the entire surface of the waterproof airtight wall based on the calculation results includes:

[0088] Obtain the deformation distance of the light spot. The deformation distance of the light spot is the value in the Z-axis direction, and obtain the three-dimensional coordinates (Xi, Yi, Zi) of the light spot;

[0089] Perform interpolation fitting based on the three-dimensional coordinates of all light spots to obtain the deformation data of the entire surface of the waterproof airtight wall;

[0090] Draw a three-dimensional graph of the deformation of the entire surface of the waterproof airtight wall based on the deformation data of the entire surface of the waterproof airtight wall.

[0091] Furthermore, the interpolation fitting methods include polynomial interpolation, linear interpolation, or quadratic interpolation. For example, select the cubic spline formula to perform interpolation fitting in combination with the three-dimensional coordinates of all light spots. For example, performing interpolation fitting on the values in the Y-axis direction of the light spots includes: Denote all the light spots in the first column as: (X1, Yi, Z1), (X2, Yi, Z2), (X3, Yi, Z3), …, (X9, Yi, Z9), where i = 0, 1, 2, … 9. Since Yi in the Y-axis of the first column remains unchanged, for the convenience of calculation, the data coordinate points in the Y-axis of the first column are denoted as: Yi(X1, Z1), Yi(X2, Z2), Yi(X3, Z3), …, Yi(X9, Z9), where i = 0, 1, 2, … 9, and Yi is not used as calculation data.

[0092] The mathematical expression for the cubic spline function fitting in the Y-axis is:

[0093] f(x) = a k +b k (x - x k ) + c k (x - x k ) 2 +d k (x - x k ) 3

[0094] In the formula: x k <x<x k+1 , k is the number of nodes, k = 0, 1, 2, …, n.

[0095] Similarly, interpolating and fitting the values of the light spot in the X-axis direction includes: respectively denoting all the light spots in the first row as: (Xj, Y1, Z1), (Xj, Y1, Z2), (Xj, Y1, Z3), …, (Xj, Y1, Z9), where j = 0, 1, 2, … 9. Since the X-axis Xj in the first row remains unchanged, for the convenience of calculation, the X-axis data coordinate points in the first row are denoted as Xj(Y1, Z1), Xj(Y2, Z2), Xj(Y3, Z3), …, Xj(Y9, Z9), where j = 0, 1, 2, … 9, and Xj is not used as calculation data.

[0096] The mathematical expression for the cubic spline function fitting of the X-axis is:

[0097] f(y) = a k + b k (y - y k ) + c k (y - y k ) 2 + d k (y - y k ) 3

[0098] In the formula: y k <y < y k+1 , k is the number of nodes, k = 0, 1, 2, …, n.

[0099] The least squares method is used to solve the functions f(x) and f(y), and the default smoothing parameter s value is used, s = len(w), Wi is the weight of each observation value, and 1 / Wi is the estimated value of the standard deviation of Z1.

[0100] In summary, the underground waterproof airtight wall deformation monitoring system of the present invention realizes non-contact monitoring by setting a monitoring device in front of the underground waterproof airtight wall, can achieve full coverage of the surface deformation of the waterproof airtight wall, ensures the original safety and stability of the waterproof airtight wall, optimizes the current complicated deployment method and operation and maintenance difficulty of deformation monitoring. The present invention has a small layout workload, is easy to maintain, and improves the reliability of the actual application of the monitoring device; through the structural design of the monitoring device, a local deformation area construction of monitoring data is formed by setting a data processing module and an image editing module, and a three-dimensional graph of the full surface deformation of the waterproof airtight wall is drawn, which not only reduces the data calculation resources of the ground monitoring center (host computer), but also uploads important calculation result data and graphics to the ground monitoring center (host computer) in real time to ensure the retention and viewing of key data.

[0101] Embodiment 2

[0102] The embodiment of the present application provides an underground waterproof airtight wall deformation monitoring method, and the method uses the above underground waterproof airtight wall deformation monitoring system; the method includes the following steps:

[0103] Equipment installation: Place the monitoring device 100 in front of the waterproof and airtight wall of the underground well to be measured, and communicate and connect the upper computer 200 with the monitoring device 100 through the industrial Ethernet ring network;

[0104] The light projection module 11 of the monitoring device 100 generates a structured light pattern and projects it onto the waterproof and airtight wall of the underground well. The structured light pattern generated by the light projection module 11 forms several light spots on the waterproof and airtight wall of the underground well;

[0105] The light receiving module of the monitoring device 100 receives the structured light pattern reflected by the light spots;

[0106] The data processing module 14 of the monitoring device 100 obtains the structured light patterns reflected by all the light spots, and performs deformation calculation based on the structured light patterns reflected by each light spot;

[0107] The image editing module 15 of the monitoring device 100 obtains the deformation calculation results of all the light spots, and draws a three-dimensional deformation graph of the entire surface of the waterproof and airtight wall based on the calculation results;

[0108] Connect the data transmission module 16 of the monitoring device 100 to the industrial Ethernet ring network, and transmit the calculation results and the three-dimensional deformation graph of the entire surface of the waterproof and airtight wall to the upper computer 200.

[0109] In the embodiment, the light projection module 11 is arranged facing the center point of the waterproof and airtight wall of the underground well; the two light receiving modules are respectively the first light receiving module 12 and the second light receiving module 13, and the first light receiving module 12 and the second light receiving module 13 are symmetrically arranged left and right with the light projection module 11 as the center.

[0110] It should be noted that after the structured light pattern generated by the light projection module 11 is projected onto the waterproof and airtight wall of the underground well, several light spots will be formed on the waterproof and airtight wall of the underground well. The several light spots can be arranged in a matrix, such as Figure 2 As shown, the several light spots are arranged in a 9×9 matrix. By encoding the structured light pattern generated by the light projection module 11, the distance between the light spots can be adjusted. For example, the distance between two adjacent light spots can be 5 cm, 10 cm or 20 cm.

[0111] In the embodiment, since the light projection module 11 is directly opposite the center point of the underground waterproof sealed wall, the structured light pattern generated by the light projection module 11 will surely be projected onto the center point of the underground waterproof sealed wall, forming a light spot A, and the light spot A will coincide with the center point of the underground waterproof sealed wall. Further, the two light receiving modules will capture the light reflected by the light spot A. After reflection, the light spot A is received by the first light receiving module 12 to form an imaging point F, and after reflection, the light spot A is received by the second light receiving module 13 to form an imaging point G. Let the installation position of the first light receiving module 12 be point B, the installation position of the light projection module 11 be point C, and the installation position of the second light receiving module 13 be point D. The specific deformation calculation based on the structured light pattern reflected by each light spot includes:

[0112] Obtain the distance between the first light receiving module 12 and the second light receiving module 13, and this distance is the first distance l BD ;

[0113] Based on the focal lengths of the first light receiving module 12 and the second light receiving module 13 and the first distance l BD Calculate the distance between the light projection module 11 and the light spot A, and this distance is the second distance denoted as l AC ;

[0114] When the angle between the light spot and the first light receiving module 12 is less than 90 degrees, and the angle between the light spot and the second light receiving module is greater than 90 degrees, the calculation formula is:

[0115]

[0116] where f is the focal lengths of the first light receiving module 12 and the second light receiving module 13, and l is calculated based on the focal length f of the first light receiving module and the second light receiving module and the imaging angle θ EF and l GH .

[0117] When the angle between the light spot and the first light receiving module 12 is greater than 90 degrees, the calculation formula is:

[0118]

[0119] When the angle between the light spot and the second light receiving module 13 is less than 90 degrees, the calculation formula is:

[0120]

[0121] Suppose a light spot M is deformed to form a deformed light spot M1. Based on the focal lengths of the first light receiving module 12 and the second light receiving module 13 and the first distance l BD , calculate the distance between the monitoring device 100 and the deformed light spot M1, and this distance is the third distance denoted as l CM1 ;

[0122] Combined with Figure 4 and Figure 5 , the included angle between the light spot M and the first light receiving module 12 is less than 90 degrees, and the included angle between the light spot M and the second light receiving module is greater than 90 degrees. The third distance is denoted as l CM1 The calculation formula is:

[0123]

[0124] Based on the third distance l MM1 and the second distance l AC Calculate the deformation distance of the deformed light spot M1. The calculation formula is:

[0125]

[0126] Wherein, Combined as Figure 4 It can be known that (l X3Y3 + l x3Y5 ) is the distance from the point (X3, Y3) to the point (X3, Y3), and (l X5Y5 + l x3Y5 ) is the distance from the point (X5, Y5) to the point (X3, Y3).

[0127] In the embodiment, when l MM1 is a positive value, the waterproof and airtight wall at the light spot M bulges and deforms. When l MM1 is a negative value, the waterproof and airtight wall at the light spot M sinks and deforms.

[0128] In the embodiment, specifically including: drawing a three-dimensional graph of the deformation of the entire surface of the waterproof and airtight wall based on the calculation results

[0129] Obtain the deformation distances of all light spots. The deformation distance of the light spot is the value in the Z-axis direction, and obtain the three-dimensional coordinates (Xi, Yi, Zi) of the light spot;

[0130] Perform interpolation fitting based on the three-dimensional coordinates of the light spots to obtain the deformation data of the entire surface of the waterproof and airtight wall;

[0131] Draw a three-dimensional graph of the deformation of the entire surface of the waterproof and airtight wall based on the deformation data of the entire surface of the waterproof and airtight wall.

[0132] Further, the interpolation fitting method includes polynomial interpolation, linear interpolation or quadratic interpolation. For example, a cubic spline formula is selected to perform interpolation fitting by combining the three-dimensional coordinates of all light spots. For example, the interpolation fitting of the values of the light spots in the Y-axis direction includes: Denote all the light spots in the first column as: (X1, Yi, Z1), (X2, Yi, Z2), (X3, Yi, Z3), …, (X9, Yi, Z9), where i = 0, 1, 2, … 9. Since the Yi on the Y-axis in the first column remains unchanged, for the convenience of calculation, the data coordinate points of the Y-axis in the first column are denoted as: Yi(X1, Z1), Yi(X2, Z2), Yi(X3, Z3), …, Yi(X9, Z9), where i = 0, 1, 2, … 9, and Yi is not used as calculation data.

[0133] The mathematical expression of the cubic spline function fitting for the Y-axis is:

[0134] f(x) = a k +b k (x - x k ) + c k (x - x k ) 2 +d k (x - x k ) 3

[0135] In the formula: x k <x<x k+1 , k is the number of nodes, k = 0, 1, 2, …, n.

[0136] Similarly, the interpolation fitting of the values of the light spots in the X-axis direction includes: Denote all the light spots in the first row as: (Xj, Y1, Z1), (Xj, Y1, Z2), (Xj, Y1, Z3), …, (Xj, Y1, Z9), where j = 0, 1, … 9. Since the Xj on the X-axis in the first row remains unchanged, for the convenience of calculation, the data coordinate points of the X-axis in the first row are denoted as Xj(Y1, Z1), Xj(Y2, Z2), Xj(Y3, Z3), …, Xj(Y9, Z9), where j = 0, 1, … 9, and Xj is not used as calculation data.

[0137] The mathematical expression of the cubic spline function fitting for the X-axis is:

[0138] f(y) = a k +b k (y - y k ) + c k (y - y k ) 2 +d k (y - y k ) 3

[0139] where: y k <y<y k+1 , where k is the number of nodes, k = 0, 1, 2, …, n.

[0140] The least squares method is used to solve the functions f(x) and f(y), and the default smoothing parameter s value is used, s = len(w), where Wi is the weight of each observation value, and 1 / Wi is the estimated value of the standard deviation of Z1.

[0141] The foregoing Figure 1 All the various change modes and specific examples of the deformation monitoring system of an underground waterproof airtight wall in the first embodiment are equally applicable to the deformation monitoring method of an underground waterproof airtight wall in this embodiment. Through the foregoing detailed description of the deformation monitoring system of an underground waterproof airtight wall, those skilled in the art can clearly know the implementation method of the deformation monitoring method of an underground waterproof airtight wall in this embodiment. Therefore, for the sake of brevity of the specification, it will not be elaborated here.

[0142] Taking the above-mentioned ideal embodiment based on the present invention as an inspiration, through the above description, relevant staff can completely make various changes and modifications without departing from the technical idea of this invention. The technical scope of this invention is not limited to the content in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A deformation monitoring system for an underground waterproof airtight wall, characterized in that, The system includes: A monitoring device (100), arranged in front of the underground waterproof airtight wall; And a host computer (200), arranged on the ground and communicatively connected to the monitoring device (100) through an industrial Ethernet ring network; Wherein, the monitoring device (100) includes: A light projection module (11), configured to generate a structured light pattern and project it onto the underground waterproof airtight wall, and the structured light pattern generated by the light projection module (11) forms a plurality of light spots on the underground waterproof airtight wall; Two light receiving modules, configured to receive the structured light pattern reflected by the light spots; A data processing module (14), configured to obtain the structured light patterns reflected by all the light spots and perform deformation calculation according to the structured light pattern reflected by each light spot; An image editing module (15), configured to obtain the deformation calculation results of all the light spots and draw a three-dimensional deformation graph of the entire surface of the waterproof airtight wall based on the calculation results; A data transmission module (16), configured to connect to the industrial Ethernet ring network and transmit the calculation results and the three-dimensional deformation graph of the entire surface of the waterproof airtight wall to the host computer (200).

2. The deformation monitoring system for the underground waterproof airtight wall according to claim 1, characterized in that, The light projection module (11) is arranged opposite to the center point of the underground waterproof airtight wall; The two light receiving modules are respectively a first light receiving module (12) and a second light receiving module (13), and the first light receiving module (12) and the second light receiving module (13) are symmetrically arranged left and right with the light projection module (11) as the center.

3. The deformation monitoring system for the underground waterproof airtight wall according to claim 2, wherein The structured light pattern generated by the light projection module (11) is projected onto the center point of the underground waterproof airtight wall to form a light spot A. After reflection, the light spot A is received by the first light receiving module (12) to form an imaging point F, and after reflection, the light spot A is received by the second light receiving module (13) to form an imaging point G; Assume that the installation position of the first light receiving module (12) is point B, the installation position of the light projection module (11) is point C, and the installation position of the second light receiving module (13) is point D. The deformation calculation according to the structured light pattern reflected by each light spot specifically includes: Obtain the distance between the first optical receiving module (12) and the second optical receiving module (13), and this distance is the first distance l BD ; Based on the focal lengths of the first optical receiving module (12) and the second optical receiving module (13) and the first distance l BD calculate the distance between the light projection module (11) and the light spot A, and this distance is the second distance denoted as l AC ; Suppose a light spot M is deformed to form a deformed light spot M1. Based on the focal lengths of the first light receiving module (12) and the second light receiving module (13) and the first distance l BD , calculate the distance between the monitoring device (100) and the deformed light spot M1. This distance is the third distance denoted as l CM1 ; Based on the third distance l CM1 and the second distance l AC calculate the deformation distance of the deformed light spot M1.

4. The deformation monitoring system for the underground waterproof airtight wall according to claim 3, characterized in that, Specifically, the drawing of the three-dimensional deformation graph of the entire surface of the waterproof airtight wall based on the calculation results includes: Obtaining the deformation distance of the light spot, where the deformation distance of the light spot is the value in the Z-axis direction, and obtaining the three-dimensional coordinates (Xi, Yi, Zi) of the light spot; Performing interpolation fitting based on the three-dimensional coordinates of all the light spots to obtain the deformation data of the entire surface of the waterproof airtight wall; Drawing a three-dimensional deformation graph of the entire surface of the waterproof airtight wall based on the deformation data of the entire surface of the waterproof airtight wall.

5. The deformation monitoring system for the underground waterproof airtight wall according to claim 1, characterized in that A plurality of the light spots are arranged in a matrix.

6. The deformation monitoring system for the underground waterproof airtight wall according to claim 4, wherein The interpolation fitting method includes polynomial interpolation, linear interpolation or quadratic interpolation.

7. A method for monitoring the deformation of an underground waterproof airtight wall, characterized in that, The method adopts the underground waterproof airtight wall deformation monitoring system according to any one of claims 1 to 6; The method includes the following steps: Equipment installation, placing the monitoring device (100) in front of the measured underground waterproof airtight wall, and communicatively connecting the host computer (200) and the monitoring device (100) through an industrial Ethernet ring network; The light projection module (11) of the monitoring device (100) generates a structured light pattern and projects it onto the underground waterproof airtight wall, and the structured light pattern generated by the light projection module (11) forms a number of light spots on the underground waterproof airtight wall; The light receiving module of the monitoring device (100) receives the structured light pattern reflected by the light spots; The data processing module (14) of the monitoring device (100) obtains the structured light patterns reflected by all the light spots, and performs deformation calculation according to the structured light pattern reflected by each light spot; The image editing module (15) of the monitoring device (100) obtains the deformation calculation results of all the light spots, and draws a three-dimensional deformation graph of the entire surface of the waterproof airtight wall based on the calculation results; The data transmission module (16) of the monitoring device (100) is connected to the industrial Ethernet ring network, and transmits the calculation results and the three-dimensional deformation graph of the entire surface of the waterproof airtight wall to the host computer (200).

8. The deformation monitoring method of the underground waterproof airtight wall according to claim 7, characterized in that The light projection module (11) is directly opposite to the center point of the underground waterproof airtight wall; The two light receiving modules are respectively a first light receiving module (12) and a second light receiving module (13), and the first light receiving module (12) and the second light receiving module (13) are symmetrically arranged left and right with the light projection module (11) as the center.

9. The deformation monitoring method for the underground waterproof airtight wall according to claim 8, characterized in that The structured light pattern generated by the light projection module (11) will be projected onto the center point of the underground waterproof airtight wall to form a light spot A, the light spot A will coincide with the center point of the underground waterproof airtight wall, and after reflection, the light spot A is received by the first light receiving module (12) to form an imaging point F, and after reflection, the light spot A is received by the second light receiving module (13) to form an imaging point G; Performing deformation calculation according to the structured light pattern reflected by each light spot specifically includes: Obtain the distance between the first optical receiving module (12) and the second optical receiving module (13), and this distance is the first distance l BD ; Based on the focal lengths of the first optical receiving module (12) and the second optical receiving module (13) and the first distance l BD calculate the distance between the light projection module (11) and the light spot A, and this distance is the second distance denoted as l AC ; Let a light spot M be deformed to form a deformed light spot M1. Based on the focal lengths of the first light receiving module (12) and the second light receiving module (13) and the first distance l BD , calculate the distance between the monitoring device (100) and the deformed light spot M1, and this distance is the third distance denoted as l MM1 ; Based on the third distance l MM1 and the second distance l AC calculate the deformation distance of the deformed light spot M1.

10. The deformation monitoring method of the underground waterproof airtight wall according to claim 9, characterized in that, Drawing a three-dimensional deformation graph of the entire surface of the waterproof airtight wall based on the calculation results specifically includes: Obtain the deformation distance of the light spot, the deformation distance of the light spot is the value in the Z-axis direction, and obtain the three-dimensional coordinates (Xi, Yi, Zi) of the light spot; Perform interpolation fitting based on the three-dimensional coordinates of all the light spots to obtain the deformation data of the entire surface of the waterproof airtight wall; Draw a three-dimensional deformation graph of the entire surface of the waterproof airtight wall based on the deformation data of the entire surface of the waterproof airtight wall.

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