A tunnel three-dimensional automatic laser distance measuring device with parameter recognition function

Abstract

The embodiment of the present invention discloses a tunnel three-dimensional automatic laser ranging device with parameter identification function, which includes: a data acquisition unit, which can simultaneously obtain the monitoring data of displacement changes in three directions of tunnel vault settlement, tunnel perimeter convergence and the distance between the monitoring position and the tunnel face. At the same time, the structure of the present invention has a self-protection structure, which can effectively prevent the damage to the measurement structure caused by water seepage, blasting and broken stone splashing in the tunnel project; a data processing unit, which can perform corresponding surrounding rock parameter identification based on the displacement change data collected by the measurement unit; a data transmission unit, which can compare the original surrounding rock parameter survey value with the surrounding rock parameter identification result and output the result to the engineering management personnel. The present invention can simultaneously realize the displacement change monitoring in three directions, more effectively compensate for the error of the two-dimensional monitoring of the cross section caused by the tunnel space effect; it can also automatically identify the surrounding rock parameters, and provide a data basis for the engineering management personnel to recognize the real state of the current surrounding rock. Therefore, the present invention makes up for the shortcomings of long manual measurement cycle and low precision, and realizes the real-time automatic monitoring of the tunnel space effect and the accurate identification of rock mass parameters.

Description

Technical Field

[0001] The invention relates to tunnel data monitoring and parameter identification technology, and in particular to a tunnel three-dimensional automatic laser distance measuring device with parameter identification function. Background Art

[0002] During the tunnel construction process, the stability of the project must be ensured first. The current method of judging the stability of the project is mainly to monitor the displacement of the tunnel surrounding rock through manual measurement. This method has low frequency, large errors and high risks. Automated monitoring has high measurement accuracy and frequency, but the automated monitoring structures currently used in tunnel projects mostly monitor the settlement of the tunnel vault or the convergence of the tunnel perimeter. They belong to two-dimensional monitoring of the tunnel section. The monitoring data is greatly affected by the spatial effect and cannot reflect the overall stability of the project. The monitoring results have certain limitations.

[0003] The existing laser distance measuring devices that can be used in tunnel engineering are simple in structure and single in function. They mainly have the following problems: (1) The measurement targets are only the vault settlement and tunnel convergence on the two-dimensional plane. It is impossible to measure the distance between the current monitoring position and the tunnel face, that is, it is impossible to reflect the influence of spatial effects on tunnel displacement; some laser scanning devices can scan three-dimensional images of cross sections, but such devices are expensive and not easy to use for long-term monitoring. Most laser monitoring devices require manual operation on site and cannot achieve online automated monitoring. (2) The existing structure does not take into account the complexity of the environment during tunnel construction (mainly manifested in the splashing of gravel and water seepage from surrounding rocks caused by blasting and excavation), and no corresponding instrument protection device and its matching fixed support device are designed. The existing tunnel laser distance measuring device is easily damaged during application. (3) The existing laser distance measuring structure is only a two-dimensional manual assisted measurement device with low monitoring frequency. In particular, it does not monitor the distance to the tunnel face at the same time, and cannot correctly predict the parameters of the surrounding rock. Summary of the invention

[0004] In order to solve the shortcomings of the prior art, a tunnel three-dimensional automatic laser ranging device with parameter recognition function is proposed, which is characterized by comprising:

[0005] A data acquisition unit, which can simultaneously acquire monitoring data on displacement changes in three directions: arch crown settlement, tunnel perimeter convergence, and distance between the monitoring position and the tunnel face;

[0006] The data processing unit is capable of performing corresponding surrounding rock parameter identification on the sampling data obtained by the data acquisition unit, i.e., the displacement change monitoring data, and obtaining the surrounding rock parameter identification result;

[0007] The data transmission unit can compare the displacement monitoring results, the original surrounding rock parameter survey values ​​and the surrounding rock parameter identification results and output the results to the engineering management personnel.

[0008] Optionally, in one embodiment, the data acquisition unit includes:

[0009] A measurement structure, wherein the measurement structure is used to monitor and obtain displacement change monitoring data in three directions: arch crown settlement, tunnel perimeter convergence, and distance between the monitoring position and the tunnel face;

[0010] A protection structure, wherein each of the measurement structures is accommodated in the protection structure;

[0011] and a supporting structure capable of fixing the protective structure to the tunnel side wall.

[0012] Optionally, in one embodiment, the measurement structure includes: an arch measurement module, an arch waist measurement module, a construction surface measurement module, a vertical support frame, a horizontal support frame, and connecting bolts; wherein the arch measurement module is fixed on the vertical support frame to obtain the tunnel space feature sampling data between the installation point and the arch monitoring point in the corresponding arch monitoring direction; the arch waist measurement module is fixed on one of the right-angled trapezoidal plates of the horizontal support frame to obtain the tunnel space feature sampling data between the installation point and the arch waist monitoring point in the corresponding arch waist monitoring direction; the construction surface measurement module is fixed on another right-angled trapezoidal plate of the horizontal support frame to obtain the tunnel space feature sampling data between the installation point and the construction surface monitoring point in the corresponding arch waist monitoring direction; the horizontal support frame is fixed inside the protective structure, and is formed by welding two right-angled trapezoidal plates to each other to form a right-angle bent plate; the vertical support frame is mounted on the horizontal support frame via connecting bolts.

[0013] Optionally, in one of the embodiments, the arch crown measurement module, the arch waist measurement module, and the construction surface measurement module all adjust the corresponding monitoring directions through a direction adjustment structure.

[0014] Optionally, in one embodiment, the direction adjustment structure is fixed in an internal gear hole structure opened on the surface of the horizontal support frame, wherein the direction adjustment structure includes: a first adjustment body, a second adjustment body and a ball ring, wherein the first adjustment body is fixed on the arch crown measurement module / arch waist measurement module / construction surface measurement module, the diameter of the second adjustment body is smaller than the diameter of the first adjustment body and is fixed at the center position of the first adjustment body to form an integrated structure, and at the same time, a plastic external gear structure is circumferentially arranged on the outer diameter of the second adjustment body; the internal gear hole structure and the plastic external gear structure are meshed with each other; and the ball ring is embedded in the groove opened on the lower surface of the first adjustment body.

[0015] Optionally, in one embodiment, the protective structure includes a box structure consisting of a cover plate, a side plate and a bottom plate; wherein one side of the cover plate is fixed to the side plate by a rotating shaft so that the cover plate can rotate around the rotating shaft, and then the box structure is opened to install and adjust the measuring module; and the box structure is provided with tempered glass that enables the measuring laser emitted by the measuring module to be emitted unobstructed.

[0016] Optionally, in one embodiment, the side panel includes a first side panel, a second side panel and a third side panel; the first side panel is fixed to the cover plate via a rotating shaft, the height of the second side panel is lower than the first side panel and an inclined side wall structure is formed by the second side panel, and the side wall structure and the cover plate form a waterproof eaves.

[0017] Optionally, in one embodiment, the support structure includes horizontal support rods, vertical support rods, and lateral support rods, wherein one end of the horizontal support rod is fixed to the side wall of the tunnel, and the other end is connected to the lateral support rod; the other end of the lateral support rod is fixed to the side wall of the tunnel; one end of the vertical support rod is fixed to the horizontal support rod, and the other end is fixed to the lateral support rod.

[0018] Optionally, in one embodiment, the surrounding rock parameter rapid identification strategy corresponding to the data processing unit includes:

[0019] S1. Establishing orthogonal sample data consisting of multiple groups of different combinations of basic parameters of tunnel surrounding rocks, wherein the basic parameters of tunnel surrounding rocks at least include elastic modulus and Poisson's ratio;

[0020] S2, obtaining the tunnel spatial characteristic sampling data corresponding to each tunnel surrounding rock parameter combination and forming a mapping sample group to create a training set for identifying the basic parameter data of the surrounding rock based on the displacement monitoring data;

[0021] S3. Determine the mapping relationship corresponding to the training set to obtain a nonlinear mapping model, and based on the nonlinear mapping model, perform corresponding surrounding rock parameter identification on the sampling data collected by the measurement module.

[0022] Optionally, in one embodiment, the S2 includes:

[0023] S21, based on the determined data of the distance between the monitoring position and the tunnel face, obtaining the data of the arch settlement and tunnel perimeter convergence of the monitoring section corresponding to each combination of elastic modulus and Poisson's ratio;

[0024] S22, forming a mapping sample group to create a training set for identifying basic parameter data of surrounding rock based on displacement monitoring data; wherein the mapping sample group is expressed in the form of:

[0025]

[0026] Among them, the matrix X is composed of the spatial characteristic sampling data of each group of tunnels, and the matrix Y is composed of the surrounding rock parameters of the monitoring location, that is, x i The settlement of the vault including the monitoring section x ipd 、Convergence around the hole x iLd And the distance data d between the monitoring position and the tunnel face i ,y i Contains elastic modulus E i and Poisson's ratio μ i , then the corresponding mapping relationship is expressed as

[0027]

[0028] Optionally, in one embodiment, the S3 includes:

[0029] S31. Assume that the matrix Y corresponding to the matrix X obeys the normal distribution, then the distribution characteristic matrix of Y is:

[0030]

[0031] The formula is simplified as

[0032] Among them, μ1, μ2, μ3...μ n is the eigenvector of this joint distribution; k 11 , k 12 , k 13 ...k nn The resulting matrix is ​​the covariance matrix, which is denoted by k ij , which can be obtained by solving the matrix X;

[0033] Then for a new target y* to be predicted, assuming that it belongs to the same n+1-dimensional joint normal distribution as the training set, the distribution model is expressed as:

[0034]

[0035] The above formula can be simplified as: y*~N(μ*,σ*)

[0036] It can be solved Where μ* and σ* are the mean and variance of the parameters to be determined. Repeat this process to complete the target elastic modulus E to be predicted. i and Poisson's ratio μ i Solving for distribution parameters;

[0037] S32. Based on the nonlinear mapping model, corresponding surrounding rock parameters are identified for the sampling data collected by the data collection unit.

[0038] Implementing the embodiments of the present invention will have the following beneficial effects:

[0039] The present invention firstly develops a tunnel multi-point displacement monitoring structure capable of considering spatial effects based on laser ranging to compensate for the shortcomings of long manual measurement cycle and low precision through the structure, thereby realizing real-time automatic and accurate monitoring of tunnel displacement and being able to monitor displacement in multiple directions at the same time, and monitoring the face advance, arch settlement and tunnel convergence at the same time, realizing that automatic monitoring is more accurate and timely than manual monitoring; and can provide guarantee for tunnel safety construction; and at the same time, side wall fixation, measurement angle fine adjustment, waterproof and anti-collision protection of the core measuring instrument are considered, thereby improving the service life of the equipment and ensuring the measurement accuracy; secondly, the data processing unit of the structure can realize the automatic identification and early warning judgment functions of surrounding rock parameters, and the monitoring and data processing results are uploaded to the cloud via the data transmission system integrated therein, so as to realize real-time acquisition by multiple terminals; thirdly, the identification of surrounding rock parameters based on the monitoring results takes into account the spatial effect of tunnel excavation, and the identification result is more accurate, that is to say, in the traditional tunnel surrounding rock parameter identification and displacement monitoring and early warning process, the distance of the monitoring position from the face has not been taken seriously in the previous monitoring process, but the change of this data will affect the other two displacement data, which represents the spatial effect of tunnel excavation. Therefore, it can be said that the present invention comprehensively considers the three monitoring contents to identify the tunnel surrounding rock parameters, and can obtain more accurate identification results. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] in:

[0042] Figure 1 It is a schematic diagram of the structure of the device of the present invention;

[0043] Figure 2 This is a structural schematic diagram of the data acquisition unit of the present invention;

[0044] Figure 3 It is a structural schematic diagram corresponding to the measurement structure of the present invention;

[0045] Figure 4 It is a structural schematic diagram of the direction adjustment structure of the present invention;

[0046] Figure 5 It is a structural schematic diagram of the horizontal support frame of the present invention;

[0047] Figure 6 It is a structural schematic diagram of the support structure of the present invention;

[0048] Figure 7 This is a schematic diagram of the distribution of space monitoring targets according to the present invention;

[0049] Figure 8 It is a plan view schematic diagram of the monitoring data conversion relationship of the present invention;

[0050] Fig. 9 It is a flowchart of the implementation process of the device of the present invention;

[0051] Fig.10 A schematic diagram of a numerical calculation model in one embodiment;

[0052] Fig.11 is a schematic diagram of a tunnel deformation characteristic curve in one embodiment;

[0053] Fig.12 A flowchart for implementing the tunnel parameter identification module in one embodiment;

[0054] Fig.13 A nonlinear mapping relationship topology diagram of the tunnel parameter identification module in one embodiment;

[0055] Fig.14 A curve diagram of tunnel measurement in one embodiment;

[0056] In the figure: 1. measurement structure, 11. arch measurement module, 12. arch waist measurement module, 13. construction surface measurement module, 14. vertical support frame, 15. horizontal support frame, 151. internal gear hole, 152. welding seam, 16. first connecting bolt, 17. direction adjustment structure, 171. first adjustment body, 172. plastic outer gear, 173. ball ring, 174. dial, 2. protection structure, 21. waterproof eaves, 22. tempered glass, 23. rotating shaft, 3. supporting structure, 31. horizontal support rod, 32. vertical support rod, 33. lateral support rod, 34. second connecting bolt, 35. expansion bolt, 4. data processing unit, 5. data transmission unit, 51. signal transmitting antenna. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0058] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It is understood that the terms "first", "second", etc. used in the present invention can be used to describe various elements in this article, but these elements are not limited by these terms. These terms are only used to distinguish the first element from another element. For example, without departing from the scope of the present application, the first element can be referred to as the second element, and similarly, the second element can be the first element. Both the first element and the second element are elements, but they are not the same element.

[0059] In view of the low frequency and poor accuracy of manual measurement in the current tunnel safety monitoring process, in this embodiment, a tunnel three-dimensional automatic laser ranging device with parameter identification function is developed, which has the following characteristics: (1) The designed integrated device can be directly installed on the tunnel lining surface. The device has a self-protection structure, has waterproof and blasting stone prevention functions, and can adjust the measurement angle according to the actual engineering situation, and has applicability to complex and harsh engineering environments; (2) It can simultaneously realize the monitoring of tunnel displacement data in three directions: arch settlement, tunnel perimeter convergence, and the distance between the monitoring position and the face, which can make up for the traditional monitoring error caused by the spatial effect of tunnel excavation; (3) The device integrates a surrounding rock parameter identification function module, which can use the intelligent calculation method integrated in the structure to accurately identify the current surrounding rock physical and mechanical parameters in real time according to the displacement data obtained by monitoring, and provide more intuitive data reference for engineering personnel. At the same time, the device is easy to install and disassemble, can be recycled, and has great cost advantages.

[0060] Based on the above design points, it can be known that the specific technical features of each unit of the device described in this embodiment include:

[0061] (1) A data acquisition unit, which has a specific measurement structure and can simultaneously obtain monitoring data on displacement changes in three directions: arch settlement, tunnel perimeter convergence, and the distance between the monitoring position and the tunnel face, so as to more comprehensively reflect the displacement change process of the tunnel under the influence of spatial effects; at the same time, the measurement unit also has a self-protection structure, so as to effectively realize the waterproof and blasting stone splashing functions of the precision measuring instrument for tunnel blasting construction and water-rich environment; the measurement unit also has an independent supporting and fixing structure, so as to provide a stable support and easy-to-disassemble support structure for the longitudinal extension characteristics of the tunnel project in space. After the construction of the current area is completed, the device can be disassembled and moved and used for the next target location, thereby improving the utilization efficiency of the structure of the present invention;

[0062] (2) A data processing unit, which can identify and obtain surrounding rock parameters close to the actual state based on the spatial effect deformation data collected by the measurement module; the unit is connected to the device in the form of an integrated circuit board to receive the data measurement results of the measurement unit and output the corresponding surrounding rock parameters; for example, the unit can pre-define the numerical calculation model of the target tunnel project and the nonlinear mapping model of surrounding rock displacement and parameters to achieve fast and accurate parameter identification during the application process; for tunnel construction design, the tunnel stability information expressed by the surrounding rock displacement measurement results is relatively vague, and the surrounding rock parameters output by this unit more intuitively reflect the current surrounding rock state, providing a direct reference for engineering control;

[0063] (3) A data transmission unit, which can classify, integrate, store and remotely transmit the surrounding rock parameter identification results output by the data processing unit and the surrounding rock displacement monitoring information obtained by the measurement unit. After the unit sends the data to the network cloud through the GPRS module, it can realize the synchronous release of data on multiple terminals such as web pages, mobile phones, and software platforms through the server, so as to meet the data recognition needs of different construction participating departments and provide engineering management personnel with more intuitive and comprehensive surrounding rock status data.

[0064] The three-dimensional laser ranging device with automatic identification function of tunnel surrounding rock parameters, which is composed of the above three units, can realize the monitoring of spatial effect displacement during tunnel construction and the identification and data release of surrounding rock parameters based on the monitoring results. The combined working form of each unit and the specific data flow are as follows: Fig. 9 shown.

[0065] like Figure 1-8 As shown, based on the above scheme, it can be known that the present invention first develops a data acquisition unit for tunnel spatial feature information to be applied to the monitoring process of the three targets of tunnel section arch settlement, tunnel perimeter convergence, and monitoring position distance from the tunnel face of the present device. In the traditional tunnel surrounding rock parameter identification and displacement monitoring and early warning process, the distance of the monitoring position from the tunnel face has not been taken seriously in the previous monitoring process, but the change of this data will affect the other two displacement data, which represents the spatial effect of tunnel excavation. Before the specific tunnel excavation, the original rock at the location to be excavated has a supporting effect on the upper strata, ensuring the overall stability of the confining pressure; after excavation, this part of the rock mass is excavated, and the upper rock mass loses its original support balance and will be deformed; and as the excavation face continues to move forward, that is, the volume of the excavated rock mass continues to increase, this phenomenon will become more and more obvious. The above excavation process is represented by the distance of the monitoring position from the tunnel face in data, and the rock mass displacement at this time is represented by arch settlement and tunnel perimeter convergence. That is, the settlement of the arch crown and the convergence of the tunnel perimeter will be affected by the distance between the monitoring position and the tunnel face. The displacement curve of the tunnel surrounding rock during the excavation process is shown in the figure below: Fig.12As shown in the figure, it can be seen that the surrounding rock deformation is closely related to the tunnel construction location. Therefore, it is necessary to fully consider the distance between the monitoring location and the tunnel face during the monitoring process. That is, comprehensive consideration of the three monitoring contents for tunnel surrounding rock parameter identification will obtain more accurate identification results. Secondly, the surrounding rock parameter identification and tunnel safety warning are carried out through the preset surrounding rock parameter rapid identification strategy. The monitoring and data processing results are uploaded to the cloud via the data transmission unit integrated in the device, which can realize real-time data acquisition of multiple terminals.

[0066] The data acquisition unit mainly consists of three parts: measurement structure 1, protection structure 2, and support structure 3; the measurement structure 1 can adjust the monitoring direction and obtain the tunnel space feature information corresponding to the current monitoring direction, preferably using a laser rangefinder; the protection structure 2 contains the measurement structure 1, and the protection structure 2 can protect the precision ranging instrument. Its main function is to achieve the protection effect of the measurement structure under a complex construction environment. The main protection targets are the water environment, high dust particle environment, accidental collision, etc. that may appear on site; the support structure 3 can fix the measurement module 1 and the protection structure 2 to the tunnel side wall installation point. The user can adjust the monitoring direction of each measurement module according to actual needs to achieve the same laser ranging device to monitor three tunnel side wall monitoring points at the same time.

[0067] In a specific embodiment, the measurement structure includes: an arch measurement module 11, an arch waist measurement module 12, a construction surface measurement module 13, a vertical support frame 14, a horizontal support frame 15, and a connecting bolt 16; wherein the arch measurement module 11 is fixed on the vertical support frame 14 to obtain the tunnel space feature sampling data between the installation point and the arch monitoring point in the corresponding arch monitoring direction; the arch waist measurement module 12 is fixed on one of the right-angled trapezoidal plates of the horizontal support frame 15 to obtain the tunnel space feature sampling data between the installation point and the arch waist monitoring point in the corresponding arch waist monitoring direction; the construction surface measurement module 13 is fixed on another right-angled trapezoidal plate of the horizontal support frame 15 to obtain the tunnel space feature sampling data between the installation point and the construction surface monitoring point in the corresponding arch waist monitoring direction; the horizontal support frame 15 is fixed inside the protective structure, and is composed of two right-angled trapezoidal plates welded to each other to form a right-angle bent plate, and the welding seam 152 of the two is as shown Figure 4 The vertical support frame 14 is connected to the horizontal support frame by a first connecting bolt 16.

[0068] In a specific embodiment, the arch crown measurement module 11 , the arch waist measurement module 12 , and the construction surface measurement module 13 all adjust the corresponding monitoring directions through the adjustment structure 16 .

[0069] In a specific embodiment, the direction adjustment structure 16 includes: the direction adjustment structure 16 is fixed in the internal gear hole structure 151 (a steel internal gear hole can be used) opened on the surface of the horizontal support frame 15, wherein the direction adjustment structure includes: a first adjustment body 171, a second adjustment body 172 and a ball ring 173, wherein, as Figure 2 , the first adjustment body 171 is fixed at a certain end of a measurement, such as a cylindrical structure; the second adjustment body 172 is fixed at the center of the first adjustment body to form an integrated structure, so that when the second adjustment body changes its position, it drives the measurement module to adjust its position and thus realize the adjustment of the monitoring direction. The diameter of the second adjustment body is smaller than the diameter of the first adjustment body and a plastic external gear structure is arranged around the outer diameter of the second adjustment body; it can be inserted into the internal gear hole 151 to achieve meshing and fixing; the ball ring 173 is embedded in the groove provided on the lower surface of the first adjustment body. From the above structure, it can be known that since the plastic material has a certain degree of deformability, when the first adjustment body 171 is rotated, the second adjustment body 172 and the internal gear hole 151 are displaced, thereby realizing the purpose of rotating the integrated structure. At the same time in this process, by setting a ball ring embedded in the groove on the lower surface of the first adjusting body 171, such as making it slightly protrude from the lower surface of the first adjusting body 171, the friction between the direction adjustment structure and the surface of the horizontal support frame is reduced, thereby helping rotation; thereby achieving the measurement direction adjustment of the arch crown measurement module, the arch waist measurement module, and the construction surface measurement module by adjusting the direction adjustment structure; and a dial 174 can also be set on the surface of the horizontal support frame 15 to help users accurately confirm the rotation angle.

[0070] In a more specific embodiment, the present invention may limit the specific types and properties of the laser ranging modules, that is, the two modules for measuring the vault settlement and the cave perimeter convergence need to have an accuracy of 10 -3 m and above, with a measuring range of 15 m and above; the module for measuring the distance between the monitoring position and the tunnel face must have an accuracy of 10 -1 m and above, and the measuring range is 50m and above.

[0071] In a specific embodiment, the protection structure includes a box structure consisting of a cover plate, a side plate and a bottom plate; wherein one side of the cover plate is fixed to the side plate by a rotating shaft 23, so that the cover plate can rotate around the rotating shaft, and then the box structure is opened to install and adjust the measuring module; and the box structure is provided with tempered glass 22 that enables the measuring laser emitted by the measuring module to be emitted unobstructed, that is, the tempered glass 22 passes through each monitoring direction to ensure that the laser of the measuring module can be emitted unobstructed, and has a certain impact resistance to prevent the flying rocks generated by tunnel blasting from splashing and damaging the measuring module.

[0072] In a specific embodiment, the side panels include a first side panel, a second side panel and a third side panel; the first side panel fixes the cover panel 21 via a rotating shaft 23, the height of the second side panel is lower than the first side panel and a side wall structure with an inclination is formed by the second side panel, so that the cover panel arranged on the side wall structure can be used as a waterproof inclined surface to prevent water accumulation on the upper surface of the box body and form a waterproof eaves 21, thereby providing protection for the internal measurement module. Preferably, the protective structure is made of welded steel plates as a whole.

[0073] In a more specific embodiment, Figure 6 The support structure includes a horizontal support rod 31, a vertical support rod 32, and a lateral support rod 33, wherein one end of the horizontal support rod 31 is fixed to the tunnel side wall, and the other end is connected to the lateral support rod 33; the other end of the lateral support rod 33 is fixed to the tunnel side wall; one end of the vertical support rod 32 is fixed to the horizontal support rod 31, and the other end is fixed to the lateral support rod 33, and both ends of the lateral support rod 33 are fixed to the horizontal support rod 31 and the vertical support rod 32 by connecting bolts 34, and the horizontal support rod 31 and the vertical support rod 32 are fixed to the tunnel side wall by expansion bolts 35. In addition, the support structure is connected to the protective structure by welding, and the support structure is easy to disassemble and has flexibility, so as to ensure that the device of the present invention can be reused.

[0074] The distance data measured by the data acquisition unit is transmitted to the data processing unit via the data line, and then transmitted to the data transmission unit, and uploaded to the Internet database via the signal transmitting antenna 51 of the unit, so that different units can access the data. The data transmission process is as follows: Figure 1 shown.

[0075] In a specific embodiment, the process of creating the surrounding rock parameter rapid identification strategy includes:

[0076] S1. Establishing orthogonal sample data consisting of multiple groups of different combinations of basic parameters of tunnel surrounding rocks, wherein the basic parameters of tunnel surrounding rocks at least include elastic modulus and Poisson's ratio;

[0077] S2. The tunnel spatial characteristic sampling data corresponding to each tunnel surrounding rock parameter combination is obtained by numerical calculation and a mapping sample group is formed to create a training set for identifying the basic parameter data of the surrounding rock based on the displacement monitoring data. The calculation model is as follows: Fig.11 As shown;

[0078] S3. Determine the mapping relationship corresponding to the training set to obtain a nonlinear mapping model, and based on the nonlinear mapping model, perform corresponding surrounding rock parameter identification on the sampling data collected by the measurement module; the sampling data also includes three data: arch crown settlement, tunnel perimeter convergence, and the distance between the monitoring position and the heading face, so as to ensure that the spatial effect in the tunnel excavation process can be effectively reflected and a more accurate surrounding rock parameter identification result can be obtained.

[0079] In a more specific embodiment, the S2 includes:

[0080] S21, based on the determined data of the distance between the monitoring position and the tunnel face, obtaining the data of the arch settlement and tunnel perimeter convergence of the monitoring section corresponding to each combination of elastic modulus and Poisson's ratio;

[0081] S22, forming a mapping sample group to create a training set for identifying basic parameter data of surrounding rock based on displacement monitoring data; wherein the mapping sample group is expressed in the form of:

[0082]

[0083] Among them, the matrix X is composed of the spatial characteristic sampling data of each group of tunnels, and the matrix Y is composed of the surrounding rock parameters of the monitoring location, that is, x i The settlement of the vault including the monitoring section x ipd 、Convergence around the hole x iLd And the distance data d between the monitoring position and the tunnel face i ,y i Contains elastic modulus E i and Poisson's ratio μ i , then the corresponding mapping relationship is expressed as

[0084]

[0085] In a more specific embodiment, the S3 includes:

[0086] S31. Assume that the matrix Y corresponding to the matrix X obeys the normal distribution, then the distribution characteristic matrix of Y is:

[0087]

[0088] The formula can be simplified as

[0089] Among them, μ1, μ2, μ3...μ n is the mean vector of this joint distribution; k ij is the covariance matrix; k in the covariance matrix ij The following kernel function is used for solution:

[0090]

[0091] Where λ is the correlation coefficient, which is a constant; x i 、x j is the data x in the training set.

[0092] Then for a new target y* to be predicted, assuming that it belongs to the same n+1-dimensional joint normal distribution as the training set, the distribution model is expressed as:

[0093]

[0094] In the formula, y*~N(μ*,σ*)

[0095] It can be solved Where μ* and σ* are the mean and variance of the parameters to be determined. Repeat this process to complete the target elastic modulus E to be predicted. i and Poisson's ratio μ i Solving for distribution parameters;

[0096] In the calculation process of the above model, the newly added k in the rightmost covariance matrix 1* , k *1 ....k ** According to the above kernel function, the measured displacement data (vault settlement x of the monitoring section) can be used to calculate the displacement data. ipd 、Convergence around the hole x iLd And the distance data d between the monitoring position and the tunnel face i ) is used for calculation; the y* obtained by calculation is the desired surrounding rock parameter.

[0097] S32. Based on the nonlinear mapping model, corresponding surrounding rock parameters are identified for the sampling data collected by the data collection unit.

[0098] The device of the present invention can be divided into a data acquisition unit, a data processing unit and a data transmission unit. The overall implementation flow chart is shown in Fig. 9 .

[0099] Based on the above design principles and corresponding technical solutions, further explanation is given below in the form of actual implementation examples:

[0100] Step 1: Installation of monitoring device and acquisition of measurement data:

[0101] First, install it at the appropriate location on the side wall of the required monitoring section. Figure 6 The support structure shown is fixed to the side wall by expansion bolts, and the bolts are inserted into the reserved screw holes and then welded to ensure stability; secondly, install Figure 2The protective structure shown in the figure is used to connect and tighten the protective module by inserting the reinforcing bolts into the reserved screw holes. At the same time, it should be noted that the installation direction should be confirmed according to actual needs. The principle is to ensure that the output lens of the measurement module and the surface of the high-transmittance glass 22 should face the position to be measured. Open the protective structure, i.e., the cover plate, to facilitate the installation of the measurement module in the next step. Again, on the basis of the installed support and protective structure, the measurement module is installed, and the placement direction of the measurement module is confirmed according to the direction of the monitoring target. The direction adjustment structure is used to achieve accurate collection position determination. The laser rangefinder is turned on, and the data acquisition unit and the data transmission unit 5 are debugged to confirm the overall connectivity of the device. Finally, after the target position monitoring is completed, the expansion bolts connecting the device to the side wall are cut off, and the device as a whole is moved to the next position to be monitored for the next monitoring cycle.

[0102] Step 2: Monitoring objectives and data processing:

[0103] Specific tunnel space monitoring target process such as Figure 7 As shown in the figure, the structures are: I1. Three-layer measurement device, I2. Arch measurement point, I3. Arch waist measurement point, I4. Face measurement point, I5. Face measurement angle, I6. Rock mass to be excavated; (1) Among them, the arch and arch waist measurement points are denoted as A and B respectively, and the plan schematic diagram is shown in the figure. The diameter of the tunnel before excavation, that is, BC, is m; the distance from the arch to the tunnel centerline, that is, AD, is n. A set of two laser distance measuring devices located at point C measure the AC direction data as a, and the BC direction data as b; then, the tunnel circumference convergence calculation formula is: x L =mb The calculation formula for tunnel vault settlement is: Where m and n are known tunnel design data, then the tunnel crown settlement and tunnel perimeter convergence values ​​can be obtained based on the measured data a and b. (2) Figure 7 The angle between the middle structure 5 is θ, and the measured distance between the measuring point and the tunnel face is c. Then the actual distance between the monitoring section and the tunnel face is x. f =c·sinθ, where θ is the controllable value and c is the measured value, then x f =c·sinθ.

[0104] Step 3: Calculate the surrounding rock parameter identification result corresponding to the current tunnel spatial feature information based on the preset surrounding rock parameter rapid identification strategy: The creation process of the surrounding rock parameter rapid identification strategy includes:

[0105] S1. Establishing orthogonal sample data consisting of multiple groups of different combinations of basic parameters of tunnel surrounding rocks to form different combination samples between these groups of parameters, wherein the basic parameters of tunnel surrounding rocks at least include elastic modulus E and Poisson's ratio μ;

[0106] S2. Through numerical calculation, the corresponding tunnel spatial characteristic sampling data under each tunnel surrounding rock parameter combination is obtained and a mapping sample group is formed to create a training set for identifying the basic parameter data of the surrounding rock based on the displacement monitoring data. The calculation model is as follows: Fig.11 As shown; the S2 includes:

[0107] S21. Based on the determined monitoring position distance data from the tunnel face, obtain the crown settlement and tunnel convergence data of the corresponding monitoring section under each combination of elastic modulus and Poisson's ratio; for example, the corresponding three-dimensional numerical model of the tunnel can be established through the FLAC3D platform, and dynamic excavation calculation can be performed to obtain the crown settlement and tunnel convergence of the monitoring section during the dynamic excavation process under different E and μ combinations. (That is, a dynamic excavation simulation process must be performed for each group of samples in the middle);

[0108] S22, forming a mapping sample group to create a training set for identifying basic parameter data of surrounding rock based on displacement monitoring data; wherein, for a group of samples E i , μ i , respectively record the distance d between the excavation monitoring position and the tunnel face i The vault settlement x of the monitored section at time m ipd 、Convergence around the hole x iLd , then we get a set of mapping relations:

[0109]

[0110] Further abstract formula (1) into:

[0111] x i →y i

[0112] By performing dynamic excavation calculation on each sample group, more mapping samples can be obtained, which can form the expression form of the mapping sample group as follows:

[0113]

[0114] In this way, we obtain a training set for identifying basic parameter data of surrounding rock through displacement monitoring data.

[0115] S3, determining the mapping relationship corresponding to the training set to obtain a nonlinear mapping model, and based on the nonlinear mapping model, performing corresponding surrounding rock parameter identification on the sampling data collected by the measurement module; S3 includes:

[0116] S31. In order to obtain the mapping relationship of this training set, the matrix Y corresponding to the matrix X is set to obey the normal distribution, and Y is modeled according to the nonlinear mapping process. The corresponding model formula is:

[0117]

[0118] The formula is simplified to

[0119] Among them, μ1, μ2, and μ3 are the eigenvectors of this joint normal distribution; they do not need to be solved because they will be reduced later. ij The following kernel function is used for solution:

[0120]

[0121] Where λ is the correlation coefficient, is a constant, and x i 、x j is the data in the training set.

[0122] Then for a new target y* to be predicted, assuming that it belongs to the same 4-dimensional joint normal distribution as the training set, the nonlinear mapping model is expressed as:

[0123]

[0124] In the formula, y*~N(μ*,σ*)

[0125] It can be solved

[0126] At this point, the target elastic modulus E has been predicted. i and Poisson's ratio μ i Solving for distribution parameters.

[0127] S32, such as Figure 10-14 Based on the nonlinear mapping model, the corresponding surrounding rock parameters are identified for the sampling data collected by the measurement structure. Specifically, during construction, we can obtain the actual displacement monitoring results. According to this monitoring result, we seek to obtain the corresponding surrounding rock parameters through the mapping relationship established by the previous step of obtaining the displacement → parameter mapping process, so as to realize the automatic identification and acquisition of surrounding rock parameters and issue early warning. The advantages of the above process are: (1) the displacement change process on the spatial scale is comprehensively considered, and the obtained parameter identification results will be more accurate; (2) a nonlinear mapping calculation method of tunnel surrounding rock displacement → parameter is established, which more accurately describes the complex functional relationship between surrounding rock displacement and surrounding rock parameters under the action of spatial effect.

[0128] The surrounding rock displacement curve obtained by the embodiment of the present invention is as follows: Fig.14 As shown, it can be seen that the obtained displacement monitoring curve better expresses the influence of the spatial effect, and the monitoring data has good continuity. The curve is smooth and stable as a whole, indicating that the monitoring system operates stably and has high monitoring accuracy.

[0129] The surrounding rock parameter identification results obtained by the embodiment of the present invention in real time and the comparison with the original design results are shown in Table 1. According to field verification, the surrounding rock parameters obtained by the embodiment of the present invention are closer to the actual situation.

[0130] Table 1 is a comparison table of tunnel surrounding rock design parameters and identification parameters of the device of the present invention in one embodiment.

[0131]

[0132] Step 4: Data processing and publishing: The above-mentioned surrounding rock parameter automatic identification process can be compiled into a C language calculation program, written into a microcomputer processing chip, and installed in the data acquisition and processing module. In order to integrate and calculate the collected data according to the actual measured results of the surrounding rock parameter data, the surrounding rock parameter calculation results can be obtained. At the same time, the calculation results can be further sent to the cloud through the GPRS module to realize real-time access and query of the calculation results by multiple terminals.

[0133] By implementing the embodiments of the present invention, firstly, the intelligent and automated real-time monitoring of distance parameters during the tunnel construction process is realized, which makes up for the defects of poor real-time performance and measurement errors of traditional manual monitoring; further, based on the aforementioned measurement results, the surrounding rock parameters are automatically identified under the condition of considering the spatial effect, and more accurate surrounding rock parameter identification results are obtained compared with the traditional parameter inverse analysis method; finally, based on the identified parameters, a numerical calculation method can be used to generate the longitudinal deformation curve of the tunnel, and the tunnel stability evaluation and early warning under the influence of the spatial effect are carried out accordingly. Therefore, it can be said that the present invention realizes the measurement and evaluation application of tunnel spatial effect information, and can obtain more accurate surrounding rock parameter identification results in real time and use them as a basis for tunnel stability judgment, which is suitable for the dynamic design process of tunnel construction and improves the intelligent process of tunnel engineering.

[0134] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A tunnel three-dimensional automatic laser ranging device with parameter recognition function, characterized in that: include: A data acquisition unit, which can automatically and simultaneously acquire monitoring data on displacement changes in three directions: arch crown settlement, tunnel perimeter convergence, and distance between the monitoring position and the tunnel face; The data processing unit is capable of performing corresponding surrounding rock parameter identification on the sampling data collected by the measuring structure, i.e., the displacement change monitoring data, and obtaining the surrounding rock parameter identification result; The data transmission unit is capable of comparing the original surrounding rock parameter survey value with the surrounding rock parameter identification result and outputting the result to the engineering management personnel; wherein the data acquisition unit includes: A measurement structure, wherein the measurement structure is used to monitor and obtain displacement change monitoring data in three directions: arch crown settlement, tunnel perimeter convergence, and distance between the monitoring position and the tunnel face; a protection structure, wherein the measurement structure is accommodated in the protection structure; And a supporting structure, the supporting structure can fix the protective structure to the tunnel side wall, wherein the measuring structure includes: an arch measuring module, an arch waist measuring module, a construction surface measuring module, a vertical support frame, a horizontal support frame, and connecting bolts; wherein the arch measuring module is fixed to the vertical support frame to obtain the tunnel space feature sampling data between the installation point and the arch monitoring point in the corresponding arch monitoring direction; the arch waist measuring module is fixed to one of the right-angled trapezoidal plates of the horizontal support frame to obtain the tunnel space feature sampling data between the installation point and the arch waist monitoring point in the corresponding arch waist monitoring direction; the construction surface measuring module is fixed to another right-angled trapezoidal plate of the horizontal support frame to obtain the tunnel space feature sampling data between the installation point and the construction surface monitoring point in the corresponding arch waist monitoring direction; the horizontal support frame is fixed to the protective structure The structure is inside, and two right-angle trapezoidal plates are welded to each other to form a right-angle bent plate; the vertical support frame is connected to the horizontal support frame by connecting bolts; wherein the arch measurement module, the arch waist measurement module, and the construction surface measurement module all adjust the corresponding monitoring direction through the direction adjustment structure; wherein the direction adjustment structure is fixed in the internal gear hole structure opened on the surface of the horizontal support frame, wherein the direction adjustment structure includes: a first adjustment body, a second adjustment body and a ball ring, wherein the first adjustment body is fixed on the measurement module, the diameter of the second adjustment body is smaller than the diameter of the first adjustment body and is fixed at the center position of the first adjustment body to form an integrated structure, and at the same time, a plastic external gear structure is arranged circumferentially on the outer diameter of the second adjustment body; the internal gear hole structure and the plastic external gear structure are meshed with each other; the ball ring is embedded in the groove opened on the lower surface of the first adjustment body; The surrounding rock parameter rapid identification strategy corresponding to the data processing unit includes: S1. Establishing orthogonal sample data consisting of multiple groups of different combinations of basic parameters of tunnel surrounding rocks, wherein the basic parameters of tunnel surrounding rocks at least include elastic modulus and Poisson's ratio; S2, obtaining the tunnel spatial characteristic sampling data corresponding to each tunnel surrounding rock parameter combination and forming a mapping sample group to create a training set for identifying the basic parameter data of the surrounding rock based on the displacement monitoring data; S3, determining a mapping relationship corresponding to the training set to obtain a nonlinear mapping model, and based on the nonlinear mapping model, performing corresponding surrounding rock parameter identification on the sampling data collected by the measurement structure; The S2 includes: S21, based on the determined data of the distance between the monitoring position and the tunnel face, obtaining the data of the arch settlement and tunnel perimeter convergence of the monitoring section corresponding to each combination of elastic modulus and Poisson's ratio; S22, forming a mapping sample group to create a training set for identifying basic parameter data of surrounding rock based on displacement monitoring data; wherein the mapping sample group is expressed in the form of: Among them, the matrix X is composed of the spatial characteristic sampling data of each group of tunnels, and the matrix Y is composed of the surrounding rock parameters of the monitoring location, that is, x i Vault settlement including monitoring section , Convergence around the cave And the distance data d between the monitoring position and the tunnel face i ,y i Contains elastic modulus E i and Poisson's ratio μ i , then the corresponding mapping relationship is expressed as The S3 includes: S31. Assume that the matrix Y corresponding to the matrix X obeys the normal distribution, then the distribution characteristic matrix of Y is: The formula is simplified as Among them, μ1, μ2, μ3...μ n is the eigenvector of this joint distribution; k 11 , k 12 , k 13 ...k nn The resulting matrix is ​​the covariance matrix, which is denoted by k ij , which can be obtained by solving the matrix X; Then for a new target y* to be predicted, assuming that it belongs to the same n+1-dimensional joint normal distribution as the training set, the distribution model is expressed as: The above formula can be simplified as: y*~N(μ*,σ*) Solved Where μ* and σ* are the mean and variance of the parameters to be determined, respectively. Repeat this process to complete the target elastic modulus E to be predicted. i and Poisson's ratio μ i Solving for distribution parameters; S32: Based on the nonlinear mapping model, corresponding surrounding rock parameters are identified for the sampling data obtained by the data acquisition unit.

2. The tunnel three-dimensional automatic laser ranging device according to claim 1, characterized in that: The protective structure includes a box structure consisting of a cover plate, a side plate and a bottom plate; wherein one side of the cover plate is fixed to the side plate by a rotating shaft, so that the cover plate can rotate around the rotating shaft, and then the box structure is opened to install and adjust the measuring module; and the box structure is provided with tempered glass that enables the measuring laser emitted by the measuring module to be emitted unobstructed.

3. The tunnel three-dimensional automatic laser ranging device according to claim 2 is characterized in that: The side panels include a first side panel, a second side panel and a third side panel; the first side panel fixes the cover panel via a rotating shaft, the height of the second side panel is lower than that of the first side panel and an inclined side wall structure is formed by the second side panel, and a waterproof eaves is formed between the side wall structure and the cover panel.

4. The tunnel three-dimensional automatic laser ranging device according to claim 1, characterized in that: The support structure includes horizontal support rods, vertical support rods, and lateral support rods, wherein one end of the horizontal support rod is fixed to the side wall of the tunnel, and the other end is connected to the lateral support rod; the other end of the lateral support rod is fixed to the side wall of the tunnel; one end of the vertical support rod is fixed to the horizontal support rod, and the other end is fixed to the lateral support rod.

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