Rapid detection device and method for subway tunnel settlement based on laser radar

Abstract

The present invention provides a rapid detection device for subway tunnel settlement based on laser radar and a detection method thereof. The detection vehicle is arranged on a ground rail, and a plurality of laser radars are arranged on the upper end of the detection vehicle, and a plurality of marking plates are also arranged. The marking plates are used to be arranged on both sides of the tunnel, and the laser radars scan the positions of the plurality of marking plates. The detection vehicle is electrically connected to the detection vehicle control computer, and the data processor is electrically connected to the plurality of laser radars, and the data processor is electrically connected to the data server. The marking plate can play a marking role, and the coordinates of the marking plate can also be compared with the coordinate data in the data server at any time. By comparing the data of the marking plate with an algorithm, the detected data is obtained, and the gap between the coordinate data of the last detection and the latest detection data can be intuitively seen. The method of the present invention is simple, easy to promote, and has great application value.

Description

Technical Field

[0001] The invention relates to the field of visibility meters, and in particular to a rapid detection device for subway tunnel settlement based on laser radar and a detection method thereof. Background Art

[0002] Iron tunnels are usually constructed using the shield method, and their linings are made of spliced ​​segments. Due to the high sensitivity and compressibility of coastal soft soil, tunnels are prone to tunnel settlement and longitudinal deformation during long-term use, resulting in tunnel leakage, lining cracks, track distortion, and even threats to driving safety in severe cases. Shen et al. published "Long-term settlement behavior of the metro tunnel in the soft deposits of Shanghai" in "Tunnelling and Underground Space Technology" in 2014, pointing out that the long-term settlement of soft soil shield tunnels is caused by the combined effects of regional ground settlement, adjacent tunnel construction, tunnel leakage, tunnel excavation, and train loads, but the influence of each factor is still difficult to distinguish. In order to control tunnel settlement and deformation in a targeted manner, it is necessary to clarify the influence of each factor on tunnel settlement.

[0003] The tunnel settlement deformation devices currently used generally have special staff to conduct regular monitoring of the tunnel's internal vault. In engineering, real-time monitoring of joint deformation is usually carried out to intuitively reflect the condition of the tunnel structure, thereby avoiding the occurrence of major disasters. However, existing tunnels are not equipped with special equipment to monitor the differential settlement and deformation of the tunnel. One of the commonly used methods is point-based monitoring, which requires repeated operations on multiple sections and is severely restricted by coordinate control points. The monitoring error is large and the operation is cumbersome. It cannot effectively reflect the displacement changes within the entire length of the tunnel and is not convenient for research. Summary of the invention

[0004] The main purpose of the present invention is to provide a rapid detection device for subway tunnel settlement based on laser radar and its detection method, so as to solve the problems of point-based monitoring, the need for repeated operations on multiple sections, severe restrictions on coordinate control points, large monitoring errors and cumbersome operations, and the inability to effectively reflect the displacement changes over the entire length of the tunnel, which is not convenient for research.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a rapid detection device for subway tunnel settlement based on laser radar, wherein a detection vehicle is set on the ground rail, and multiple laser radars are provided on the upper end of the detection vehicle, and multiple marking plates are also provided. The marking plates are used to be set on both sides of the tunnel, and the laser radar scans the positions of multiple marking plates. The detection vehicle is electrically connected to the detection vehicle control computer, the data processor is electrically connected to the multiple laser radars, and the data processor is electrically connected to the data server.

[0006] In a preferred embodiment, the marking plate includes a first marking plate and a second marking plate, and the first marking plate and the second marking plate are respectively arranged on both sides of the tunnel;

[0007] The second marking plate is arranged on the segment lining by inserting a rod through the inner lining.

[0008] In a preferred embodiment, a first avoidance hole is provided on the inner lining, and the insertion rod passes through the first avoidance hole and is inserted into the interior of the segment lining.

[0009] In a preferred embodiment, the first marking plate is arranged on a mounting rod, the mounting rod passes through the segment lining and the end of the mounting rod protrudes out of the segment lining surface.

[0010] In a preferred embodiment, a second avoidance hole is further provided on the tunnel, and the mounting rod passes through the second avoidance hole and extends out of the segment lining surface.

[0011] In a preferred embodiment, a first laser radar is provided on both sides of the detection vehicle, and a second laser radar is provided on the front and rear surfaces of the detection vehicle.

[0012] In the preferred embodiment, the top of the inspection vehicle is electrically connected to the transmission line through an electrical stand, and the transmission line is electrically connected to the control computer and data processor of the inspection vehicle.

[0013] In the preferred embodiment, a plurality of ground pressure sensors are provided on the lower surface of the segment lining, and the ground pressure sensors are electrically connected to the data processor.

[0014] The method includes:

[0015] S1. Inspection vehicle control computer controls the inspection vehicle to run inside the tunnel. The first laser radar and the second laser radar of the inspection vehicle scan the tunnel to form point cloud data. Multiple ground pressure sensors detect the compaction data between the segment lining and the ground to detect whether the ground pressure under the segment lining is normal.

[0016] S2, the first laser radar and the second laser radar scan the second marking plate and the first marking plate in the tunnel, and the second marking plate, the first marking plate and the tunnel are combined to form point cloud data, and the point cloud data forms a 3D tunnel point cloud data map;

[0017] S3, the data server stores the point cloud data of the first marking plate and the second marking plate of the first laser radar scan of the tunnel, and transmits the formed 3D point cloud data map of the tunnel to the data processor, and the data processor compares the point cloud data with the original data in the data server for similarity;

[0018] S4, detecting the latest 3D tunnel point cloud data map and comparing it with multiple data in the data server, and performing similarity comparison between the data in the data server and the latest 3D tunnel point cloud data map to confirm the changes in each position of the latest 3D tunnel point cloud data map;

[0019] S5. The latest 3D tunnel point cloud data map is X, and the data in the data server is Y;

[0020] The similarity comparison formula for the difference between the latest data X and the data Y in the data server is:

[0021]

[0022] In the formula, n is the total number of features, a xh is the hth eigenvalue of the latest data X, ω h is the hth feature weight, so the feature value has been normalized; the mean is 0 and the standard deviation is 1;

[0023] The similarity of the data is located as follows:

[0024]

[0025] The similarity comparison between the data in the data server and the latest 3D tunnel point cloud data map is as follows:

[0026] Step 1: Calculate the similarity of the feature data of the "latest 3D tunnel point cloud data map" and the "data in the data server" using the Euclidean distance;

[0027] Step 2: Perform weighted calculation on the matching degree of the latest coordinate data of a single first marking plate or a second marking plate to obtain a match with the coordinate data measured last time.

[0028] The present invention provides a rapid detection device for subway tunnel settlement based on laser radar and a detection method thereof. The laser radar collects data inside the tunnel to obtain the orientation, height and shape parameters of the tunnel. In order to more conveniently compare the detection data, multiple marking plates are arranged in the tunnel. The marking plates can play an identification role. The coordinates of the marking plates can also be compared with the coordinate data in the data server at any time. By comparing the data of the marking plates with an algorithm and obtaining the detected data, the difference between the coordinate data of the last detection and the latest detection data can be intuitively seen. The method of the present invention is simple, easy to promote, and has great application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The present invention will be further described below in conjunction with the accompanying drawings and embodiments:

[0030] Figure 1 is a schematic cross-sectional view of a subway tunnel of the present invention;

[0031] Figure 2 It is a schematic diagram of the cross-section operation of the detection vehicle of the present invention;

[0032] Figure 3 It is a diagram of the tunnel detection data structure of the detection vehicle of the present invention.

[0033] In the figure: segment lining 1; inner lining 2; first avoidance hole 201; transmission line 3; subway track 4; ground rail 5; mounting rod 6; first marking plate 7; insertion rod 8; second marking plate 9; inspection vehicle 10; first laser radar 11; second laser radar 12; mounting base 13; ground pressure sensor 14; second avoidance hole 15; inspection vehicle control computer 16; data processor 17; data server 18. DETAILED DESCRIPTION

[0034] Example 1

[0035] like Figures 1 to 3 As shown, a rapid detection device for settlement of a subway tunnel based on laser radar, a detection vehicle 10 is arranged on the ground rail 5, a plurality of laser radars are arranged on the upper end of the detection vehicle 10, and a plurality of marking plates are also arranged, the marking plates are used to be arranged on both sides of the tunnel, the laser radars scan the positions of the plurality of marking plates, the detection vehicle 10 is electrically connected to the detection vehicle control computer 16, the data processor 17 is electrically connected to the plurality of laser radars, and the data processor 17 is electrically connected to the data server 18. The laser radar collects the data inside the tunnel, and obtains the orientation, height and shape parameters of the tunnel. In order to make it easier to compare the detection data, a plurality of marking plates are arranged in the tunnel, and the marking plates can play a role of identification. The coordinates of the marking plates can also be compared with the coordinate data in the data server 18 at any time. By using an algorithm to compare the data of the marking plates, the detection data is obtained, and the difference between the coordinate data of the last detection and the latest detection data can be intuitively seen.

[0036] In the preferred embodiment, the marking plate includes a first marking plate 7 and a second marking plate 9, which are respectively arranged on both sides of the tunnel; the first marking plate 7 is arranged on one side of the partition wall, and the second marking plate 9 is arranged on the circular arc wall of the tunnel.

[0037] The second marking plate 9 is set on the segment lining 1 by inserting the rod 8 through the lining 2. The rod 8 is used to install the second marking plate 9

[0038] In the preferred embodiment, the inner lining 2 is provided with a first avoidance hole 201, and the insertion rod 8 passes through the first avoidance hole 201 and is inserted into the segment lining 1. When the segment lining 1 settles or deforms, the segment lining 1 will drive the second marking plate 9 to move, which can more accurately reflect the position information of the segment lining 1. Since the inner lining 2 will vibrate when the subway passes, the first avoidance hole 201 is opened on the inner lining 2, which can better reflect the position of the segment lining 1.

[0039] In the preferred embodiment, the first marking plate 7 is arranged on the mounting rod 6, and the mounting rod 6 passes through the segment lining 1 and the end thereof protrudes from the surface of the segment lining 1. The tunnel is also provided with a second avoidance hole 15, and the mounting rod 6 passes through the second avoidance hole 15 and protrudes from the surface of the segment lining 1. The mounting rod 6 is directly inserted into the soil outside the tunnel, so the first marking plate 7 is a fixed object, and when settlement occurs, the first marking plate 7 will not change, and the height data of the first marking plate 7 can also be used as settlement data calculation.

[0040] In a preferred embodiment, first laser radars 11 are provided on both sides of the inspection vehicle 10, and second laser radars 12 are provided on the front and rear surfaces of the inspection vehicle 10. The first laser radar 11 and the second laser radar 12 collect cloud point data of the tunnel.

[0041] In the preferred embodiment, the top of the inspection vehicle 10 is electrically connected to the transmission line 3 through the electrical stand 13, and the transmission line 3 is electrically connected to the inspection vehicle control computer 16 and the data processor 17. The inspection vehicle 10 is electrically connected to the inspection vehicle control computer 16 and the data processor 17 through the transmission line 3.

[0042] A plurality of ground pressure sensors 14 are provided on the lower surface of the segment lining 1, and the ground pressure sensors 14 are electrically connected to the data processor 17. The plurality of ground pressure sensors 14 detect the compression data between the segment lining 1 and the ground, and detect whether the ground pressure below the segment lining 1 is normal.

[0043] Example 2

[0044] Further illustrate with reference to Example 1, Figure 1-3 In the structure shown, the inspection vehicle control computer 16 controls the inspection vehicle 10 to run inside the tunnel, and the first laser radar 11 and the second laser radar 12 of the inspection vehicle 10 scan the tunnel to form point cloud data;

[0045] The first laser radar 11 and the second laser radar 12 scan the second marking plate 9 and the first marking plate 7 in the tunnel, and the second marking plate 9, the first marking plate 7 and the tunnel together form point cloud data, and the point cloud data forms a 3D tunnel point cloud data map;

[0046] The data server 18 internally stores the point cloud data of the first marking plate 7 and the second marking plate 9 of the first laser radar scan of the tunnel, and transmits the 3D point cloud data map of the tunnel to the data processor 17, and the data processor 17 compares the point cloud data with the original data in the data server 18 for similarity;

[0047] Detect the latest 3D tunnel point cloud data map and compare it with multiple data in the data server 18, compare the data in the data server 18 with the latest 3D tunnel point cloud data map for similarity, and confirm the changes in each position of the latest 3D tunnel point cloud data map;

[0048] The latest 3D tunnel point cloud data map is X, and the data in the data server 18 is Y;

[0049] The similarity comparison formula for the difference between the latest data X and the data Y in the data server 18 is:

[0050]

[0051] In the formula, n is the total number of features, a xh is the hth eigenvalue of the latest data X, ω h is the hth feature weight, so the feature value has been normalized; the mean is 0 and the standard deviation is 1;

[0052] The similarity of the data is located as follows:

[0053]

[0054] The data in the data server 18 is compared with the latest 3D tunnel point cloud data map for similarity:

[0055] Step 1: Calculate the similarity of the feature data of the "latest 3D tunnel point cloud data map" and the "data in the data server 18" using the Euclidean distance;

[0056] Step 2: Perform weighted calculation on the matching degree of the latest coordinate data of a single first marking plate 7 or a second marking plate 9 to obtain a match with the coordinate data measured last time.

[0057] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A control method for a rapid detection device for subway tunnel settlement based on laser radar; its characteristics are: The detection device comprises a detection vehicle (10) arranged on a ground rail (5); a plurality of laser radars are arranged on the upper end of the detection vehicle (10); a plurality of marking plates are also arranged; the marking plates are used to be arranged on both sides of a tunnel; the laser radars scan the positions of the plurality of marking plates; the detection vehicle (10) is electrically connected to a detection vehicle control computer (16); a data processor (17) is electrically connected to the plurality of laser radars; the data processor (17) is electrically connected to a data server (18); The marking plate comprises a first marking plate (7) and a second marking plate (9); the first marking plate (7) and the second marking plate (9) are respectively arranged on both sides of the tunnel; The second marking plate (9) is arranged on the segment lining (1) by means of an insertion rod (8) passing through the inner lining (2); A first avoidance hole (201) is provided on the inner lining (2); the insertion rod (8) passes through the first avoidance hole (201) and is inserted into the interior of the segment lining (1); The first marking plate (7) is arranged on the mounting rod (6); the mounting rod (6) passes through the segment lining (1) and the end of the mounting rod (6) protrudes from the surface of the segment lining (1); The mounting rod (6) is inserted directly into the soil outside the tunnel; The method includes: S1, the inspection vehicle control computer (16) controls the inspection vehicle (10) to run inside the tunnel; the first laser radar (11) and the second laser radar (12) of the inspection vehicle (10) scan the tunnel to form point cloud data; a plurality of ground pressure sensors (14) detect the compaction data between the segment lining (1) and the ground; and detect whether the ground pressure below the segment lining (1) is normal; S2, the first laser radar (11) and the second laser radar (12) scan the second marking plate (9) and the first marking plate (7) in the tunnel; the second marking plate (9), the first marking plate (7) and the tunnel are used together to form point cloud data; the point cloud data forms a 3D tunnel point cloud data map; S3, the data server (18) internally stores the point cloud data of the first marking plate (7) and the second marking plate (9) of the first laser radar scan of the tunnel; transmits the formed 3D tunnel point cloud data map to the data processor (17); the data processor (17) performs a similarity comparison between the point cloud data and the original data in the data server (18); S4, detecting the latest 3D tunnel point cloud data map and comparing it with multiple data in the data server (18); performing similarity comparison between the data in the data server (18) and the latest 3D tunnel point cloud data map; confirming the changes in each position of the latest 3D tunnel point cloud data map; S5, the latest 3D tunnel point cloud data map is X; the data in the data server (18) is Y; The similarity comparison formula of the difference between the latest data X and the data Y in the data server (18) is: Where n is the total number of features; is the hth eigenvalue of the latest data X; is the hth feature weight; so the feature value has been normalized; the mean is 0; the standard deviation is 1; The similarity of the data is located as follows: The data in the data server (18) is compared with the latest 3D tunnel point cloud data map for similarity: Step 1: Calculate the similarity of the feature data of "the latest 3D tunnel point cloud data map" and "the data in the data server (18)" by using the Euclidean distance; Step 2: weighted calculation is performed on the matching degree of the latest coordinate data of a single first marking plate (7) or a second marking plate (9); and matching with the coordinate data measured last time is obtained.

2. According to claim 1, a control method for a rapid detection device for subway tunnel settlement based on laser radar is characterized by: A second avoidance hole (15) is also provided on the tunnel, and the mounting rod (6) passes through the second avoidance hole (15) and extends out of the surface of the segment lining (1).

3. According to claim 1, a control method for a rapid detection device for subway tunnel settlement based on laser radar is characterized by: First laser radars (11) are provided on both sides of the detection vehicle (10), and second laser radars (12) are provided on the front and rear surfaces of the detection vehicle (10).

4. According to claim 1, a control method for a rapid detection device for subway tunnel settlement based on laser radar is characterized by: The top of the inspection vehicle (10) is electrically connected to the transmission line (3) via an electrical stand (13), and the transmission line (3) is electrically connected to the inspection vehicle control computer (16) and the data processor (17).

5. According to claim 1, a control method for a rapid detection device for subway tunnel settlement based on laser radar is characterized by: A plurality of ground pressure sensors (14) are provided on the lower surface of the segment lining (1), and the ground pressure sensors (14) are electrically connected to the data processor (17).

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