An automated monitoring method and device for tunnel convergence

Abstract

This invention discloses an automated monitoring method and apparatus for tunnel convergence, comprising: determining the starting and ending points of a fixed track on the sidewall of the tunnel area to be monitored; at the fixed starting point, a controller sends a command to control a mobile platform to move along the fixed track at predetermined intervals; when reaching the monitoring section, the controller sends a command to a servo motor and a laser rangefinder, the servo motor carrying the laser rangefinder to measure distance and acquire section scanning data; fitting the acquired section scanning data with the tunnel section shape, comparing the fitted feature information with previous data of the tunnel to obtain the deformation amount, and judging the tunnel convergence status based on the obtained deformation amount. This invention uses a motor to control the laser rangefinder to move along the track and automatically rotate to measure distance, fitting the shape of each section for convergence monitoring, solving the problem of traditional convergence monitoring requiring the deployment of laser rangefinders at each section, effectively reducing monitoring costs and realizing automated monitoring of tunnel convergence deformation.

Description

Technical Field

[0001] This invention belongs to the field of engineering measurement deformation monitoring technology, and more specifically, relates to an automated monitoring method and device for tunnel convergence. Background Technology

[0002] With the increasing number of subway tunnels in my country, and the complex environments and numerous uncertainties they face, subway tunnels are affected by different geological structures and environments, resulting in varying degrees of deformation in their main structures. To understand the overall condition of the tunnel structure and eliminate safety hazards, convergence deformation monitoring is required. This monitoring effectively reveals the overall deformation of the tunnel, thereby mitigating risks. Currently, traditional methods using total stations with prisms and laser rangefinders for distance measurement are costly and have low accuracy. Therefore, developing an automated tunnel convergence deformation monitoring method and device can effectively improve the monitoring capabilities, reduce the cost of traditional convergence monitoring, and ensure the reliability of convergence monitoring, thus achieving automated monitoring of tunnel convergence deformation. This approach has excellent development prospects and economic benefits. Summary of the Invention

[0003] This invention provides an automated monitoring method and device for tunnel convergence. A track is installed on one side wall of the tunnel area to be monitored, and a laser rangefinder is mounted on the track. A motor controls the laser rangefinder to move along the track. Upon reaching each cross-section to be monitored, a servo motor controls the laser rangefinder to rotate one full revolution, measuring the distance to each point on that cross-section. The distance is then fitted based on the cross-section shape, and the convergence value is calculated, enabling the automatic measurement and analysis of convergence deformation at each cross-section of the tunnel in the monitored area. This invention solves the problems of high cost, time-consuming, and labor-intensive monitoring using traditional total stations and laser rangefinders in existing technologies.

[0004] According to a first aspect of the present invention, an automated monitoring method for tunnel convergence is provided, comprising: the monitoring method including the following steps:

[0005] Step 1: Install a fixed track on one side wall of the tunnel area to be monitored, and determine the starting and ending points of the fixed positions on the track;

[0006] Step 2: During automated monitoring, the controller sends instructions at the fixed starting point to control the mobile platform to move on the fixed track at predetermined intervals until the mobile platform reaches the fixed endpoint. When the mobile platform reaches each monitoring section, it stops. The controller sends instructions to the servo motor and the laser rangefinder. The servo motor rotates the laser rangefinder one revolution to measure the distance and obtain the section scanning data.

[0007] Step 3: Fit the acquired cross-sectional scanning data with the tunnel cross-sectional shape to obtain the fitted feature information. Compare the fitted feature information with the previous data of the tunnel to obtain the deformation amount. Based on the obtained deformation amount, determine the tunnel convergence status.

[0008] Based on the above technical solution, the present invention can also be improved as follows.

[0009] Optionally, during the installation of a fixed track on one side wall of the tunnel area to be monitored, the track is fixed to the tunnel side wall to maintain a roughly horizontal position, ensuring the movement of the platform. The mobile platform moves on the fixed track, and the servo motor is connected to and fixed on the mobile platform with the laser rangefinder.

[0010] Optionally, the controller sends commands to the servo motor and the laser rangefinder. The servo motor rotates the laser rangefinder one revolution to measure distance and acquire cross-sectional scan data, including:

[0011] After receiving the command, the servo motor controls the laser rangefinder to rotate at a constant speed according to the command and records the rotation angle. At the same time, the laser rangefinder emits a laser beam to the edge of the tunnel cross-section to measure the distance. The wireless communication device ensures that the servo motor, laser rangefinder and controller can communicate wirelessly.

[0012] Optionally, the mobile platform is equipped with a rechargeable battery. After completing one monitoring cycle, the mobile platform returns to the starting point and stops working. The rechargeable battery is then charged by a fixed power source. In the next cycle, the controller sends task information to the motor to control the laser rangefinder to move for the next monitoring cycle.

[0013] Optionally, fitting the acquired cross-sectional scan data with the tunnel cross-sectional shape includes:

[0014] A two-dimensional laser rangefinder observes distance data at each cross-section, and a servo motor observes angle data to obtain the edge coordinates of each monitored cross-section of the tunnel. Combined with the shape of the tunnel cross-section, the tunnel cross-section curve is fitted using the least squares method. The shape of the cross-section in each cycle is observed and compared to obtain information on the deformation of the tunnel cross-section in different cycles, thereby realizing the convergence monitoring of the tunnel and comprehensively understanding the tunnel convergence status.

[0015] Optionally, upon reaching each monitoring section, the servo motor initially positions itself vertically downwards. A coordinate system is established with the servo motor's axis center as the origin, the horizontal direction as the x-axis, and the vertical direction upwards as the y-axis. The servo motor is mounted at the center of the laser rangefinder to control its rotation. Based on the monitored distance and angle data, the coordinates of the tunnel edge points are obtained. Some noise points are eliminated, and curve fitting is performed in conjunction with the tunnel cross-section shape. The cross-section shape equation is obtained through least squares fitting. Based on the cross-section shape equation, the major and minor axes of the ellipse for each cross-section in the nth period are calculated. After another period, data monitoring and fitting are performed on each cross-section to obtain the major and minor axes of the ellipse in the (n+1)th period. By comparing the major and minor axes of the same cross-section at different times, deformation information is obtained.

[0016] Optionally, the cross-section is divided into cross-section 1, cross-section 2, cross-section 3 and extending to cross-section N, with the multiple cross-sections being equidistantly distributed.

[0017] According to a second aspect of the present invention, an automated monitoring device for tunnel convergence is provided, comprising:

[0018] The system includes a fixed track, a laser rangefinder, motors, servo motors, a controller, a mobile platform, a power supply unit, and a wireless communication unit; among which,

[0019] The fixed track includes a fixed starting point and a fixed ending point, and a mobile platform is set on the fixed track to fix it so that it can move on the track;

[0020] A controller, a motor, and a wireless communication unit are installed at one end of the fixed track; the controller is placed at a fixed starting point and connected to the motor and the wireless communication unit.

[0021] The servo motor is mounted on the mobile platform, and is wirelessly connected to the wireless communication unit and fixedly connected to the laser rangefinder.

[0022] The mobile platform is equipped with a power supply unit to charge the servo motor, wireless communication unit, and laser rangefinder.

[0023] Optionally, a fixed power source is provided at a fixed starting point, which provides electrical energy to the motor, charging device, and controller.

[0024] Optionally, the wireless communication unit includes a first wireless communication unit and a second wireless communication unit, which are used to communicate with the controller at the starting point of the fixed track to ensure that the servo motor and the laser rangefinder communicate wirelessly with the controller.

[0025] The technical effects and advantages of this invention are as follows:

[0026] This invention involves installing a track on one side wall of the tunnel area to be monitored, with a laser rangefinder mounted on the track. A motor controls the laser rangefinder to move along the track, and upon reaching each monitored section, a servo motor controls the laser rangefinder to rotate one full revolution, measuring the distance to each point on that section. The distance is then fitted based on the section shape, and a convergence value is calculated, enabling automatic measurement and analysis of the convergence deformation of each section of the tunnel in the monitored area. This solves the problems of existing technologies that require placing prisms on the tunnel section and using total stations and laser rangefinders for monitoring, which are time-consuming, labor-intensive, costly, and have low accuracy. Using this method, convergence monitoring of subway tunnel structures can comprehensively grasp the overall deformation of the tunnel. The data fitting method removes error values ​​and preserves data archives, facilitating better monitoring of tunnel convergence deformation and effectively improving the efficiency and accuracy of tunnel convergence monitoring.

[0027] Other features and advantages of the invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention may be realized and obtained by means of the structures pointed out in the description, claims and drawings. Attached Figure Description

[0028] Figure 1 A flowchart illustrating the steps of an automated monitoring method for tunnel convergence provided in this embodiment of the invention;

[0029] Figure 2 This is a schematic diagram of the fixed track layout structure for automated monitoring of tunnel convergence provided in an embodiment of the present invention;

[0030] Figure 3 This is a schematic diagram of the structure of the automated monitoring device for tunnel convergence provided in an embodiment of the present invention. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] It is understood that, based on the deficiencies in the background technology, this invention proposes an automated monitoring method for tunnel convergence, as detailed in the following example. Figure 1 As shown, the method includes the following steps:

[0033] Step 1: Install a fixed track on one side wall of the tunnel area to be monitored, and determine the starting and ending points of the fixed positions on the track; the track is fixed to the side wall of the tunnel to maintain a relatively horizontal position to ensure the movement of the mobile platform.

[0034] Furthermore, a fixed power supply is provided at the starting point, and a controller, motor, and wireless communication unit are set up. The controller is placed at the starting point and connected to the motor and wireless communication unit. A mobile platform is set up on the track to fix it so that it can move on the track. A power supply unit is set up in the mobile platform to charge the servo motor, wireless communication unit, and laser rangefinder. The servo motor is installed on the mobile platform, and the laser rangefinder is connected to the servo motor. The servo motor and rangefinder are connected to the wireless communication unit for communication with the controller at the starting point.

[0035] Step 2: During automated monitoring, a command is sent from the fixed starting point to control the mobile platform to move on the fixed track at predetermined intervals until the mobile platform reaches the fixed ending point; when the mobile platform reaches the monitoring section, it stops, and the controller sends a command to the servo motor and the laser rangefinder. The servo motor rotates the laser rangefinder one revolution to measure the distance and obtain the section scanning data.

[0036] In this embodiment of the invention, during automated monitoring, the controller sends commands to control the mobile platform to move at predetermined intervals via a motor. Upon reaching each monitoring section, the platform stops, and the controller sends commands to the servo motor and laser rangefinder via a wireless communication device. The servo motor rotates the laser rangefinder one revolution to measure the distance. After completing the monitoring of one section, the controller controls the mobile platform to return to the starting point to charge the power supply unit within the platform, ensuring it has sufficient power for the next monitoring cycle.

[0037] During the monitoring of the first phase of the tunnel section, after receiving the instruction, the servo motor controls the laser rangefinder to rotate at a constant speed according to the speed specified in the instruction and records the rotation angle. At the same time, the laser rangefinder emits a laser beam to the edge of the tunnel section to measure the distance and thus obtain the section scanning data. During this process, the servo motor and the laser rangefinder communicate wirelessly with the controller through a wireless communication device.

[0038] Step 3: Fit the acquired cross-sectional scanning data with the tunnel cross-sectional shape to obtain the fitted feature information. Compare the fitted feature information with the previous data of the tunnel to obtain the deformation amount. Based on the obtained deformation amount, determine the tunnel convergence status.

[0039] The process of fitting the acquired cross-sectional scan data with the tunnel cross-sectional shape includes:

[0040] The laser rangefinder observes distance data at each cross-section, and the servo motor observes angle data to obtain the edge coordinates of each monitored cross-section of the tunnel. The tunnel cross-section curve is fitted using the least squares method in combination with the shape of the tunnel cross-section. The shape of the cross-section in each cycle is observed and compared to obtain the deformation information of the tunnel cross-section in different cycles, i.e., the fitted feature information.

[0041] The tunnel cross-section curve is fitted using the least squares method, combining the tunnel cross-section shape. The observation data processing method is as follows: Upon reaching each monitoring section, the servo motor initially positions vertically downwards. A coordinate system is established with the servo motor's rotation axis center as the origin, the horizontal direction as the x-axis, and the vertical direction upwards as the y-axis. The servo motor is mounted at the center of the laser rangefinder, controlling its rotation. Based on the monitored distance and angle data, the coordinates of the tunnel edge points are obtained. Noise points, such as obstructions or unevenness in the pipe wall, are removed. Curve fitting is then performed based on the tunnel cross-section shape. It should be noted that tunnels come in many shapes, such as horseshoe and elliptical. Here, an elliptical shape is used as an example for further explanation. For instance, the equation of an ellipse obtained through least squares fitting is... The semi-major axis and semi-minor axis of the ellipse in each cross-section of the nth period are obtained as a. n and b n After another cycle, data monitoring and fitting are performed on each cross-section to obtain the major and minor semi-axis of the ellipse in the (n+1)th cycle, which are an+1 and bn+1, respectively. The tunnel convergence is obtained by comparing the changes in the major and minor semi-axis.

[0042] The present invention will be further described below with reference to specific parameters.

[0043] See details Figure 2 As shown, for a certain tunnel deformation monitoring range, an automated monitoring unit is first established, and a monitoring section is set up every 5m within a tunnel monitoring range of approximately 100m. This section is divided into section 1, section 2, section 3, and extends to section N, with the multiple sections evenly distributed.

[0044] During automated monitoring, the controller sends commands to the motor to control movement at set 5m intervals. Upon reaching the first cross-section, the controller sends commands to the servo motor and laser rangefinder via wireless communication. The servo motor rotates the laser rangefinder one revolution to measure the distance. The servo motor records the rotation angle data, and the laser rangefinder records the distance data for each monitoring cross-section, obtaining the edge coordinates (xa, ya), (xb, yb), (xc, yc)... of the first cross-section. Taking an elliptical tunnel as an example, the ellipse equation is fitted using the least squares method. Substituting into the equation of the ellipse, we obtain the semi-major axis and semi-minor axis of the first section of the first period as a, a, and a, respectively. n1 and b n1By comparing the long and short semi-axis of the same cross-section at different times, deformation information can be obtained.

[0045] Finally, the tunnel convergence deformation was analyzed by comparing monitoring data from multiple periods.

[0046] In summary, the automated tunnel convergence monitoring method described in this invention uses a motor-controlled laser rangefinder to move along a track. Upon reaching each monitored section, a servo motor controls the laser rangefinder to rotate one revolution, measuring the distance to each point on that section. The method then fits the data to the section shape and calculates the convergence value, thus achieving automatic measurement and analysis of the convergence deformation of each section of the tunnel in the monitored area. This method provides a comprehensive understanding of the overall tunnel deformation. By employing a data fitting method, error values ​​are eliminated, and data archives are stored, facilitating better monitoring of tunnel convergence deformation and effectively improving the efficiency and accuracy of tunnel convergence monitoring.

[0047] In addition, the present invention also provides an automated monitoring device for tunnel convergence, see details below. Figure 3 As shown, it includes: a fixed track, a laser rangefinder, a motor, a servo motor, a controller, a mobile platform, a power supply unit, and a wireless communication unit; among which,

[0048] A fixed track is installed on one side wall of the tunnel, and the monitoring start and end points are set according to the monitoring range of the tunnel;

[0049] A controller, motor, and wireless communication unit are installed at one end of the fixed track. The wireless communication unit includes a first wireless communication unit and a second wireless communication unit. The first wireless communication unit is located on one side of the controller, and the second wireless communication unit is located on one side of the servo motor. The first and second wireless communication units are used to communicate with the controller at the starting point of the fixed track, ensuring wireless communication between the servo motor, the laser rangefinder, and the controller. Specifically, the controller is placed at the fixed starting point and connected to the motor and the wireless communication unit. In addition, a charging device is provided at the starting point to power the power supply unit of the mobile platform. A fixed power socket is provided at the fixed starting point to provide power to the motor, charging device, and controller.

[0050] The servo motor is mounted on a mobile platform and is wirelessly connected to a wireless communication unit and fixedly connected to a laser rangefinder. A power supply unit is installed within the mobile platform to charge the servo motor, wireless communication unit, and laser rangefinder. The mobile platform moves on a fixed track, and a second wireless communication unit is located on the side of the servo motor. In this embodiment, a 360-degree servo motor is used, and a two-dimensional laser rangefinder is used. After receiving a signal, the 360-degree servo motor controls the two-dimensional laser rangefinder to rotate at a uniform speed corresponding to the signal and records the rotation angle. Simultaneously, the laser rangefinder emits a laser beam to the edge of the tunnel cross-section to measure the distance. The wireless communication unit ensures wireless communication between the servo motor, laser rangefinder, and controller.

[0051] In practical applications, a motor is positioned at the monitoring starting point. The motor controls the laser rangefinder and servo motor on the mobile platform to move along a fixed track and monitor various cross-sections. Based on the observed values, the shape of the monitored cross-sections is fitted, and the tunnel convergence deformation is determined by comparing the fitting results from multiple periods. After completing one monitoring cycle, the mobile platform returns to the starting point and stops working. The rechargeable battery is then charged via a fixed power supply, and the controller sends task information to the motor to control the laser rangefinder to move for the next monitoring cycle.

[0052] In summary, this invention uses a motor to control a laser rangefinder to move along a track. Upon reaching each cross-section to be monitored, a servo motor controls the laser rangefinder to rotate one revolution, measuring the distance to each point on that cross-section. Based on the cross-section shape, a fitting process is performed and a convergence value is calculated, enabling automatic measurement and analysis of the convergence deformation of each cross-section of the tunnel in the monitored area. This solves the problems of time-consuming, labor-intensive, costly, and low-accuracy issues associated with existing technologies that involve placing prisms on the tunnel cross-section and using total stations and laser rangefinders for monitoring. It effectively reduces monitoring costs and achieves automated monitoring of tunnel convergence deformation.

[0053] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated monitoring method for tunnel convergence, characterized in that, The monitoring method comprises the following steps: Step 1: installing a fixed track on a side wall of a tunnel region to be monitored, determining a fixed position starting point and a fixed position ending point on the track; Step 2: when performing automatic monitoring, sending a command at the fixed position starting point to control the mobile platform to move on the fixed track at a predetermined interval until the mobile platform moves to the fixed position ending point to end; after completing one monitoring, the mobile platform returns to the starting point to stop working, and the charging battery is charged through the fixed power supply, and the next period controller sends task information to the motor to control the laser range finder to move for the next monitoring; When the mobile platform reaches the monitoring section, it stops, the controller sends a command to the steering gear and the laser range finder, the steering gear rotates with the laser range finder for one revolution to measure the distance, and the section scanning data is obtained; including: after receiving the command, the steering gear controls the laser range finder to rotate at a uniform speed corresponding to the command and records the rotation angle, and at the same time, the laser range finder emits a laser to the tunnel section edge to measure the distance, thereby obtaining the section scanning data; Step 3: fitting the obtained section scanning data with the tunnel section shape to obtain fitted characteristic information, comparing the fitted characteristic information with the data monitored in the first period to obtain the deformation, and judging the tunnel convergence deformation according to the obtained deformation.

2. The method of claim 1, wherein, In the installation of the fixed track on the side wall of the tunnel region to be monitored, the track is fixed on the side wall of the tunnel to keep horizontal, ensuring that the mobile platform moves on the fixed track.

3. The method of claim 1, wherein, The fitting of the obtained section scanning data with the tunnel section shape comprises: The laser range finder observes the distance data of each section, the steering gear observes the angle data, the edge coordinates of each monitoring section of the tunnel are obtained, the tunnel section curve is fitted by the least square method combined with the tunnel section shape, the tunnel section shape of each period is observed and compared, the deformation information of the tunnel section of different periods is obtained, and the tunnel convergence is comprehensively mastered.

4. The method of claim 3, wherein, The fitting of the tunnel section curve by the least square method combined with the tunnel section shape comprises: A coordinate system is established with the steering gear rotation shaft center as the origin, the horizontal direction as the x-axis, and the steering gear vertical direction upward as the y-axis, the coordinates of the tunnel edge points are obtained according to the monitored distance and angle data, the tunnel section shape equation is fitted by the least square method, the major semi-axis and the minor semi-axis of each section of the n-th period are obtained according to the tunnel section shape equation, and the major semi-axis and the minor semi-axis of each section are monitored and fitted for one period to obtain the major semi-axis and the minor semi-axis of the n+1-th period ellipse, the major semi-axis and the minor semi-axis of the same section at different periods are compared to obtain the deformation information.

5. The method of claim 4, wherein, The sections are divided into section 1, section 2, section 3 and section N, and the plurality of sections are equidistantly distributed.

6. A device for tunnel convergence automation monitoring, based on the method for tunnel convergence automation monitoring according to any one of claims 1 to 5, characterized in that, The device comprises a fixed track, a laser range finder, a motor, a steering gear, a controller, a mobile platform, a power supply unit and a wireless communication unit; wherein, The fixed track comprises a fixed starting point and a fixed ending point, and the mobile platform is arranged to move on the fixed track; the steering gear is installed on the mobile platform, and the steering gear is wirelessly connected with the wireless communication unit and fixedly connected with the laser range finder; One end of the fixed track is provided with a controller, a motor and a wireless communication unit; the controller is placed at a fixed starting point and connected with the motor and the wireless communication unit; The wireless communication unit comprises a first wireless communication unit and a second wireless communication unit, which are used for communicating with the controller at the fixed starting point of the fixed track, and ensuring that the steering engine and the laser range finder perform wireless communication with the controller; The moving platform is internally provided with a power supply unit, which charges the steering engine, the wireless communication unit and the laser range finder.

7. The device for automatic monitoring of tunnel convergence according to claim 6, characterized in that, A fixed power supply is provided at the fixed starting point, which provides electric energy for the motor, the power supply unit and the controller.

Images