An automated monitoring of a reference network with a combined measuring prism device and a method therefor

Abstract

The application provides an automatic monitoring benchmark network joint prism device and a method thereof, and belongs to the technical field of engineering measurement deformation monitoring. The device can solve the technical problem of the existing automatic protection monitoring method of a subway tunnel, which has an unsatisfactory monitoring precision. The prism device comprises a prism body, a circular prism rod and a fixing device. The prism body comprises a first circular prism and a second circular prism. Two circular prism rods are arranged at the bottom of the first circular prism and the second circular prism. The fixing device is a reverse L-shaped support, and the prism body is rotatably arranged on the fixing device through the circular prism rods. The application constructs a dynamic benchmark control network by using a benchmark point, a common point and a survey station point, unifies the survey station coordinate system, realizes the transmission of the benchmark point coordinate and improves the monitoring precision.

Description

Technical Field

[0001] This invention belongs to the field of engineering measurement deformation monitoring technology, and particularly relates to an automated monitoring benchmark network prism device and method. Background Technology

[0002] In recent years, surveying robots have been widely used in the automated protection and monitoring of operating subway tunnels. Typically, a single-station surveying system is sufficient for the automated monitoring of a single tunnel in a typical project. However, with the increasing number of deep and large foundation pits along subway lines, the tunnel protection and monitoring distances are constantly increasing. Single-station surveying systems are gradually becoming insufficient to meet the requirements of the survey area, necessitating the use of multiple stations to monitor the structural deformation of the tunnel.

[0003] However, when using multiple measuring robots in a network to expand the monitoring range, the station located in the middle cannot directly measure stable reference points outside the deformation area, resulting in a lack of uniformity in the coordinate systems of the measuring stations. Therefore, it is necessary to connect the reference points on both sides and the measuring station through a reference network connection. A common method is the free station setting method based on common point connections, continuously transferring and attaching the station to the reference point. However, due to the limitations of tunnel conditions, it is difficult to find common points that meet the line-of-sight requirements in some areas. Furthermore, the deployment of common points often uses 360° omnidirectional prisms, but these 360° prisms can cause misalignment of prism centers during opposing observations, leading to a decrease in monitoring accuracy.

[0004] To address the aforementioned technical issues, it is necessary to provide a reference network prism device and method for dynamic monitoring of long-distance subway tunnels, in order to overcome the relevant deficiencies in the existing technology. Summary of the Invention

[0005] This invention addresses the technical problem of unsatisfactory monitoring accuracy in existing automated protection and monitoring methods for subway tunnels by proposing an automated monitoring reference network prism device and its method.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] An automated monitoring reference network prism device includes:

[0008] A prism body, comprising a first circular prism and a second circular prism;

[0009] Two circular prism rods are provided, one at the bottom of the first circular prism and the other at the bottom of the second circular prism.

[0010] A fixing device, an inverted L-shaped bracket, wherein the prism body is rotatably mounted on the fixing device via the circular prism rod.

[0011] In one embodiment, the fixing device includes a first side for mounting the prism body and a second side for fixing it to the subway tunnel. The first side is horizontally arranged, and the prism body is fixed to the subway tunnel structure through the first side. The second side is perpendicular to the first side, and multiple holes are formed on the second side.

[0012] In one embodiment, the length of the circular prism rod is 60 mm, the length of the first side is 250 mm, the length of the second side is 200 mm, the diameter of the first and second circular prisms is 95 mm, and two holes are formed on the second side, with a distance of 80 mm between the two holes.

[0013] In one embodiment, the automated monitoring reference network prism device serves as a common point component in the reference network measurement and is used for automated protection monitoring of long-distance subway tunnels.

[0014] In one embodiment, the prism body on the fixing device has two installation states: the first circular prism and the second circular prism reflective surfaces face the same side, and the first circular prism and the second circular prism reflective surfaces face opposite sides.

[0015] This invention also provides a method for automated monitoring benchmark network connection measurement of long-distance subway tunnels. This method utilizes the automated monitoring benchmark network connection measurement prism device described in any of the above embodiments, and includes the following steps:

[0016] The monitoring scope and layout requirements are reasonably designed based on the risk level of the subway tunnel under test, the surrounding environment and geological conditions. The layout requirements include setting up benchmark points, measuring stations and common points in the subway tunnel under test. Ordinary prisms are set up on the benchmark points, measuring robots are set up on the measuring stations, and the automated monitoring benchmark network measuring prism device is installed at the common points.

[0017] Distance and angle measurements are obtained by aiming at a common prism located at the reference point, and the coordinates of the measuring station are obtained by resection.

[0018] The first and second circular prisms are set to have their reflecting surfaces facing the same side. The relative positional relationship parameters of the first and second circular prisms are measured using an eccentric measurement method. The coordinates of the eccentric point are corrected to the coordinates of the center point using the obtained correction amount, thereby realizing the transfer of reference coordinates.

[0019] The first and second circular prisms are adjusted so that their reflecting surfaces face opposite sides for rendezvous and positioning at the rear of another measurement base station. Finally, the relative coordinates of the entire reference network are obtained through adjustment.

[0020] In one embodiment, the reference points are set at a distance of 30m from both sides of the subway tunnel in the affected area, and the number of reference points is greater than or equal to 4.

[0021] The measuring stations are set at the center of the outer part of the curve of the influence range within the deformation area of ​​the subway tunnel, and a measuring robot is installed at each measuring station.

[0022] The common point is located between the test stations.

[0023] In one embodiment, the eccentricity measurement is performed by a measuring robot, and the relative positional relationship parameters are obtained by the following method:

[0024] Step 1: Orient the automated monitoring benchmark network prism device located at the common point toward the first measuring robot;

[0025] Step 2: Manually aim the first measuring robot at the center point prism and obtain its coordinates, which are the center point coordinates;

[0026] Step 3: Block the center point prism. The first measuring robot automatically searches for the off-center point prism and obtains its coordinates, which are the off-center point coordinates.

[0027] Step 4: Calculate the first eccentricity correction based on the coordinates of the center point and the eccentricity point. Repeat step 3 to obtain the second eccentricity correction. After comparing the first and second eccentricity corrections and confirming that they are correct, upload them to the monitoring platform and save them.

[0028] In one embodiment, the relative positional relationship parameters are the horizontal angle correction, distance correction, and center height difference correction between the center point prism and the off-center point prism;

[0029] The center point prism is either the first circular prism or the second circular prism, and after selecting the center point prism, the other circular prism is the eccentric point prism.

[0030] When transferring the reference coordinates between two adjacent measuring robots, the number of common points shall be no less than 3, and the common points shall be evenly distributed in the overlapping area of ​​the two measuring robots, with the overlapping area being no less than 60 meters.

[0031] In one embodiment, the measurement robot also performs learning measurement configuration tasks:

[0032] By operating the measuring robot to aim at the prisms at each monitoring point, the monitoring system records the horizontal and vertical angles of the monitoring points. After this configuration is completed, the measuring robot can carry out automatic monitoring work according to the preset monitoring frequency.

[0033] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0034] 1. This invention provides an automated monitoring reference network prism device and method. In the deformation monitoring of long-distance subway tunnels, a dynamic reference control network is constructed by connecting the reference point, common point and measuring station, which completes the unification of the measuring station coordinate system, realizes the transmission of reference point coordinates, improves the monitoring accuracy, and lays a solid foundation for subsequent automated monitoring tasks of tunnel structures.

[0035] 2. This invention provides a method for connecting a reference network for automated monitoring of long-distance subway tunnels. Through comparative experiments under the same observation environment, compared with a 360° omnidirectional prism, the prism device proposed in this invention reduces the coordinate transformation residual of the weakest point of the reference network to 0.51mm, the posterior accuracy of the monitoring point is better than 0.3mm, and the probability of gross errors is reduced to 0.5‰, which can effectively improve the observation accuracy of the reference network.

[0036] 3. This invention provides an automated monitoring reference network prism device. By setting the prism body as two parallel circular prisms, the line of sight can be expanded, effectively solving the problem of insufficient common points that meet the line of sight conditions in complex environments (such as tunnel bends). Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the automated monitoring reference network prism device provided by the present invention;

[0038] Figure 2 This is a schematic diagram of the structure of the automated monitoring reference network prism device provided by the present invention, in which the prism body's emitting surface faces opposite sides.

[0039] Figure 3 This is a schematic diagram of the reference network measurement points provided by the present invention;

[0040] Figure 4 The flowchart for eccentricity measurement provided by this invention;

[0041] Figure 5 The curve of the observation results of a certain monitoring point under the condition of 360° prism coordinate transfer provided by the present invention;

[0042] Figure 6 The curve of the observation results of a certain monitoring point under the coordinate transfer condition of the automated monitoring benchmark network prism device provided by the present invention.

[0043] The above appendix Figures 1-2 In the figures, the meanings of the labels are as follows:

[0044] 1. First circular prism; 2. Second circular prism; 3. Circular prism rod; 4. Fixing device; 5. Hole. Detailed Implementation

[0045] The technical solutions in the embodiments of the present invention will be clearly and completely described below. 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.

[0046] See attached document Figures 1-2 This invention provides an automated monitoring benchmark network prism device, which includes:

[0047] The prism body includes a first circular prism 1 and a second circular prism 2;

[0048] Two circular prism rods 3 are provided, one at the bottom of the first circular prism 1 and the other at the bottom of the second circular prism 2.

[0049] Fixing device 4, inverted L-shaped bracket, the prism body is rotatably mounted on fixing device 4 via circular prism rod 3.

[0050] In the aforementioned prism device, the dimensions of the fixing device 4 are 40mm*40mm*3.5mm, and the material is hot-dip galvanized international Q235b angle steel.

[0051] In one specific embodiment, the fixing device 4 includes a first side for mounting the prism body and a second side for fixing it to the subway tunnel. The first side is horizontally arranged, and the prism body is fixed to the subway tunnel structure through the first side. The second side is perpendicular to the first side, and multiple holes 5 are opened on the second side, with a hole diameter of 14mm.

[0052] In one specific embodiment, the length of the circular prism rod 3 is 60 mm, the length of the first side is 250 mm, the length of the second side is 200 mm, the diameter of the first and second circular prisms is 95 mm, and two holes 5 are opened on the second side, with a distance of 80 mm between the two holes 5.

[0053] In one specific implementation, the automated monitoring reference network prism device serves as a common point component in the reference network measurement and is used for automated protection monitoring of long-distance subway tunnels.

[0054] In one specific embodiment, the prism body on the fixing device 4 has two installation states: the reflecting surfaces of the first circular prism 1 and the second circular prism 2 face the same side, and the reflecting surfaces of the first circular prism 1 and the second circular prism 2 face opposite sides. Specifically, as shown... Figure 1 The prism shown is a reflecting surface. Figure 2 The prism surface of the circular prism on the right is a non-reflective surface.

[0055] See attached document Figures 3-4 The present invention also provides a method for automated monitoring benchmark network connection measurement of long-distance subway tunnels. This method utilizes the automated monitoring benchmark network connection measurement prism device described in any of the above embodiments and includes the following steps:

[0056] S1. Based on the risk level of the subway tunnel under test, the surrounding environment and geological conditions, the monitoring range and the layout requirements are reasonably designed. The layout requirements include setting up benchmark points, measuring stations and common points in the subway tunnel under test. Ordinary prisms are set up on the benchmark points, measuring robots are set up on the measuring stations, and the automated monitoring benchmark network measuring prism device is installed at the common points.

[0057] In step S1 above, benchmark points are set up outside the deformation zone inside the tunnel. Multiple measuring robots are deployed at suitable locations on the sidewall of the subway tunnel, based on its length, curvature, and visibility conditions. Common points are set up between the measuring robots where visibility is guaranteed. Each measuring robot is responsible for monitoring a portion of the monitoring points, and all measuring robots achieve coverage of all monitoring points within their monitoring range.

[0058] Furthermore, a method is employed where the measuring robot performs resection of the monitoring benchmark point to determine the spatial reference for each measuring robot's operation. Specifically, the measuring robot located in the middle position determines its position by performing eccentric measurements and adjustments using a common point.

[0059] S2. Obtain distance and angle measurements by aiming at a common prism located at the reference point, and obtain the coordinates of the measuring station by resection.

[0060] S3. Set the first and second circular prisms to reflect on the same side. Use the eccentricity measurement method to measure the relative positional relationship parameters of the first and second circular prisms. Use the obtained correction amount to correct the coordinates of the eccentric point to the coordinates of the center point, thereby realizing the transfer of the reference coordinates.

[0061] S4. Adjust the first and second circular prisms so that their reflecting surfaces face opposite directions for rendezvous and positioning with another measurement base station. Finally, obtain the relative coordinates of the entire reference network through adjustment.

[0062] In one specific embodiment, the reference points are set at a distance of more than 30m from both sides of the subway tunnel in the affected area, and the number of reference points is greater than or equal to 4;

[0063] The measuring stations are set at the center of the outer part of the curve of the influence range within the deformation area of ​​the subway tunnel, and a measuring robot is installed at each measuring station.

[0064] The common point is located between the test stations.

[0065] In one specific embodiment, the eccentricity measurement is performed by a measuring robot, and the relative positional relationship parameters are obtained by the following method:

[0066] Step 1: Orient the automated monitoring benchmark network prism device located at the common point toward the first measuring robot;

[0067] Step 2: Manually aim the first measuring robot at the center point prism and obtain its coordinates, which are the center point coordinates;

[0068] Step 3: Block the center point prism. The first measuring robot automatically searches for the off-center point prism and obtains its coordinates, which are the off-center point coordinates.

[0069] Step 4: Calculate the first eccentricity correction based on the coordinates of the center point and the eccentricity point. Repeat step 3 to obtain the second eccentricity correction. After comparing the first and second eccentricity corrections and confirming that they are correct, upload them to the monitoring platform and save them.

[0070] In one specific embodiment, the relative positional relationship parameters are the horizontal angle correction, distance correction, and center height difference correction between the center point prism and the off-center point prism;

[0071] The center point prism is either the first circular prism or the second circular prism, and after selecting the center point prism, the other circular prism is the eccentric point prism.

[0072] When transferring the reference coordinates between two adjacent measuring robots, the number of common points shall be no less than 3, and the common points shall be evenly distributed in the overlapping area of ​​the two measuring robots, with the overlapping area being no less than 60 meters.

[0073] In one specific implementation, the measurement robot also performs learning measurement configuration tasks:

[0074] By operating the measuring robot to aim at the prisms at each monitoring point, the monitoring system records the horizontal and vertical angles of the monitoring points. After this configuration is completed, the measuring robot can carry out automatic monitoring work according to the preset monitoring frequency.

[0075] To provide a clearer and more detailed description of the automated monitoring benchmark network prism device and method provided by the embodiments of the present invention, the following description will be based on specific embodiments.

[0076] Example 1

[0077] This embodiment provides a method for transmitting coordinates using an automated monitoring reference network prism device, specifically:

[0078] (1) Design an automated monitoring scheme based on the risk level of the subway tunnel itself, the surrounding environment and geological conditions, including the monitoring range and the requirements for the number of monitoring points.

[0079] (2) Benchmark points are set up outside the deformation zone inside the tunnel. Ordinary prisms are installed on the benchmark points. Multiple measuring robots are deployed at appropriate locations on the sidewall of the subway tunnel according to the length, curvature, and visibility conditions of the subway tunnel. Common points are set up between the measuring robots where visibility conditions are met. An automated monitoring benchmark network measuring prism device is installed on the common points. Each measuring robot is responsible for monitoring a portion of the monitoring points, and all measuring robots achieve coverage of all monitoring points within the monitoring range.

[0080] (3) The spatial reference for each measuring robot's operation is determined by resection of the monitoring benchmark point using a measuring robot. Specifically, the measuring robot in the middle position determines its spatial reference by aiming at a common point and performing eccentric measurements and adjustments.

[0081] (4) Assume that during the monitoring process, measuring robot A measures the eccentric point prism a, and measuring robot B measures the center point prism b. First, align the reflective surfaces of the two prisms with measuring robot A, and manually aim at the center point b through robot A to obtain the coordinates of the center point; then block the center point prism, and automatically search for the eccentric point a through robot A to obtain the coordinates of the eccentric point; finally, calculate the eccentricity correction amount;

[0082] (5) Repeat step (4) to obtain the eccentricity correction amount, compare the two eccentricity correction amounts, upload them to the monitoring platform and save them after the comparison is correct, and then change the prism device so that the two prism reflective surfaces face opposite sides for the rear intersection positioning of another measuring robot. Finally, the relative coordinates of the entire reference network are obtained through adjustment.

[0083] (6) Conduct learning and measurement configuration work for the measurement robot. Operate the measurement robot to aim at the prism where each monitoring point is located. The monitoring system will record the horizontal and vertical angles of the aiming points. After completing the above configuration, the measurement robot can carry out automatic monitoring work according to the preset monitoring frequency.

[0084] When transferring reference coordinates between two adjacent measuring robots, the number of common points should be no less than three, and their positions should be distributed as evenly as possible within the overlap area of ​​the two instruments (the overlap area should not be less than 60 meters) to ensure coordinate transfer accuracy. The number of reference points located in the stable areas on both sides should be greater than or equal to four to ensure sufficient redundant observations and improve measurement accuracy. The results of the adjustment residuals of the coordinate reference network using the automated monitoring reference network prism device in this embodiment are shown in Table 1.

[0085] Table 1—Results of Adjustment Residuals of Coordinate Reference Network Transferred by Automated Monitoring Reference Network Connected Prism Device

[0086] JZ01 0.05 0.05 1.16 JZ02 0.07 -0.12 0.21 JZ03 0.12 -0.45 0.22 JZ04 -0.13 0.21 0.22 JZ05 -0.25 0.17 -1.51

[0087] Furthermore, this embodiment also provides an observation result curve of a certain monitoring point under the coordinate transfer condition of an automated monitoring benchmark network prism device (such as...). Figure 6 (As shown).

[0088] Comparative Example

[0089] This comparative example provides a method for transferring coordinates using a 360° prism, specifically:

[0090] The method of comparison is the same as in Example 1, except that the automated monitoring benchmark network connection prism device is replaced with a 360° prism. The results of the coordinate benchmark network adjustment residuals transmitted using the 360° prism are shown in Table 2.

[0091] Table 2—Residual Results of Adjustment of 360° Prism Transferred Coordinate Reference Network

[0092] JZ01 0.00 0.03 0.49 JZ02 -0.04 -0.18 -0.14 JZ03 0.04 0.16 0.02 JZ04 0.07 0.51 0.17 JZ05 -0.07 0.01 0.23

[0093] In addition, this comparative example also provides the observation result curve of a certain monitoring point under the condition of 360° prism coordinate transfer (the measurement results are as follows). Figure 5 (As shown).

[0094] Comparing the measurement results of the examples and comparative examples, it can be seen that compared with the 360° omnidirectional prism, the coordinate transformation residual of the weakest point of the reference network using the prism device of the present invention is reduced to 0.51 mm, the posterior accuracy of the monitoring point is better than 0.3 mm, and the probability of gross errors is reduced to 0.5‰. Monitoring based on the prism device provided by the present invention can effectively improve the observation accuracy of the reference network.

Claims

1. A method for automated monitoring and benchmark network connection of long-distance subway tunnels, characterized in that, Includes the following steps: Based on the risk level of the subway tunnel under test, its surrounding environment, and geological conditions, the monitoring scope and layout requirements are rationally designed. These layout requirements include setting up benchmark points, monitoring stations, and common points within the subway tunnel. Ordinary prisms are installed at the benchmark points, measurement robots are installed at the monitoring stations, and an automated monitoring benchmark network prism device is installed at the common points. The automated monitoring benchmark network prism device includes a prism body comprising a first circular prism and a second circular prism; two circular prism rods, respectively located at the bottom of the first and second circular prisms; and a fixing device, an inverted L-shaped bracket, on which the prism body is rotatably mounted. Distance and angle measurements are obtained by aiming at a common prism located at the reference point, and the coordinates of the measuring station are obtained by resection. The first and second circular prisms are set to have their reflecting surfaces facing the same side. The relative positional relationship parameters of the first and second circular prisms are measured using an eccentric measurement method. The coordinates of the eccentric point are corrected to the coordinates of the center point using the obtained correction amount, thereby realizing the transfer of reference coordinates. The first and second circular prisms are adjusted so that their reflecting surfaces face opposite sides for rendezvous and positioning behind another measurement base station. Finally, the relative coordinates of the entire reference network are obtained through adjustment. The eccentricity measurement method is performed by a measurement robot, and the relative positional relationship parameters are obtained by the following method: Step 1: Orient the automated monitoring benchmark network prism device located at the common point toward the first measuring robot; Step 2: Manually aim the first measuring robot at the center point prism and obtain its coordinates, which are the center point coordinates; Step 3: Block the center point prism. The first measuring robot automatically searches for the eccentric point prism and obtains its coordinates, which are the eccentric point coordinates. The center point prism is either the first circular prism or the second circular prism. After selecting the center point prism, the other circular prism is the eccentric point prism. Step 4: Calculate the first eccentricity correction based on the coordinates of the center point and the eccentricity point. Repeat step 3 to obtain the second eccentricity correction. After comparing the first and second eccentricity corrections and confirming that they are correct, upload them to the monitoring platform and save them.

2. The automated monitoring benchmark network connection method for long-distance subway tunnels according to claim 1, characterized in that, The reference points are set at least 30 meters away from both sides of the subway tunnel in the affected area, and the number of reference points is greater than or equal to 4. The measuring stations are set at the center of the outer part of the curve of influence range within the deformation area of ​​the subway tunnel, and a measuring robot is installed at each measuring station. The common point is located between the test stations.

3. The automated monitoring benchmark network connection method for long-distance subway tunnels according to claim 1, characterized in that, The relative positional relationship parameters are the horizontal angle correction, distance correction, and center height difference correction between the center point prism and the off-center point prism; When transferring the reference coordinates between two adjacent measuring robots, the number of common points shall be no less than 3, and the common points shall be evenly distributed in the overlapping area of ​​the two measuring robots, with the overlapping area being no less than 60 meters.

4. The automated monitoring benchmark network connection method for long-distance subway tunnels according to claim 1, characterized in that, This also includes measurement robots performing learning and measurement configuration tasks: By operating the measuring robot to aim at the prisms at each monitoring point, the monitoring system records the horizontal and vertical angles of the monitoring points. After this configuration is completed, the measuring robot can carry out automatic monitoring work according to the preset monitoring frequency.

5. The automated monitoring benchmark network connection method for long-distance subway tunnels according to claim 1, characterized in that, The fixing device includes a first side for mounting the prism body and a second side for fixing it to the subway tunnel. The first side is horizontally arranged, and the prism body is fixed to the subway tunnel structure through the first side. The second side is perpendicular to the first side, and multiple holes are opened on the second side.

6. The automated monitoring benchmark network connection method for long-distance subway tunnels according to claim 5, characterized in that, The length of the circular prism rod is 60 mm, the length of the first side is 250 mm, the length of the second side is 200 mm, the diameter of the first and second circular prisms is 95 mm, and two holes are opened on the second side, with a distance of 80 mm between the two holes.

7. The automated monitoring benchmark network connection method for long-distance subway tunnels according to claim 5, characterized in that, The automated monitoring benchmark network prism device serves as a common point component in the benchmark network and is used for automated protection monitoring of long-distance subway tunnels.

8. The automated monitoring reference network connection method for long-distance subway tunnels according to claim 1, wherein the prism body on the fixed device has two installation states: the first circular prism and the second circular prism reflective surfaces face the same side, and the first circular prism and the second circular prism reflective surfaces face opposite sides.

Images