Arch dam displacement monitoring device and method based on laser alignment and ranging

Abstract

The present application relates to the technical field of safety monitoring of water conservancy and hydropower projects, and in particular to an arch dam displacement monitoring device and method based on laser alignment and ranging, wherein the device comprises: a relative displacement measuring component for obtaining horizontal and vertical displacements perpendicular to a target direction between adjacent measuring points of a plurality of measuring points of the arch dam, and obtaining horizontal displacements along the target direction between adjacent measuring points; a displacement coordinate conversion component for converting the obtained horizontal and vertical displacements into relative horizontal and relative vertical displacements in a target coordinate system based on a preset geometric projection relationship; an arch dam displacement monitoring component for calculating the absolute three-dimensional displacement of each measuring point by stepwise superposition based on the relative horizontal and relative vertical displacements, and obtaining the actual displacement of the arch dam according to the absolute three-dimensional displacement of each measuring point. Thus, the present application solves the problems in the related art such as the need to build an observation room to protect the instrument, high implementation cost, and poor adaptability to the terrain on both sides of the dam.

Description

Technical Field

[0001] The present application relates to the technical field of safety monitoring of water conservancy and hydropower projects, and in particular to an arch dam displacement monitoring device and method based on laser alignment and ranging. Background Art

[0002] Arch dam displacement includes horizontal and vertical displacement. Horizontal displacement includes radial and tangential displacement, while vertical displacement is commonly referred to as settlement. The three-dimensional structure and stress characteristics of an arch dam dictate that its displacement is also tri-directional. Therefore, only by monitoring the three-dimensional displacement of an arch dam can we more comprehensively reflect its operation and assess its health.

[0003] In related technologies, arch dam displacement is mainly monitored manually using traditional engineering surveying methods. Horizontal displacement is generally measured using the total station intersection method or polar coordinate method. The coordinates of each measuring point are measured through a monitoring and control network, and the displacement of the measuring point is calculated using the coordinate changes. Vertical displacement is generally measured using a precision level. The elevation of each measuring point is measured using a leveling base point, and the difference between the two elevations is the corresponding vertical displacement. In addition, given that the arch dam axis is an arc, an automatic total station can be used for measurement. A small number of systems also use the GNSS (Global Navigation Satellite System) system to automatically monitor arch dam displacement.

[0004] However, related technologies often require the construction of observation rooms to protect instruments, which has high implementation costs, high requirements for the terrain on both sides of the river, poor adaptability, and cannot meet actual needs, and urgently needs improvement. Summary of the Invention

[0005] The present application provides an arch dam displacement monitoring device and method based on laser alignment and ranging to solve the problems in related technologies such as the need to build an observation room to protect the instrument, high implementation costs, and poor adaptability to the terrain on both sides of the river.

[0006] In a first aspect, an embodiment of the present application provides an arch dam displacement monitoring device based on laser alignment and ranging, comprising: a relative displacement measuring component for obtaining horizontal and vertical displacements perpendicular to a target direction between adjacent measuring points of a plurality of measuring points of the arch dam, and obtaining the horizontal displacement between the adjacent measuring points along the target direction; a displacement coordinate conversion component for converting the obtained horizontal and vertical displacements into relative horizontal and relative vertical displacements in a target coordinate system based on a preset geometric projection relationship; and an arch dam displacement monitoring component for calculating the absolute three-dimensional displacement of each measuring point based on the relative horizontal and relative vertical displacements, and obtaining the actual displacement of the arch dam according to the absolute three-dimensional displacement of each measuring point.

[0007] Optionally, in one embodiment of the present application, the relative displacement measuring component includes at least one laser collimator and at least one laser rangefinder.

[0008] Optionally, in one embodiment of the present application, the at least one laser collimator is further used to set a laser receiver on the target with the laser beam as the reference line, and obtain the horizontal displacement and vertical displacement perpendicular to the target direction between the adjacent measuring points through the position change of the laser spot on the receiving light screen.

[0009] Optionally, in one embodiment of the present application, the at least one laser rangefinder is further used to calculate the relative distance by measuring the propagation time of the laser between the adjacent measuring points, so as to obtain the horizontal displacement between the adjacent measuring points along the target direction based on the change in the relative distance.

[0010] Optionally, in one embodiment of the present application, the target direction is the laser emission direction of the relative displacement measuring component.

[0011] Optionally, in one embodiment of the present application, the arch dam displacement monitoring device is further used to perform relative displacement superposition of each measuring point segment by segment based on the relative horizontal displacement and the relative vertical displacement to obtain the absolute three-dimensional displacement of each measuring point.

[0012] A second aspect of the present application provides an arch dam displacement monitoring method based on laser alignment and ranging, comprising the following steps: obtaining horizontal displacement and vertical displacement perpendicular to a target direction between adjacent measuring points of a plurality of measuring points of the arch dam, and obtaining the horizontal displacement between the adjacent measuring points along the target direction; based on a preset geometric projection relationship, converting the obtained horizontal displacement and vertical displacement into relative horizontal displacement and relative vertical displacement in a target coordinate system; based on the relative horizontal displacement and the relative vertical displacement, calculating the absolute three-dimensional displacement of each measuring point, and obtaining the actual displacement of the arch dam according to the absolute three-dimensional displacement of each measuring point.

[0013] The third aspect of the present application provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the arch dam displacement monitoring method based on laser alignment and ranging as described in the above embodiment.

[0014] A fourth aspect of the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned arch dam displacement monitoring method based on laser alignment and ranging.

[0015] A fifth aspect of the present application provides a computer program product, including a computer program, which, when executed, implements the above-mentioned arch dam displacement monitoring method based on laser alignment and ranging.

[0016] The embodiment of the present application can use the relative displacement measuring device to obtain the three-dimensional displacement between adjacent measuring points of multiple measuring points of the arch dam, and convert it into the relative horizontal displacement and relative vertical displacement in the target coordinate system through the displacement coordinate conversion device. Then, the absolute three-dimensional displacement of each measuring point is calculated using the arch dam displacement monitoring device to obtain the actual displacement of the arch dam. It can reasonably utilize the advantages of the laser's unique good directionality, low divergence, and high ranging accuracy, and simultaneously observe the three-dimensional displacement of the target point. The monitoring synchronization and timeliness are high, and it has good promotion and application value. This solves the problems in related technologies such as the need to build an observation room to protect the instrument, high implementation costs, and poor adaptability to the terrain on both sides of the river.

[0017] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0019] Figure 1 Schematic diagram of a block diagram of an arch dam displacement monitoring device based on laser alignment and ranging according to an embodiment of the present application;

[0020] Figure 2 A schematic diagram of the arrangement of monitoring base points and measuring points provided according to one embodiment of the present application;

[0021] Figure 3 A schematic diagram of the working principle of a laser collimator provided according to one embodiment of the present application;

[0022] Figure 4 A schematic diagram of the working principle of a monitoring device provided according to one embodiment of the present application;

[0023] Figure 5 A schematic diagram of the working principle of a laser rangefinder provided according to one embodiment of the present application;

[0024] Figure 6 A schematic diagram of a calculation method provided according to an embodiment of the present application;

[0025] Figure 7 This is a flow chart of the working principle of arch dam displacement monitoring based on laser alignment and ranging according to one embodiment of the present application;

[0026] Figure 8 This is a flow chart of a method for monitoring arch dam displacement based on laser alignment and ranging according to an embodiment of the present application;

[0027] Figure 9 A schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0028] The following describes in detail embodiments of the present application, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0029] The following describes the arch dam displacement monitoring device and method based on laser alignment and ranging according to the embodiment of the present application with reference to the accompanying drawings. In response to the problems mentioned in the above background technology that an observation room often needs to be built to protect the instrument, the implementation cost is high, and the adaptability to the terrain on both sides is poor, the present application provides an arch dam displacement monitoring device based on laser alignment and ranging. In the device, a relative displacement measuring component can be used to obtain the three-dimensional displacement between adjacent measuring points of multiple measuring points of the arch dam, and the relative horizontal displacement and relative vertical displacement in the target coordinate system can be converted by a displacement coordinate conversion component. Then, the absolute three-dimensional displacement of each measuring point is calculated using the arch dam displacement monitoring component to obtain the actual displacement of the arch dam. The advantages of the laser's unique good directionality, non-divergence and high ranging accuracy can be reasonably utilized. At the same time, the three-dimensional displacement of the target point is observed, and the monitoring synchronization and timeliness are high, which has good promotion and application value. Thus, the problems in the related technology that an observation room often needs to be built to protect the instrument, the implementation cost is high, and the adaptability to the terrain on both sides is poor are solved.

[0030] Specifically, Figure 1 Schematic diagram of a block diagram of an arch dam displacement monitoring device based on laser alignment and ranging according to an embodiment of the present application.

[0031] like Figure 1 As shown, the arch dam displacement monitoring device 10 based on laser alignment and ranging includes: a relative displacement measuring component 100 , a displacement coordinate conversion component 200 and an arch dam displacement monitoring component 300 .

[0032] The relative displacement measuring device 100 is used to obtain the horizontal and vertical displacements perpendicular to the target direction between adjacent measuring points on the arch dam, and to obtain the horizontal displacement between adjacent measuring points along the target direction. The relative displacement measuring device 100 includes at least one laser collimator and at least one laser rangefinder.

[0033] It is understood that the relative displacement measuring device 100 of the embodiment of the present application can measure the displacement of an arch dam in three dimensions. Specifically, the three-dimensional displacement includes two horizontal dimensions and one vertical dimension. Furthermore, the laser collimator of the embodiment of the present application can measure one horizontal displacement and one vertical displacement perpendicular to the target direction, such as perpendicular to the laser direction; the rangefinder measures another horizontal displacement along the target direction, such as along the laser direction; and the combination of the two measures the three-dimensional displacement.

[0034] Those skilled in the art will appreciate that, in the embodiment of the present application, a displacement monitoring base point may be arranged on the bedrock at each end of the arch dam (wherein the displacement monitoring base points may be numbered A and B), and multiple displacement measuring points may be arranged on the top of the arch dam (wherein the multiple displacement measuring points may be numbered 1 to N), and the multiple displacement measuring points may form an arc-shaped measuring line along the top of the dam. Specifically, Figure 2 shown.

[0035] The crest of the arch dam in the present embodiment is one of the areas most affected by water pressure and other external loads. Therefore, establishing measurement points on the crest allows for direct monitoring of deformation, displacement, or other physical parameters at these critical locations, enabling a more accurate assessment of the arch dam's safety. Furthermore, since the crest runs through the entire arch dam, establishing multiple measurement points there allows for a wider monitoring coverage, contributing to a comprehensive understanding of the arch dam's overall performance and safety.

[0036] It should be noted that although the embodiment of the present application can set multiple measuring points on the top of the arch dam, it can also be set by technicians in this field according to actual conditions. For example, if certain characteristic parts of the arch dam have greater safety hazards or require more intensive monitoring, this application does not impose specific restrictions.

[0037] Furthermore, in an embodiment of the present application, at least one laser collimator, such as a laser collimator, which is not specifically limited in this application, and at least one laser rangefinder, such as a laser rangefinder, which is not specifically limited in this application, can be arranged between every two adjacent measuring points. The laser collimator is used to obtain the horizontal displacement and vertical displacement between adjacent measuring points perpendicular to the target direction, such as the laser emission direction, and the laser rangefinder is used to obtain the horizontal displacement between adjacent measuring points along the target direction, such as the laser emission direction.

[0038] For example, the embodiment of the present application assumes that a certain engineering dam is a roller-compacted concrete hyperbolic arch dam with a curved dam surface, steep bank slopes, and poor visibility conditions.

[0039] Based on the measurement principle, the laser collimator in this embodiment can monitor displacement in two dimensions within a plane perpendicular to the laser emission direction, but cannot measure displacement along the laser emission direction. In contrast, a laser rangefinder can monitor the relative displacement of a measuring point along the laser emission direction by measuring the change in distance between the measured point and a reference point. Combining the two, we leverage their respective strengths to simultaneously employ a laser collimator and a laser rangefinder to monitor the three-dimensional displacement of an arch dam.

[0040] Specifically, in the embodiment of the present application, a displacement monitoring base point is arranged at a stable position of the dam head on the left and right banks of the arch dam, numbered A and B respectively. To facilitate mutual verification and comparative analysis with manual monitoring data, the automatic monitoring point of the dam top displacement is arranged at the same point or in proximity to the existing manual monitoring point as much as possible. N is taken as 7, with a total of 7 measuring points, numbered (1 to 7).

[0041] Optionally, in one embodiment of the present application, at least one laser collimator is further used to set a laser receiver on the target with the laser beam as the reference line, and obtain the horizontal and vertical displacements perpendicular to the target direction between adjacent measuring points through the position change of the laser spot on the receiving light screen.

[0042] That is to say, the working principle of the laser collimator in the embodiment of the present application is as follows: Figure 3 As shown, the laser collimator includes a laser transmitter and a laser receiver. The light screen of the laser receiver is perpendicular to the incident laser. By monitoring the position change of the laser spot on the receiving light screen, the horizontal and vertical displacements of the measuring point relative to the laser transmitter in the light screen plane are obtained, as shown in FIG. Figure 4 Δr and Δh in .

[0043] Optionally, in one embodiment of the present application, at least one laser rangefinder is further used to calculate the relative distance by measuring the propagation time of the laser between adjacent measuring points, so as to obtain the horizontal displacement between adjacent measuring points along the target direction based on the change in the relative distance.

[0044] It can be understood that the working principle of the laser rangefinder in the embodiment of the present application is as follows: Figure 5 As shown, further, the laser rangefinder monitors the distance change between the light screen and the laser emitter according to the laser ranging principle, and obtains the horizontal displacement of the measuring point along the laser emission direction from the distance change, as shown in FIG. Figure 4 Δd in .

[0045] Optionally, in one embodiment of the present application, the target direction is the laser emission direction of the relative displacement measuring component 100 .

[0046] As a possible implementation method, the embodiment of the present application can understand the target direction as the laser emission direction of the relative displacement measuring component 100. It can be understood that this is an effective arch dam monitoring method that can provide accurate and timely displacement data, which is helpful in evaluating the safety status of the arch dam.

[0047] The displacement coordinate conversion component 200 is used to convert the acquired horizontal displacement and vertical displacement into relative horizontal displacement and relative vertical displacement in the target coordinate system based on a preset geometric projection relationship.

[0048] It can be understood that the geometric projection relationship in the embodiments of the present application mainly describes the graphics formed by projecting objects or point sets in three-dimensional space onto a plane, as well as the relationship between these projections and their original objects. It can be divided into parallel projection, central projection and other projection forms, and this application does not impose specific restrictions.

[0049] As a possible implementation method, the embodiment of the present application can convert the horizontal displacement perpendicular to the laser emission direction and the horizontal displacement along the laser emission direction between adjacent measuring points into a target coordinate system, such as the X and Y directions of the absolute coordinate system, based on a certain geometric projection relationship through the displacement coordinate conversion component 200, that is, the relative displacement of each measuring point is converted into a unified coordinate system for subsequent superposition processing.

[0050] In addition, the target coordinate system can be set by technicians in this field according to actual conditions, and this application does not impose any specific restrictions.

[0051] For example, if Figure 6 As shown, the present embodiment can be used to calculate the displacement of measuring point 2 relative to measuring point 1 as an example. The distance change of measuring point 2 relative to measuring point 1 obtained by the laser rangefinder is Δd, and the horizontal displacement of measuring point 2 relative to measuring point 1 perpendicular to the laser direction obtained by the laser collimator is Δr. Based on a certain geometric projection relationship, the displacement of measuring point 2 relative to measuring point 1 in the absolute coordinate system X, Y is obtained, which can be expressed as:

[0052] Δx2=Δdcos(180°-α 12 )+Δrcos(α 12 -90°),

[0053] Δy2=Δdsin(180°-α 12 )+Δrsin(α 12 -90°),

[0054] Among them, α 12 The azimuth of the laser emission direction (measurement point 1->2), that is, the angle between measurement point 1->2 and the north direction of the coordinate.

[0055] Similarly, the displacements Δx1, Δy1 of measuring point 1 relative to monitoring base point A, Δx3, Δy3 of measuring point 3 relative to measuring point 2, and Δx4, Δy4, ..., Δx N , Δy N , and so on.

[0056] The arch dam displacement monitoring device 300 is used to calculate the absolute three-dimensional displacement of each measuring point based on the relative horizontal displacement and the relative vertical displacement, and obtain the actual displacement of the arch dam according to the absolute three-dimensional displacement of each measuring point.

[0057] During actual implementation, the embodiment of the present application can calculate the absolute three-dimensional displacement of each measuring point through the arch dam displacement monitoring component 300, and then obtain the actual displacement of the arch dam.

[0058] That is to say, the embodiment of the present application can start from the displacement monitoring base point at one end of the arch dam, and obtain the absolute three-dimensional displacement of each measuring point on the arc measuring line by gradually superimposing the relative horizontal displacement and vertical displacement of each measuring point in a unified coordinate system.

[0059] For example, the embodiment of the present application assumes that the monitoring base point A is stable and immobile. For ease of explanation, the embodiment of the present application can be compared and analyzed with the monitoring data obtained by the engineering surveying method. According to the initial plane coordinates and elevation of each measuring point, the horizontal displacement and vertical displacement in the corresponding direction are added to obtain the actual displacement of each measuring point, such as the current plane coordinates and elevation, which can be expressed as:

[0060] X n =X 0n +ΔX n ,

[0061] Y n =Y 0n +ΔY n ,

[0062] H n =H 0n +ΔH n ,

[0063] Among them, X 0n 、Y 0n is the initial plane coordinate of the measuring point n, H 0n is the initial elevation of measuring point n, ΔX n , ΔY n , ΔH n is the three-dimensional displacement of measuring point n.

[0064] Furthermore, the embodiment of the present application can assume that the monitoring base point B at the other end of the arch dam is stable and motionless. Theoretically, the displacement of the monitoring base point B obtained by superimposing the calculations section by section should be close to 0. Based on this, the accuracy can be tested, and the displacement of each measuring point can be adjusted as needed to obtain the optimal solution for the displacement of each measuring point.

[0065] Furthermore, in the embodiment of the present application, the stability of the displacement monitoring base points A and B arranged on the bedrock at both ends of the arch dam is calibrated by the deformation monitoring control network, and the calibrated displacement is superimposed on the displacement measurement points of each arch dam, and finally the absolute displacement of each arch dam displacement measurement point in the deformation monitoring control network is obtained.

[0066] In summary, the embodiments of the present application can reasonably utilize the advantages of lasers such as good directionality, low divergence, and high ranging accuracy, and simultaneously observe the three-dimensional displacement of each measuring point, with high monitoring synchronization and timeliness. In addition, the embodiments of the present application do not require the construction of an observation room, and the implementation cost is low; it has low requirements for the terrain on both sides of the river and is more adaptable. It can be used in arch dams or other types of non-straight dam sections, as well as in straight dam sections, and has good promotion and application value.

[0067] Optionally, in one embodiment of the present application, the arch dam displacement monitoring device 300 is further used to perform relative displacement superposition of each measuring point segment by segment based on the relative horizontal displacement and the relative vertical displacement to obtain the absolute three-dimensional displacement of each measuring point.

[0068] As a possible implementation method, the arch dam displacement monitoring device 300 of the embodiment of the present application can not only measure the relative horizontal displacement and relative vertical displacement between each measuring point, but also obtain the absolute three-dimensional displacement of each measuring point by superimposing these relative displacements section by section.

[0069] It can be understood that, in the embodiment of the present application, if it is assumed that the monitoring base point A is stable and motionless, then the absolute horizontal displacement of the measuring point 1 can be expressed as:

[0070] ΔX1=Δx1,

[0071] ΔY1=Δy1,

[0072] The absolute horizontal displacement of measuring point 2 can be expressed as:

[0073] ΔX2=Δx1+Δx2,

[0074] ΔY2=Δy1+Δy2,

[0075] The absolute horizontal displacement of measuring point 3 can be expressed as:

[0076] ΔX3=Δx1+Δx2+Δx3,

[0077] ΔY3=Δy1+Δy2+Δy3,

[0078] Furthermore, by sequentially superimposing the embodiments of the present application, the absolute horizontal displacement of the measuring point N can be expressed as:

[0079] ΔX N =Δx1+Δx2+Δx3+…+Δx N ,

[0080] ΔY N =Δy1+Δy2+Δy3+…+Δy N ,

[0081] Similarly, the absolute vertical displacement of each measuring point can be calculated by superposition segment by segment:

[0082] ΔH1=Δh1,

[0083] ΔH2=Δh1+Δh2, ......

[0085] ΔH N =Δh1+Δh2+Δh3+…+Δh N ,

[0086] For example, if Figure 2 As shown, in this embodiment of the present application, a laser collimator and a laser rangefinder can be arranged between monitoring base point A and measuring point 1. With A as the starting point, laser light is emitted from base point A toward measuring point 1, serving as the measurement collimation line. Furthermore, in this embodiment of the present application, when measuring point 1 shifts, the receiving light screen on it shifts synchronously. By measuring the change in the position of the laser spot on the receiving light screen, the displacement of measuring point 1 is determined.

[0087] Similarly, in the embodiment of the present application, if a laser is emitted from measuring point 2 to measuring point 3, the displacement of measuring point 3 relative to measuring point 2 can be determined by measuring the position change of the light spot on the light screen at measuring point 3. Similarly, the relative displacement between adjacent measuring points can be obtained.

[0088] Furthermore, the embodiment of the present application can convert the relative displacement of each measuring point into a unified coordinate system, and obtain the displacement of each measuring point relative to the base point A by superimposing it section by section. Furthermore, the embodiment of the present application combines the measuring point 7 with the right bank monitoring base point B to verify and check the measurement results and evaluate the monitoring accuracy.

[0089] Specifically, in the embodiment of the present application, the measurement accuracy of the laser collimator and laser rangefinder used is ±0.5mm, and the analysis of the system monitoring accuracy can be:

[0090] In the embodiment of the present application, the horizontal displacement formula of measuring point 2 relative to measuring point 1 in the absolute coordinate system X, Y can be expressed as:

[0091] Δx2=Δdcos(180°-α 12 )+Δrcos(α 12 -90°),

[0092] Δy2=Δdsin(180°-α 12 )+Δrsin(α 12 -90°),

[0093] Furthermore, according to the error propagation law, the mean square error of the horizontal displacement of measuring point 2 relative to measuring point 1 in the X and Y directions can be expressed as:

[0094]

[0095] In the embodiment of the present application, the azimuth angle α can be set 12 =104.61°, and m Δd =m Δr = ±0.5mm, calculated from the above formula:

[0096] Similarly, in the embodiment of the present application, the azimuth angle α is known. A1 =108.29°, α 23 =95.95°,α 34 =81.98°, the mean error of the horizontal displacement of measuring point 1, measuring point 3 and measuring point 4 in the X and Y directions relative to the previous measuring point is calculated respectively, which can be expressed as:

[0097]

[0098] Furthermore, according to the error propagation law, in the embodiment of the present application, the mean square error of the measuring point 4 in the middle of the arch dam with the largest horizontal displacement relative to the base point A can be expressed as:

[0099]

[0100] Therefore, the embodiment of the present application meets the requirements of the "Technical Specifications for Safety Monitoring of Concrete Dams" (DL / T5178-2016) on the accuracy of monitoring the horizontal displacement of the arch dam body.

[0101] Similarly, the vertical displacement error of measuring point 4 is:

[0102]

[0103] Therefore, the embodiment of the present application meets the requirements of the "Technical Specifications for Safety Monitoring of Concrete Dams" (DL / T5178-2016) on the accuracy of monitoring the vertical displacement of the arch dam body.

[0104] In summary, the embodiments of the present application make rational use of the advantages of lasers such as good directionality, low divergence, and high ranging accuracy, while monitoring the three-dimensional displacement of the target point, and the monitoring accuracy can meet the requirements of relevant specifications. Furthermore, the laser collimator and laser rangefinder used in the embodiments of the present application are inexpensive, do not require the construction of an observation room for protection, have low implementation costs, and are more adaptable to the terrain on both sides of the river. In addition, the embodiments of the present application can be used in arch dams or other types of non-straight dam sections, as well as in straight dam sections, and have good promotion and application value.

[0105] The working principle of the arch dam displacement monitoring proposed in the embodiment of the present application is described in detail below with reference to a specific embodiment.

[0106] in, Figure 7 This is a flow chart of the working principle of arch dam displacement monitoring based on laser alignment and ranging provided in accordance with an embodiment of the present application.

[0107] Step S701: Measurement point arrangement. It is understandable that, if Figure 2 As shown, the embodiment of the present application assumes that a certain engineering dam is a roller-compacted concrete hyperbolic arch dam with a curved dam surface, steep bank slopes, and poor visibility conditions. The embodiment of the present application can arrange a displacement monitoring base point on the bedrock at both ends of the arch dam (wherein the displacement monitoring base points can be numbered A and B), and arrange multiple displacement measuring points on the top of the arch dam (wherein the multiple displacement measuring points can be numbered 1 to N, where N is 7). The multiple displacement measuring points form an arc-shaped measuring line along the dam top. Furthermore, the embodiment of the present application can arrange a laser collimator and a laser rangefinder between every two adjacent measuring points.

[0108] Step S702: relative displacement measurement. It is understandable that, if Figure 2 As shown, in this embodiment of the present application, A can be used as the starting point for measurement, and laser light can be emitted from base point A toward measurement point 1, serving as the measurement collimation line. Furthermore, in this embodiment of the present application, when measurement point 1 shifts, the receiving light screen on it shifts synchronously. By measuring the change in the position of the laser spot on the receiving light screen, the displacement of measurement point 1 can be obtained.

[0109] Similarly, in the embodiment of the present application, if a laser is emitted from measuring point 2 to measuring point 3, the displacement of measuring point 3 relative to measuring point 2 can be determined by measuring the position change of the light spot on the light screen at measuring point 3. Similarly, the relative displacement between adjacent measuring points can be obtained.

[0110] Step S703: Coordinate system conversion. That is, the embodiment of the present application can convert the relative displacement of each measuring point into a unified coordinate system.

[0111] Step S704: Absolute displacement calculation: Based on the results in the unified coordinate system, the embodiment of the present application can obtain the displacement of each measuring point relative to the base point A by superimposing the results segment by segment.

[0112] Step S705: Result Verification. That is, in the embodiment of the present application, the measurement point 7 can be finally measured in conjunction with the right bank monitoring base point B to verify the measurement results and evaluate the monitoring accuracy. The analysis of the system monitoring accuracy is as described above and will not be repeated here.

[0113] According to the arch dam displacement monitoring device based on laser alignment and ranging proposed in the embodiment of the present application, the vertical displacement and horizontal displacement perpendicular to the target direction between adjacent measuring points of multiple measuring points of the arch dam can be obtained by using the relative displacement measuring component, and converted to the relative horizontal displacement and relative vertical displacement in the target coordinate system through the displacement coordinate conversion component. Then, the absolute three-dimensional displacement of each measuring point is calculated using the arch dam displacement monitoring component to obtain the actual displacement of the arch dam. The advantages of the laser's unique good directionality, low divergence, and high ranging accuracy can be reasonably utilized to simultaneously observe the three-dimensional displacement of the target point, with high monitoring synchronization and timeliness, and good promotion and application value. This solves the problems in related technologies such as the need to build an observation room to protect the instrument, high implementation costs, and poor adaptability to the terrain on both sides of the river.

[0114] Next, the arch dam displacement monitoring method based on laser alignment and ranging proposed in accordance with an embodiment of the present application will be described with reference to the accompanying drawings.

[0115] Figure 8 This is a flow chart of an arch dam displacement monitoring method based on laser alignment and ranging provided according to an embodiment of the present application.

[0116] like Figure 8 As shown, the arch dam displacement monitoring method based on laser alignment and ranging includes the following steps:

[0117] In step S801, horizontal displacements and vertical displacements perpendicular to a target direction between adjacent measuring points of a plurality of measuring points of the arch dam are obtained, and horizontal displacements along the target direction between adjacent measuring points are obtained.

[0118] In step S802 , based on a preset geometric projection relationship, the acquired horizontal displacement and vertical displacement are converted into relative horizontal displacement and relative vertical displacement in a target coordinate system.

[0119] In step S803, the absolute three-dimensional displacement of each measuring point is calculated based on the relative horizontal displacement and the relative vertical displacement, and the actual displacement of the arch dam is obtained according to the absolute three-dimensional displacement of each measuring point.

[0120] It should be noted that the above explanation of the embodiment of the arch dam displacement monitoring device based on laser alignment and ranging is also applicable to the arch dam displacement monitoring method based on laser alignment and ranging in this embodiment, and will not be repeated here.

[0121] According to the arch dam displacement monitoring method based on laser alignment and ranging proposed in the embodiment of the present application, the vertical and horizontal displacements perpendicular to the target direction between adjacent measuring points of multiple measuring points of the arch dam can be obtained, and based on a certain geometric projection relationship, the absolute three-dimensional displacement of each measuring point can be calculated, thereby obtaining the actual displacement of the arch dam. This method can reasonably utilize the advantages of laser's unique good directionality, low divergence, and high ranging accuracy, while observing the three-dimensional displacement of the target point. The monitoring synchronization and timeliness are high, and it has good promotion and application value. This solves the problems in related technologies such as the need to build an observation room to protect the instrument, high implementation costs, and poor adaptability to the terrain on both sides of the river.

[0122] Figure 9 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. The electronic device may include:

[0123] A memory 901 , a processor 902 , and a computer program stored in the memory 901 and executable on the processor 902 .

[0124] When the processor 902 executes the program, the arch dam displacement monitoring method based on laser alignment and ranging provided in the above embodiment is implemented.

[0125] Furthermore, the electronic device further includes:

[0126] The communication interface 903 is used for communication between the memory 901 and the processor 902 .

[0127] The memory 901 is used to store computer programs that can be run on the processor 902 .

[0128] The memory 901 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0129] If the memory 901, processor 902, and communication interface 903 are implemented independently, the communication interface 903, memory 901, and processor 902 can be interconnected via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 9Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0130] Optionally, in a specific implementation, if the memory 901, the processor 902 and the communication interface 903 are integrated on a chip, the memory 901, the processor 902 and the communication interface 903 can communicate with each other through an internal interface.

[0131] The processor 902 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0132] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-mentioned arch dam displacement monitoring method based on laser alignment and ranging.

[0133] An embodiment of the present application further provides a computer program product, including a computer program, which, when executed, implements the above-mentioned arch dam displacement monitoring method based on laser alignment and ranging.

[0134] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0135] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this application, "N" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0136] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing a custom logical function or process step, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may be performed in a different order than shown or discussed, including performing functions in a substantially simultaneous manner or in a reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present application pertain.

[0137] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or N wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program can be obtained electronically by optically scanning the paper or other medium and then editing, interpreting or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0138] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented using hardware, as in another embodiment, it can be implemented using any one or a combination of the following technologies known in the art: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0139] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0140] In addition, the functional units in the various embodiments of the present application may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into a module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0141] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. An arch dam displacement monitoring device based on laser alignment and ranging, characterized in that: include: A relative displacement measuring device is used to obtain horizontal displacement and vertical displacement perpendicular to a target direction between adjacent measuring points of a plurality of measuring points of the arch dam, and to obtain horizontal displacement between the adjacent measuring points along the target direction; The displacement coordinate conversion component is used to convert the obtained horizontal displacement and vertical displacement into relative horizontal displacement and relative vertical displacement in the target coordinate system based on a preset geometric projection relationship; a displacement monitoring base point is arranged on the bedrock at both ends of the arch dam, and multiple displacement measurement points are arranged on the top of the arch dam. The distance change between two adjacent displacement monitoring base points measured by the laser rangefinder is The horizontal displacement of two adjacent displacement base points perpendicular to the laser direction measured by the laser collimator is , in the target coordinate system, the displacement of the latter monitoring point compared to the previous monitoring point among the two adjacent displacement monitoring base points is: ， ， in, is the azimuth of the laser emission direction, and the laser emission direction is from the previous monitoring base point to the next monitoring base point; An arch dam displacement monitoring device is used to calculate the absolute three-dimensional displacement of each measuring point based on the relative horizontal displacement and the relative vertical displacement, and to obtain the actual displacement of the arch dam based on the absolute three-dimensional displacement of each measuring point; the relative displacement measuring device includes at least one laser collimator and at least one laser rangefinder, and the at least one laser rangefinder is further used to calculate the relative distance by measuring the propagation time of laser between adjacent measuring points, so as to obtain the horizontal displacement between the adjacent measuring points along the target direction based on the change in the relative distance.

2. The device according to claim 1, characterized in that The at least one laser collimator is further used to set a laser receiver on the target with the laser beam as the reference line, and obtain the horizontal displacement and vertical displacement perpendicular to the target direction between adjacent measuring points through the position change of the laser spot on the receiving light screen.

3. The device according to claim 1, characterized in that The target direction is the laser emission direction of the relative displacement measuring component.

4. The device according to claim 1, characterized in that The arch dam displacement monitoring device is further used to perform relative displacement superposition of each measuring point segment by segment based on the relative horizontal displacement and the relative vertical displacement to obtain the absolute three-dimensional displacement of each measuring point.

5. A method for monitoring arch dam displacement based on laser alignment and ranging, characterized in that: The following steps are involved: Acquire horizontal displacement and vertical displacement perpendicular to a target direction between adjacent measuring points of a plurality of measuring points of the arch dam, and acquire horizontal displacement along the target direction between the adjacent measuring points; Based on the preset geometric projection relationship, the obtained horizontal displacement and vertical displacement are converted into relative horizontal displacement and relative vertical displacement in the target coordinate system; a displacement monitoring base point is arranged on the bedrock at both ends of the arch dam, and multiple displacement measurement points are arranged on the top of the arch dam. The distance change between two adjacent displacement monitoring base points measured by the laser rangefinder is The horizontal displacement of two adjacent displacement base points perpendicular to the laser direction measured by the laser collimator is , in the target coordinate system, the displacement of the latter monitoring point compared to the previous monitoring point among the two adjacent displacement monitoring base points is: ， ， in, is the azimuth of the laser emission direction, and the laser emission direction is from the previous monitoring base point to the next monitoring base point; Calculating the absolute three-dimensional displacement of each measuring point based on the relative horizontal displacement and the relative vertical displacement, and obtaining the actual displacement of the arch dam according to the absolute three-dimensional displacement of each measuring point; A relative displacement measuring device is used to obtain horizontal and vertical displacements perpendicular to a target direction between adjacent measuring points of a plurality of measuring points of an arch dam, and to obtain horizontal displacements along the target direction between the adjacent measuring points; the relative displacement measuring device includes at least one laser collimator and at least one laser rangefinder, and the at least one laser rangefinder is further used to calculate a relative distance by measuring the propagation time of laser light between the adjacent measuring points, so as to obtain the horizontal displacement along the target direction between the adjacent measuring points based on the change in the relative distance.

6. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the arch dam displacement monitoring method based on laser alignment and ranging as claimed in claim 5.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that: The program is executed by a processor to implement the arch dam displacement monitoring method based on laser alignment and ranging as claimed in claim 5.

8. A computer program product comprising a computer program, characterized in that The computer program is executed to implement the arch dam displacement monitoring method based on laser alignment and ranging as claimed in claim 5.

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