Construction / operation and maintenance tunnel whole-line convergence real-time online monitoring method and system

Abstract

The invention discloses a construction / operation tunnel whole-line convergence real-time online monitoring method and system which are used for achieving long-term online monitoring of tunnel whole-line pipe ring convergence deformation. Comprising a plurality of single-ring convergence measurement systems which are arranged at intervals in the length direction of a monitored tunnel, and each single-ring convergence measurement system is composed of a plurality of angle sensors; comprising more than one gateway which is arranged at intervals in the length direction of a monitored tunnel and is regarded as a wireless network access hot spot (AP) of an angle sensor in a neighbor single-ring convergence measurement system; comprising a cloud server platform; a wireless local area network is constructed by the angle sensors and the gateways on site, the gateway (AP) close to a tunnel entrance / exit or a base station is selected as a local data acquisition server, and sensing data in each single-ring convergence measurement system is provided for the data acquisition server through the wireless local area network; and the data acquisition server is connected with the cloud server platform. And 24-hour uninterrupted real-time monitoring is not limited by a non-intervisible environment.

Description

Technical Field

[0001] The present invention relates to the field of tunnel monitoring, and in particular to a method and system for real-time online monitoring of full-line convergence of a construction / operation and maintenance tunnel. Background Art

[0002] With the rapid development of China's transportation network, the number of tunnels in China has ranked first in the world. Tunnel safety monitoring includes construction safety monitoring during the tunnel construction phase and operation and maintenance safety monitoring during the later operation phase. The monitoring results have also become the main basis for tunnel safety and durability assessment.

[0003] In order to ensure the safety and stability of the tunnel structure, shield construction uses multi-ring connected prefabricated lining (segments) as the innermost support structure of the tunnel. Affected by multiple factors such as grouting pressure, environmental water and soil pressure, and shield construction force changes, the tunnel ring is prone to convergence and deformation in the tunnel cross section. Realizing long-term online automatic monitoring of tunnel convergence and deformation is of great significance to tunnel construction safety and tunnel operation and maintenance safety monitoring.

[0004] 1. Tunnel Convergence Deformation Measurement Algorithm

[0005] In the prior art, CN116105672A proposes a method and system for monitoring the convergence and deformation of tunnel pipelines. According to the 16 installation positions of the capping block, a mathematical calculation model corresponding to each installation position is established; according to the endpoint coordinates of each segment, the centroid coordinates of the circle are fitted; according to the centroid coordinates of the fitted circle, the center and radius are fitted, and the fitted circle is drawn; according to the endpoint coordinates of each segment, the radius corresponding to the segment and the center angle corresponding to the segment, the coordinates between the endpoints are fitted using the polar coordinate method, and according to the coordinates between the endpoints corresponding to each segment, the arc curve corresponding to each segment is fitted, and the curve graph of the entire pipe ring is formed by splicing, which is used to reflect the overall deformation of the pipeline. Because the algorithm has not been broken through, the error of installing sensors at the measuring points in the technical solution cannot be completely eliminated, and the limitations of the fitting method have determined that the measurement technology solution is bound to have shortcomings in terms of accuracy and installation convenience. This technical solution only involves the convergence deformation monitoring of a single-ring pipe ring, and cannot achieve continuous multi-ring convergence monitoring and evaluation.

[0006] 2. Tunnel safety monitoring

[0007] As a rail transit system, the tunnel structure is the core and skeleton of the entire system. Structural problems at any location in the tunnel will affect the normal operation of the entire subway system. The structural safety of the tunnel is the foundation and core of ensuring the safe operation of the subway.

[0008] Manual inspection has the defects of low efficiency, poor accuracy and strong subjectivity, and the safety of workers is difficult to guarantee during the manual inspection process.

[0009] In order to overcome the shortcomings of manual detection methods, laser scanning technology is a new, non-destructive measurement method with laser scanners as the main equipment. It uses a special monitoring vehicle to travel in the tunnel in a non-contact manner. Using a static stand-type laser scanner, the entire section of the subway tunnel can be scanned at high speed to obtain point cloud data. However, point clouds are spatial points with three-dimensional coordinates and reflection intensity information. They cannot directly identify and analyze tunnel linings, and it is necessary to generate lining inner surface images based on tunnel point clouds. Generating lining inner surface images based on tunnel point cloud data is slow and overly dependent on manual operations. The monitoring period must be staggered with the tunnel operation period. It is difficult to achieve online pipe ring convergence monitoring of the entire tunnel throughout the day, and it is difficult to adapt to large-scale tunnel point cloud processing tasks such as medium-long tunnels and extra-long tunnels. It is also difficult to adapt to point cloud processing of curved tunnels. In addition, the three-dimensional laser scanning method cannot be applied to tunnel environments where the field of view is blocked by shield equipment.

[0010] Based on the above technical problems, the technical solution of this application is proposed. Summary of the invention

[0011] One of the purposes of the present invention is to provide a measurement algorithm, which can monitor the angle change of the pipe segment, determine the distance change between two non-adjacent pipe ring joints in the same ring, and then obtain the pipe ring convergence distance, so as to measure the pipe ring convergence deformation, and the measurement method is simple, easy to implement and popularize. This algorithm is the key innovation point.

[0012] The second purpose of the present invention is to provide a real-time online monitoring method and system for the convergence of the entire construction / operation and maintenance tunnel, which replaces the traditional use of special inspection vehicles in the industry to travel in the tunnel. This type of special scanning and inspection method in the tunnel must avoid the tunnel operation time period, and each tunnel can only be inspected periodically and in a planned manner; the scanning point cloud data is large, and the computing power of the detection algorithm is large. The monitoring scheme of the present invention is detailed and comprehensive, and can be monitored in real time 24 hours a day without being restricted by non-line-of-sight environments.

[0013] Technical solution:

[0014] A real-time online monitoring system for the convergence of the entire construction / operation and maintenance tunnel, characterized in that it is used to achieve long-term online monitoring of the convergence deformation of the tunnel ring;

[0015] It includes a plurality of single-loop convergence measurement systems arranged at intervals in the length direction of the monitored tunnel, each single-loop convergence measurement system is composed of a plurality of angle sensors;

[0016] It includes multiple gateways arranged at intervals in the length direction of the monitored tunnel, which are regarded as wireless network access hotspots (APs) of angle sensors in the neighboring single-loop convergence measurement system;

[0017] Including cloud server platform;

[0018] The above-mentioned angle sensors and gateways on site build a wireless local area network, and the gateway (AP) near the tunnel entrance / exit or base station is selected as the local data acquisition server. The sensor data in each single-loop convergence measurement system is provided to the data acquisition server through the wireless local area network; the data acquisition server on site is communicated with the cloud server platform.

[0019] An industrial computer (PC) is also installed at the site of each monitored tunnel, which is connected to the on-site wireless local area network; the sensor data in each single-loop convergence measurement system can also be provided to the industrial computer (PC) through the wireless local area network; the industrial computer (PC) includes a data management module, a single-loop measurement data processing module, a tunnel data processing module, a risk warning module, and an interaction module. The industrial computer (PC) also locally realizes the functions of data storage, output processing, risk warning and interaction with the cloud server platform.

[0020] The solution of the present invention can provide 24-hour uninterrupted real-time monitoring without being restricted by non-line-of-sight environments. Compared with traditional methods, its implementation effect and application value are significant. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the convergence deformation of the tunnel ring;

[0022] Figure 2 is a schematic diagram of the pipe ring deformation measurement index;

[0023] Figure 3a is a schematic diagram of equivalently converting the pipe segment in the first embodiment of the present invention into a connecting rod mechanism;

[0024] Figure 3b This is a schematic diagram of the installation of the inclination sensor of the single-loop convergence measurement system;

[0025] Figure 3c is a schematic diagram of the central angle of the pipe segment corresponding to the algorithm of the present invention;

[0026] Figure 3d is a schematic diagram of segment joint numbers and joint azimuths according to the algorithm of the present invention;

[0027] Figure 4 is a schematic diagram of the convergence target circle;

[0028] Figure 5a It is a schematic diagram of a single rigid body point rotating around a point on a plane in a coordinate system;

[0029] Figure 5b It is a schematic diagram of the situation where the multi-link mechanism undergoes rotational displacement;

[0030] Figure 6 Schematic diagram of a large platform for monitoring tunnel convergence and deformation in an embodiment;

[0031] Figure 7 Schematic diagram of multi-loop convergence fitting calculation estimation in the embodiment;

[0032] Figure 8 The embodiment of the endpoint screening method corresponding to the upper, lower, left and right vertices;

[0033] Fig. 9 Example Construction / Operation and Maintenance Tunnel Full Line Convergence Real-time Online Monitoring System;

[0034] Fig.10 Software structure block diagram of the tunnel data processing module in the monitoring system of the embodiment. DETAILED DESCRIPTION

[0035] The following will be described in detail with reference to the accompanying drawings to provide a clearer understanding of the purpose, features and advantages of the present invention. It should be understood that the embodiments shown in the accompanying drawings are not intended to limit the scope of the present invention, but are only intended to illustrate the essential spirit of the technical solution of the present invention.

[0036] Part I: Principles of the Algorithm of the Invention

[0037] The key to measuring the convergence of the pipe ring is to reasonably describe the degree of convergence and deformation of the pipe ring. The same ring of the pipe ring is composed of multiple pipe segments. Assuming that the pipe segment is a rigid body, the relative rotation of each pipe segment within the cross section of the pipe ring leads to the convergence and deformation of the pipe ring. Figure 2 As shown, the existing pipe ring deformation measurement indicators are the waistline distance and vertical distance change values.

[0038] The measurement principle and mathematical model of this embodiment are described below.

[0039] Based on the assumption, the whole ring of segments is equivalent to a planar multi-link mechanism. Each concrete segment in the same ring is regarded as a rigid body and equivalent to a rigid connecting rod. The midpoint of the intersection line between the contact surface of the adjacent ring segment and the cross section is used as the rotation center of each segment. The relative rotation of each segment in the cross section plane causes the ring to deform, such as Figure 3a As shown in the figure, the pipe ring is equivalent to a planar linkage mechanism, and each pipe segment is numbered. The pipe ring numbered F is the pipe segment with the shortest circumference among all pipe rings, that is, the azimuth pipe segment, which can also be called F block. The remaining pipe segments are non-azimuth pipe segments, and there is only one azimuth pipe segment. The number of non-azimuth pipe segments can be an even number or a cardinality, assuming it is n. Usually, the number of pipe segments contained in a complete pipe ring in tunnels of different diameters is different, and 6, 8, and 10 are common.

[0040] Assuming that the plane where the planar linkage mechanism is located is the target cross section, the center point of the intersection of the target cross section and the contact surface of the adjacent segment is defined as the hinge point. The circumference where the hinge point is located is the median circumference of the mean radius of the outer circle radius and the inner circle radius of the pipe ring, as shown in the following example: Figure 4As shown in the figure, the long solid line section in the center represents the minimum circle 1 of the cross section, the short dashed line section slightly larger on the periphery represents the median circle 2 of the cross section, and the long dashed line section larger on the periphery represents the maximum circle 3 of the cross section. The section formed by the minimum circle of the cross section is the target cross section, and the boundary point located on the center line of the target cross section is the hinge point.

[0041] The complete pipe ring is equivalent to a planar multi-link mechanism. The relative distance change value of the corresponding joint can be calculated by simply measuring the rotation angle of each pipe segment. For this reason, when the algorithm of the present invention is applied, it is only necessary to install an inclination sensor on each pipe segment of the same pipe ring (there is no accuracy requirement for the installation position), measure the angle change value of the pipe segment in the cross section, and realize the monitoring of basic measurement data. In view of the change in the position of the pipe segment relative to the shield machine, it is difficult to implement stable power supply through cables, so the recommended solution is to use a wireless transmission inclination sensor to realize the angle measurement of the pipe segment.

[0042] The following assumptions are required to achieve the convergence measurement of the pipe ring: An inclination sensor is arranged on each pipe segment, and the measurement start time is set. Assuming that the pipe segment is an undeformed perfect circle, the angle change value of each pipe segment in the cross section is measured at a specified period. According to the change angle and geometric parameters of the pipe segment, the coordinates of the next joint point are calculated in sequence. After the coordinates of the joint points of the entire ring are obtained, the distances of each joint can be calculated. The calculated distance value is subtracted from the ideal pipe segment joint distance value to obtain the pipe ring convergence distance value from the start of measurement to the current time.

[0043] The calculation of the basic parameters of the pipe ring is described as follows. In general, the number of pipe segments contained in a complete pipe ring in tunnels of different diameters is different. Here, it is assumed that the pipe ring is composed of n pieces of pipe rings, that is, n is commonly 6, 8, 10, etc. Figure 3c Take 10 segments as an example, facing the excavation direction, the two segments adjacent to segment F are numbered L1 and L2, and the remaining segments are numbered B1, B2, ... B (n-3) in the order of connection. Therefore, starting from the wedge-shaped capping block, the numbering of each segment in the counterclockwise or clockwise direction is: F, L1, B1, B2... B (n-3), L2. The circle with the axial center of the pipe ring as the center and the average value of the inner and outer diameters of the pipe ring as the radius (i.e. Figure 4 The median circle (red dashed line) is the reference circle. On this circle, each segment can be equivalent to an arc. Generally, the arc lengths of L1 and L2 are equal, the arc lengths of B1, B2...B(n-3) are equal, and the arc length of F is the shortest. Assuming the inner diameter of the pipe ring is R1 and the outer diameter is R2, the radius of the reference circle is R0 = (R1+R2) / 2. Taking a pipe ring with 10 segments as an example, the corresponding central angle of the segment is Figure 3c As shown, the center angle of the arc corresponding to block F is β F , the center angle of the arc corresponding to blocks L1 and L2 is β L1 =β L2 =βL , the corresponding central angles of the other segments are β B1 =β B2 =…=β B(n-3) =β β2 =(2π-β F -2β L ) / (n-3)=β B The pipe ring has a wedge shape, among which the F block is the shortest. By adjusting the circumferential position of the F block, the tunnel direction can be adjusted, and finally the tunnel line shape is close to the tunnel design axis. Therefore, the F block can be assembled to the azimuth angle α F Describes the orientation of the entire pipe ring. Facing the excavation direction, the top is 0° and the angle increases clockwise.

[0044] Description: Beta L is the center angle of the first segment, β B is the center angle of the second segment. F is the center angle of the azimuth segment.

[0045] The azimuth angle value of the azimuth segment is set to α F The non-azimuth segments include two first segments adjacent to the azimuth segments and the remaining n-3 second segments, where n is the number of segments, and each joint is numbered M0, M1, ... Mn-1 in a counterclockwise manner based on the azimuth segments, and each second segment is numbered B1, B2, ... Bn-3 in a clockwise manner based on the azimuth segments;

[0046] The azimuth angle values ​​of a joint M0 between the first segment and the azimuth segment are α F +β F / 2, and the azimuth angle values ​​of the other seam M1 are α F -β F / 2, the azimuth angle values ​​of the remaining segment joints are based on the connection order of the segments and are reduced in sequence based on the joint M1. The first angle is (β L +(i-2)β B ), i is the number subscript of the joint, β L is the center angle of the first segment, β B is the center angle of the second segment.

[0047] It should be noted that the first segment can also be called an adjacent block, that is, it is adjacent to the azimuth segment, and the second segment can also be called a standard block, that is, except for the azimuth segment and the adjacent block, all are standard blocks, and the circumferential curvature of the standard blocks is the same.

[0048] like Figure 3dAs shown, the joints of the pipe segments are numbered and the corresponding joint azimuth angles can be calculated. The following is an example of a pipe ring containing 10 pipe segments. Facing the excavation direction of the shield construction, the top is 0°, and the angle increases clockwise. The joints of the pipe ring are numbered, and their corresponding azimuth angles are shown in the following table:

[0049] Table 1. Seam number and angle table

[0050]

[0051] Get the initial coordinates / ideal coordinates P of the pipe ring joint point i (x i ,y i )(i is the joint number), can be calculated by the following formula:

[0052]

[0053] After calculating the initial coordinates of each joint point, we can use this as a reference and calculate the coordinates of the joint point after rotation by simply measuring the angle change of each segment at each measurement time relative to the initial time. The key to the segment convergence measurement algorithm is to calculate the coordinates of the target point after the equivalent rigid body rotation. The case of a single rigid body point rotating around a plane point in the coordinate system is as follows: Figure 5a shown.

[0054] Take any pipe segment as an example to illustrate the algorithm: after a single pipe segment / connecting rod rotates around one end point A1 by θ, the other end point B1 moves to point B j (B jx , B jy ), the Bj coordinate can be solved by the following formula:

[0055]

[0056] The above calculation method can only calculate the coordinates of the endpoints of a single link after rotation, but the pipe ring is equivalent to an open-loop multi-link mechanism connected in sequence. When the links in the mechanism rotate relative to each other, the above method is difficult to effectively calculate the coordinates of each hinge point. Figure 5b As shown (taking a 4-link mechanism as an example), each link rotates around one end point, and the coordinates of the hinge point after each link has rotated relative to each other can be calculated according to the following method, which can also be called the joint point coordinates.

[0057] Note: where θ AB ,θ BC ,θ CD and θ DE are the rotation angles of the corresponding rigid body links relative to the x-axis, θ A ,θ B ,θ C and θ DBoth refer to the relative rotation angle of the rigid link relative to the upper rigid link.

[0058] The first step is to use A1 as the rotation center and rotate the rigid body A1B1 by an angle θ A That is, θ AB , calculate the coordinates of points Bj (i.e. B2), C2, D2, and E2 when the remaining connecting rods do not bend relative to each other.

[0059] The second step is to calculate the rotation angle θ of the rigid body B1C1 with B2 as the rotation center. B =θ BC -θ AB , and further calculate the coordinates of points Cj (i.e., C3), D3, and E3 when the remaining connecting rods do not bend relative to each other.

[0060] The third step is to calculate the rotation angle θ of the rigid body C1D1 with C3 as the rotation center. C =θ CD -θ BC , and further calculate the coordinates of points Dj (i.e., D4) and E4 when the remaining connecting rods do not bend relative to each other.

[0061] Step 4: Calculate the rotation angle θ of the rigid body D1E1 with D4 as the rotation center D =θ DE -θ CD , and further calculate the coordinates of point Ej (i.e., E5) when the remaining links are not relatively bent. So far, the calculation of the coordinates of each hinge point after the links rotate is completed.

[0062] Based on the above rigid body rotation coordinate calculation method, taking a pipe ring composed of 10 pipe segments as an example, the calculation method of the pipe ring convergence distance is explained under the premise of knowing the rotation angle of each pipe segment:

[0063] Step 101, determining the center angle of each pipe segment relative to the circumference of the pipe ring, wherein the circumference of the pipe ring is an ideal circle formed by splicing the pipe segments.

[0064] Step 102, based on the central angle of each segment and the initial azimuth angle value of the F block with the shortest arc length among the multiple segments, determine the azimuth angle value of each joint and obtain the initial coordinates of the joint.

[0065] Specifically, according to the angle (assembly azimuth) α of the F block set within the circumference F Calculate the seam L 2-F That is, the angle of seam 0 is α0 = α F +β F / 2, calculate the remaining joint angles α1…α in turn according to Table 1 n-1 (Here n = 10), calculate the initial coordinates P of each seam point k0 (xk ,y k )——k is the seam number, and the initial distance between each seam point is calculated.

[0066] Step 103, in an absolute coordinate system, measures the angle change value of each pipe segment within a set period, and calculates the final coordinate value of each joint based on the angle change value. Step 103 includes the following sub-steps:

[0067] Step 1031, determining the angle change value of each pipe segment in the absolute coordinate system within a preset setting period.

[0068] Step 1032, select any seam as the starting seam point, and calculate the coordinate value of each seam according to the rigid body rotation coordinate calculation method.

[0069] Step 1033, selecting the next seam in a clockwise / counterclockwise direction as the starting seam point to calculate the coordinates corresponding to each seam, and multiple sets of coordinate values ​​corresponding to each seam.

[0070] Step 1034, after taking the average of the multiple groups of coordinate values ​​corresponding to each of the seams, determine the final coordinate value of each of the seams.

[0071] Specifically, at the beginning of the measurement, the initial angle value θ of each segment is obtained. F-0 ,θ L1 -0, θ B1-0 , ...θ B7-0 ,θ L2-0 After a period of time, which may be i measurement cycles, the corresponding angle value is θ F-i ,θ L1-i ,θ B1-i , ...θ B7-i ,θ L2-i . Calculate the change angle of each segment relative to the initial moment: Δθ F-i =θ F-i -θ F-0 , Δθ L1-i =θ L1-i -θ L1-0 , Δθ B1-i =θ B1-i -θ B1-0 , ... Δθ B7-i =θ B7-i -θ B7-0 , Δθ L2-i =θ L2-i -θ L2-0 .

[0072] After that, select any seam as the starting seam for calculation (here seam point 0 is used as an example), take seam point 0 as the rotation center, and calculate the first rotation angle γ = Δθ of seam point 1 and subsequent points F-i -0, according to the rigid body rotation coordinate calculation method, calculate the coordinates of seams 1-9 after the first rotation The subscript of the symbol is the joint number, and the superscript is the number of rotations. For example, the calculation is as follows:

[0073]

[0074] Seam point 1 obtained from the above steps As the rotation center, calculate the second rotation angle γ = Δθ of the joint point 2 and the subsequent points L1-i -Δθ F-i , according to the rigid body rotation coordinate calculation method, calculate the coordinates of seam 2-9 after the second rotation by For example, the calculation is as follows:

[0075]

[0076] Repeat the above steps to calculate the seam coordinates one by one wait.

[0077] At this point, the coordinate values ​​of each seam point with the rotation center starting from seam position 0 are obtained.

[0078] Reselect joint points 1, 2...9 as the initial rotation center in turn, and repeat the steps to calculate the coordinates of each joint point, thereby obtaining 10 sets of coordinate values ​​corresponding to each joint point, and calculate the average value of the joint point coordinates to obtain the final joint coordinate values ​​measured in this cycle.

[0079] From the above, it can be inferred that the coordinate value of each seam is calculated by the following formula:

[0080]

[0081] The subscript i indicates the joint number, and the superscript m indicates the mth rotation of the segment during the iterative calculation process. is the coordinate value of the i-th segment joint, and γ represents the overall change angle value of the segment to be rotated corresponding to each rotation operation during the iterative calculation process.

[0082] The present invention has a breakthrough in algorithm

[0083] A tunnel pipeline convergence deformation monitoring method and system proposed in CN1 161 05672A, which is close to the prior art, describes the pipe ring convergence deformation and issues an early warning using two indicators: roundness error and radial shrinkage. In the present invention, the pipe ring convergence is described using the distance change values ​​relative to the ideal circular ring in the horizontal and vertical directions, and a convergence threshold can be set for description.

[0084] CN116105672A proposes a tunnel pipeline convergence deformation monitoring method and system. In its technical solution, it is necessary to determine the endpoint coordinates of the pipe segment according to the inclination information, reference position information and chord length information of the pipe segment. In order to achieve higher measurement accuracy, it is necessary to require the sensor measurement axis to be parallel to the pipe ring chord length. Due to the limitations of on-site construction conditions, the sensor measurement axis can only be as close to parallel to the pipe ring chord length as possible during installation, and its measurement algorithm itself has an insurmountable inherent error; while in the present invention, the distance change between two non-adjacent pipe ring joints is determined by monitoring the angle change of the pipe ring joint, and then the pipe ring convergence is further calculated. The focus is on the angle change of the pipe ring joint rather than the actual pipe ring angle. Therefore, the measurement accuracy of the pipe ring angle will not affect the calculation of the pipe ring convergence, thereby greatly reducing the installation difficulty. During installation, the sensor measurement axis only needs to be arranged in the same direction along the circumference, and the sensor can be installed at any position of the pipe segment, which is convenient for on-site operation. This is a breakthrough in the algorithm of the present invention.

[0085] Part II Safety Monitoring Application

[0086] Based on the algorithm of the present invention, a real-time online monitoring system for the convergence of the entire construction / operation and maintenance tunnel is further disclosed, which can realize the monitoring of the convergence deformation of multiple tunnel clusters, so as to monitor the clusters of multiple tunnels.

[0087] Figure 6 Taking a tunnel monitoring as an example, long-term online monitoring of tunnel pipe ring convergence deformation is achieved.

[0088] like Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10 As shown, a real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel is:

[0089] It includes a plurality of single-loop convergence measurement systems arranged at intervals in the length direction of the monitored tunnel, each single-loop convergence measurement system is composed of a plurality of angle sensors;

[0090] It includes multiple gateways arranged at intervals in the length direction of the monitored tunnel, which are regarded as wireless network access hotspots (APs) of angle sensors in the neighboring single-loop convergence measurement system;

[0091] Including cloud server platform;

[0092] The above-mentioned angle sensors and gateways on site build a wireless local area network, and the gateway (AP) near the tunnel entrance / exit or base station is selected as the local data acquisition server. The sensor data in each single-loop convergence measurement system is provided to the data acquisition server through the wireless local area network; the data acquisition server on site is communicated with the cloud server platform.

[0093] In each single-ring convergence measurement system: each angle sensor is pasted and installed on each pipe segment of the pipe ring to measure the inclination value of the corresponding pipe segment; the angle sensor is installed at any position on each pipe segment, and the angle sensor is used to measure the rotation angle of each pipe segment within the cross section of the ring. It is recommended that the angle sensor use a wireless inclination sensor.

[0094] The gateway is used to obtain sensor measurement results through wireless communication.

[0095] The data acquisition server includes a data communication module, which is used to support gateway communication of sensor data, obtain sensor measurement data under the wireless local area network from the gateway side, and set sensor parameters through the gateway.

[0096] The cloud server platform includes a data management module, a single-loop measurement data processing module, a tunnel data processing module, a risk warning module, and an interaction module, wherein:

[0097] The data management module includes a storage and query module and a data conversion and filtering module; receives and stores the original measurement data uploaded from the site, and pre-processes the data conversion and filtering; and provides the pre-processed data to the single-loop measurement data processing module; and saves the calculation results of the single-loop measurement data processing module and the tunnel data processing module, and provides access to the interactive module. The storage and query module is used to store relevant data by time, and supports historical data query and data download functions.

[0098] The single-ring measurement data processing module is used to calculate the coordinate values ​​of each joint point corresponding to the pipe ring, and to calculate the convergence value of the pipe ring according to the joint coordinates. Specifically, it is used to determine the center angle of each pipe segment relative to the pipe ring circumference, and the pipe ring circumference is an ideal circle formed by splicing several pipe segments; and based on the center angle of each pipe segment and the initial azimuth angle value of the F block with the shortest arc length in each pipe segment within the pipe ring circumference, the azimuth angle value of each joint is determined, and the initial coordinates of the joint are obtained, and in the absolute coordinate system, the angle change value of each pipe segment within the set period is measured, and based on the angle change value, the final coordinate value of each joint is calculated.

[0099] Further, the single-loop measurement data processing module is specifically implemented as follows: select any seam as the starting seam point, and calculate the coordinate value of each seam according to the rigid body rotation coordinate calculation method; select the next seam as the starting seam point in turn clockwise / counterclockwise to calculate the coordinates corresponding to each seam, and multiple sets of coordinate values ​​corresponding to each seam; after taking the average of the multiple sets of coordinate values ​​corresponding to each seam, determine the final coordinate value of each seam; further, the rigid body rotation coordinate calculation method includes:

[0100] The pipe ring is equivalent to a planar multi-link mechanism, and each pipe segment is a link;

[0101] Taking the first end point of each connecting rod as the rotation center, according to the rotation angle of the connecting rod, assuming that the remaining connecting rods are not relatively bent, calculate the coordinate value of the first end point of the next connecting rod;

[0102] The obtained coordinate value of the first end point of each connecting rod is used as the coordinate value of the connecting rod joint.

[0103] Furthermore, the coordinate value of each seam is calculated by the following formula:

[0104]

[0105] The subscript i indicates the joint number, and the superscript m indicates the mth rotation of the segment during the iterative calculation process. is the coordinate value of the i-th segment joint, and Y represents the overall change angle value of the segment to be rotated corresponding to each rotation operation during the iterative calculation process.

[0106] Furthermore, the F segment with the shortest arc length among the segments is determined as an azimuthal segment, and the remaining segments are determined as non-azimuthal segments, wherein there is only one azimuthal segment.

[0107] Furthermore, the center angle of the azimuth segment is the center angle value β of the arc corresponding to the azimuth segment. F The radius of the arc corresponding to the azimuth pipe segment is R0=(R1+R2) / 2, where R1 is the inner diameter of the pipe ring circle, and R2 is the outer diameter of the pipe ring circle.

[0108] Furthermore, the azimuth angle value of the azimuth segment is set to α F The non-azimuth segments include two first segments adjacent to the azimuth segments and the remaining n-3 second segments, where n is the number of segments, and each joint is numbered M0, M1, ... Mn-1 in clockwise order based on the azimuth segments, and each second segment is numbered B1, B2, ... Bn-3 in counterclockwise order based on the azimuth segments;

[0109] The azimuth angle values ​​of a joint M0 between the first segment and the azimuth segment are αF +β F / 2, and the azimuth angle values ​​of the other seam M1 are α F -β F / 2, the azimuth angle values ​​of the remaining segment joints are based on the connection order of the segments and are reduced in sequence based on the joint M1. The first angle is (β L +(i-2)β B ), i is the number subscript of the joint, β L is the center angle of the first segment, β B is the center angle of the second segment.

[0110] Furthermore, the initial coordinates P of the seam i (x i ,y i ) is calculated by the following formula:

[0111]

[0112] Where, the subscript i represents the number of the joint, α i Represents the azimuth angle corresponding to the joint of the i-th segment.

[0113] The tunnel data processing module calculates the convergence measurement results of each pipe ring of the entire tunnel, including the convergence value and its rate of change over time. By selecting the endpoints corresponding to the arcs across the coordinate axes, further calculating the corresponding arc equations, and solving the intersection of the arcs and the coordinate axes, the coordinate values ​​of the corresponding azimuth vertices can be obtained; the coordinate values ​​of the four vertices corresponding to the measured rings are solved in turn, and the full sequence of the coordinate values ​​of the four vertices of each pipe ring in the tunnel length direction is formed according to the ring number; the four vertex coordinates corresponding to each pipe ring including the unassembled measurement system are obtained by interpolation method; the horizontal convergence distance of the ring can be calculated by solving the distance between the left and right vertices of each ring and subtracting it from the diameter of the standard ring; the vertical convergence distance of the ring can be calculated by solving the distance between the upper and lower vertices of each ring and subtracting it from the diameter of the standard ring.

[0114] The tunnel data processing module calculates the convergence measurement results of each pipe ring in the entire tunnel, including the convergence value and its rate of change over time. Fig.10 As shown, the tunnel data processing module includes: an endpoint screening submodule, a vertex coordinate calculation submodule, an interpolation submodule, a convergence value calculation submodule and a convergence value change rate calculation submodule;

[0115] Details are as follows:

[0116] The coordinates of the m joint points of a single ring (x1, y1)…(x m ,y m ), where the complete circle is divided into m arcs, and the coordinates of the endpoints of each arc are (x l,y l )…(x m ,y m ).

[0117] Includes the vertex filtering submodule:

[0118] ① Select two points with the smallest non-negative horizontal coordinates from points A to J, which correspond to points B and E in the figure.

[0119] ② Select the two points with the largest negative horizontal coordinates from points A to J, which correspond to points A and F in the figure.

[0120] ③ From the four points obtained in steps ① and ②, select two points with positive ordinates to obtain the upper vertex P u The two endpoints of the corresponding arc correspond to points A and B in the figure; the remaining two points E and F correspond to the lower vertex P d The two endpoints of the corresponding arc;

[0121] ④ Select the two points with the smallest non-negative ordinates from points A to J, which correspond to points C and I in the figure.

[0122] ⑤ Select the two points with the largest negative ordinates from points A to J, which correspond to points D and H in the figure.

[0123] ⑥ From the four points obtained in steps ④ and ⑤, select two points with positive horizontal coordinates to obtain the right vertex P r The two endpoints of the corresponding arc correspond to points C and D in the figure; the remaining two points H and I correspond to the left vertex P l The two endpoints of the corresponding arc;

[0124] It includes a vertex coordinate calculation submodule, which is used to calculate the coordinate values ​​of the four vertices of the upper, lower, left and right of the tube ring:

[0125] The radius R0 of each segment is known. When the arc radius R0 and the coordinates of the two end points (x s ,y s )、(x e ,y e ) In the case of The solution yields two centers that meet the conditions. The distances of the two centers relative to the coordinate origin are further calculated. Since the pipe ring convergence coordinate system takes the ideal pipe ring center as the origin, the center corresponding to the smaller distance is selected as the final arc center (x c ,y c ), and then we can get the arc equation (xx c ) 2 +(yy c ) 2 =R0 2 (xs ≤x≤x e ,y s ≤y≤y e ).

[0126] Based on P u , P r , P d , P l The four vertices correspond to the endpoints of the arc, and the four arc equations can be calculated. u Corresponding to the arc equation, let x = 0, and the vertical coordinate y can be calculated u , that is, P u (0,y u ); for P r Corresponding to the arc equation, let y = 0, and the horizontal coordinate x can be calculated. r , that is, P r (x r , 0); for P d Corresponding to the arc equation, let x = 0, and the vertical coordinate y can be calculated d , that is, P d (0,y d ); For the arc equation corresponding to P1, let y = 0, and the horizontal coordinate x1 can be obtained by calculation, that is, P1 (x l , 0).

[0127] It includes an interpolation submodule, based on the vertex coordinates obtained by the vertex coordinate calculation submodule, 4 numerical sequences are formed in the order of ring numbers, and the 4 vertex coordinate values ​​of the upper, lower, left and right of the uninstalled system pipe ring are calculated by interpolation method, and merged with the original sequence according to the ring number to form a new sequence; the new sequence is disassembled according to the ring number to obtain the 4 vertex coordinates of each ring; the details are as follows:

[0128] In the same tunnel, a single-ring convergence monitoring system is arranged every Δn rings starting from the ith ring, and the coordinates of each joint point of each directly measured pipe ring are measured, and then the upper, lower, left and right vertex coordinates of each directly measured pipe ring are calculated.

[0129] According to the numbers 1 to n of the pipe ring, the coordinate sequence of the 4-position vertices of the pipe ring is directly measured by matching:

[0130] The upper vertex sequence (i, y u_i )、(i+Δn,y u_i+Δn )…(i+kΔn,y u_i+kΔn );

[0131] The right vertex sequence (i, x r_i )、(i+Δn,x r_i+Δn )…(i+kΔn,x r_i+kΔn );

[0132] The next vertex sequence (i, y d_i )、(i+Δn,y d_i+Δn )…(i+kΔn,y d_i+kΔn );

[0133] Left vertex sequence (i, x l_i )、(i+Δn,x l_i+Δn )…(i+kΔn,x l_i+kΔn ).

[0134] In order to estimate the convergence deformation of the pipe rings between adjacent pipe rings of the assembled measurement system, the following assumptions are made: the pipe rings are connected by bolts, and their horizontal and vertical convergence will not cause inter-ring mutations. Through interpolation methods such as Lagrange interpolation, Newton interpolation, and cubic spline interpolation, smooth interpolation is performed to obtain the 4-azimuth vertex coordinate data of the pipe rings at the adjacent unassembled measurement system. The vertex coordinate data of the pipe rings with and without the measurement system are merged according to the ring number to form a new upper, lower, left, and right coordinate sequence:

[0135] The new sequence of vertices (i, y u_i )、(i+1,y u_i+1 )…(i+Δn-1,y u_i+Δn-1 )、(i+Δn,y u_i+Δn )、(i+Δn+1,y u_i+Δn+1 )…(i+kΔn,y u_i+kΔn );

[0136] New sequence of right vertices (i, x r_i )、(i+1,x r_i+1 )…(i+Δn-1, x r_i+Δn-1 )、(i+kΔn,x r_i+kΔn )、(i+Δn+1,x r_i+Δn+1 )…(i+kΔn,x r_i+kΔn );

[0137] The new sequence of lower vertices (i, y d_i )、(i+1,y d_i+1 )…(i+Δn-1,y d_i+Δn-1 )、(i+Δn,y d_i+Δn )、(i+Δn+1,y d_i+Δn+1 )…(i+kΔn,y d_i+kΔn );

[0138] New sequence of left vertices (i, x l_i )、(i+1,x l_i+1 )…(i+Δn-1, x l_i+Δn-1 )、(i+kΔn,x l_i+kΔn )、(i+Δn+1,x l_i+Δn+1 )…(i+kΔn,xl_i+kΔn ).

[0139] The above sequence is decomposed according to the ring number to obtain the coordinates of the four vertices of each ring.

[0140] It includes a convergence value calculation submodule, which calculates the horizontal and vertical convergence distances of each ring in the measurement interval, and calculates the convergence distance after comparing with the standard pipe ring. In this way, when a certain number of single-ring measurement systems are installed, the system can perform long-term online monitoring of the convergence deformation of all pipe rings in the measurement section, providing data support for tunnel convergence deformation early warning and operation and maintenance.

[0141] The convergence value calculation submodule is as follows:

[0142] According to P u (0,y u ), P r (x r ,0)P d (0,y d )、P1(x l , 0), according to the formula Calculate the horizontal distance and vertical distance of the ring. Further compare with the standard pipe ring, according to the formula Calculate the convergence distance.

[0143] It includes a sub-module for calculating the convergence value change rate, which calculates the ratio of the horizontal and vertical convergence change values ​​of each ring in the measurement interval to the sampling time, and obtains the deformation trend at the measuring point. Exceeding the industry threshold also indicates a risk.

[0144] The risk warning module, on the one hand, compares the convergence measurement results with the warning threshold, and issues a warning if the convergence value is close to the limit or the convergence speed is beyond the limit, and issues an alarm if any of them exceeds the limit; on the other hand, it combines the convergence measurement results of each pipe ring and the construction number of each pipe ring to display the post-convergence appearance changes of the entire tunnel composed of all the pipe segments at the beginning and end; thereby integrating locality and overallity to support the tunnel pipe ring convergence deformation monitoring and alarm function.

[0145] The interactive module is used for system status event display, system parameter setting, and data visualization. Among them, the system status event display is used to display the system operation status in the form of indicator lights, event lists, etc. on the software interface; the system parameter setting is used to set basic measurement parameters such as the measurement cycle, the corresponding relationship between the pipe ring and the sensor; the data graphical display is used to display the calculation results output by the single-ring measurement data processing module and the tunnel data processing module in the form of curves or pictures for intuitive inspection.

[0146] As a supplement to the embodiments, by way of example but not limitation, the functional modules such as the data management module, the single-loop measurement data processing module, the tunnel data processing module, the risk warning module, and the interaction module deployed on the cloud server platform can also be distributed between the cloud server platform and the on-site industrial computer (PC) by adding an industrial computer (PC) at each monitored tunnel site; or the industrial computer (PC) is used as a backup, and the industrial computer (PC) includes a data management module, a single-loop measurement data processing module, a tunnel data processing module, a risk warning module, and an interaction module, so that the industrial computer (PC) can also locally realize the functions of data storage, output processing, risk warning, and interaction with the cloud server platform.

[0147] Furthermore, an industrial computer (PC) is installed on site in each monitored tunnel and connected to the on-site wireless local area network; the sensor data in each single-loop convergence measurement system can also be provided to the industrial computer (PC) through the wireless local area network.

[0148] Example 2

[0149] A method for implementing real-time online monitoring of the convergence of the entire construction / operation and maintenance tunnel can realize long-term online monitoring of the convergence deformation of the tunnel ring.

[0150] Step 1: Costs must be considered for promotion, so it is impossible to install a single-ring measurement system for each pipe ring of the entire tunnel. Multiple sets of single-ring convergence measurement systems are deployed on site; at a certain interval, in this embodiment, a single-ring measurement system is installed every 10 rings. During construction and excavation, each pipe ring is registered with a construction number in the system.

[0151] Step 2 sets multiple gateways, i.e., wireless data access nodes (APs), along the length of the tunnel. Each single-loop measurement system accesses a neighboring node (AP) to form a wireless network. One of the gateways (APs) is regarded as a data acquisition server and collects monitoring data from the tunnel site through the wireless network.

[0152] Step 3: A cloud server platform is arranged at the remote end to connect and receive the monitoring data uploaded by the data acquisition server. The cloud server platform includes a data management module, a single-ring measurement data processing module, a tunnel data processing module, a risk warning module, and an interactive module, wherein: the data management module receives the monitoring data of each single-ring convergence measurement system uploaded, stores and pre-processes the uploaded monitoring data, and inputs the pre-processed data into the single-ring measurement data processing module. The single-ring measurement data processing module outputs the coordinates of the corresponding joint points of each pipe ring, provides them to the tunnel data processing module, and the tunnel data processing module processes them to obtain the convergence results of the entire tunnel, providing data support for tunnel convergence deformation warning and operation and maintenance. The risk warning module in the cloud server platform, on the one hand, compares the convergence measurement results with the warning threshold, and issues a warning if the convergence value is close to the limit value or the convergence speed exceeds the limit, and issues an alarm if any of them exceeds the limit; on the other hand, combined with the convergence measurement results of each pipe ring and the construction number of each pipe ring, the appearance changes after convergence of the entire tunnel composed of all pipe segments at the beginning and end are displayed.

[0153] Step 4 The monitoring system integrates locality and overallity to support the monitoring and alarm functions of tunnel ring convergence deformation. The terminal manager obtains the status of the monitored tunnel in real time through the cloud server platform, and can also set the on-site collection sensors through the interactive module of the cloud server platform. When the staff is informed that there is an abnormality at a certain segment number, they rush to the site for further inspection and maintenance, respond and deal with it in time, and control risks.

[0154] Traditionally, a dedicated monitoring vehicle is arranged in the tunnel, which runs in each tunnel intermittently (only during downtime) and periodically.

[0155] The description of the on-site and remote cloud server platforms in this embodiment is the same as that in Embodiment 1 and will not be repeated here.

[0156] The solution of the present invention can provide 24-hour uninterrupted real-time monitoring without being restricted by non-line-of-sight environments. Compared with traditional methods, its implementation effect and application value are significant.

Claims

1. A real-time online monitoring system for the full-line convergence of a construction / operation and maintenance tunnel, characterized in that: Used to achieve long-term online monitoring of the convergence and deformation of the pipe ring along the entire tunnel; It includes a plurality of single-loop convergence measurement systems arranged at intervals in the length direction of the monitored tunnel, each single-loop convergence measurement system is composed of a plurality of angle sensors; It includes one or more gateways arranged at intervals in the length direction of the monitored tunnel, which are regarded as wireless network access hotspots (APs) of the angle sensors in the neighboring single-loop convergence measurement system; Including cloud server platform; The above-mentioned angle sensors and gateways on site build a wireless local area network, and the gateway (AP) near the tunnel entrance / exit or base station is selected as the local data acquisition server. The sensor data in each single-loop convergence measurement system is provided to the data acquisition server through the wireless local area network; the data acquisition server on site is communicated with the cloud server platform.

2. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 1, characterized in that: In each single-ring convergence measurement system: each of the angle sensors is pasted and installed on each pipe segment of the same pipe ring, and is used to measure the inclination value of the corresponding pipe segment; the angle sensor is directionally installed at any position on each pipe segment, and the angle sensor is used to measure the rotation angle of each pipe segment within the cross section inside the ring.

3. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 1, characterized in that: The cloud server platform includes a data management module, a single-loop measurement data processing module, a tunnel data processing module, a risk warning module, and an interaction module.

4. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 3, characterized in that: The data management module includes a storage and query module and a data conversion and filtering module; the data management module is used to: receive and store the original measurement data uploaded from the site; convert and filter the original measurement data and provide it to the single-loop measurement data processing module; save the calculation results of the single-loop measurement data processing module and the tunnel data processing module and provide access to the interactive module.

5. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 3, characterized in that: The single ring measurement data processing module is used to calculate the coordinate values ​​of each joint point corresponding to the pipe ring; Specifically, it is used to determine the center angle of each pipe segment relative to the circumference of the pipe ring, where the circumference of the pipe ring is an ideal circle formed by splicing several pipe segments; and based on the center angle of each pipe segment and the initial azimuth angle value of the F block with the shortest arc length in each pipe segment within the circumference of the pipe ring, determine the azimuth angle value of each joint, and obtain the initial coordinates of the joint, and measure the angle change value of each pipe segment within a set period in an absolute coordinate system, and calculate the final coordinate value of each joint based on the angle change value.

6. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 5, characterized in that: Furthermore, the single-loop measurement data processing module is specifically implemented in the following manner: any seam is selected as the starting seam point, and the coordinate value of each seam is calculated according to the rigid body rotation coordinate calculation method; the next seam is selected clockwise / counterclockwise as the starting seam point to calculate the corresponding coordinates of each seam, and multiple sets of coordinate values ​​corresponding to each seam; after taking the average of the multiple sets of coordinate values ​​corresponding to each seam, the final coordinate value of each seam is determined.

7. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 6, characterized in that: Furthermore, the rigid body rotation coordinate calculation method includes: The pipe ring is equivalent to a planar multi-link mechanism, and each pipe segment is a link; Taking the first end point of each connecting rod as the rotation center, according to the rotation angle of the connecting rod, assuming that the remaining connecting rods are not relatively bent, calculate the coordinate value of the first end point of the next connecting rod; The obtained coordinate value of the first end point of each connecting rod is used as the coordinate value of the connecting rod joint.

8. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 6, characterized in that: Furthermore, the coordinate value of each seam is calculated by the following formula: The subscript i indicates the joint number, and the superscript m indicates the mth rotation of the segment during the iterative calculation process. is the coordinate value of the i-th segment joint, and γ represents the overall change angle value of the segment to be rotated corresponding to each rotation operation during the iterative calculation process.

9. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 8, characterized in that: Furthermore, the F segment with the shortest arc length among the segments is determined as an azimuthal segment, and the remaining segments are determined as non-azimuthal segments, wherein there is only one azimuthal segment.

10. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 5, characterized in that: Furthermore, the center angle of the azimuth segment is the center angle value β of the arc corresponding to the azimuth segment. F The radius of the arc corresponding to the azimuth pipe segment is R0=(R1+R2) / 2, where R1 is the inner diameter of the pipe ring circle, and R2 is the outer diameter of the pipe ring circle.

11. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 10, characterized in that: Furthermore, the azimuth angle value of the azimuth segment is set to α F The non-azimuth segments include two first segments adjacent to the azimuth segments and the remaining n-3 second segments, where n is the number of segments, and each joint is numbered M0, M1, ... Mn-1 in clockwise order based on the azimuth segments, and each second segment is numbered B1, B2, ... Bn-3 in counterclockwise order based on the azimuth segments; The azimuth angle values ​​of a joint M0 between the first segment and the azimuth segment are α F +β F / 2, and the azimuth angle values ​​of the other seam M1 are α F -β F / 2, the azimuth angle values ​​of the remaining segment joints are based on the connection order of the segments and are reduced in sequence based on the joint M1. The first angle is (β L +(i-2)β B ), i is the number subscript of the joint, β L is the center angle of the first segment, β B is the center angle of the second segment.

12. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 5, characterized in that: Furthermore, the initial coordinates P of the seam i (x i ,y i ) is calculated by the following formula: Where, the subscript i represents the number of the joint, α i Represents the azimuth angle corresponding to the joint of the i-th segment.

13. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 3, characterized in that: The tunnel data processing module comprises: an arc endpoint screening submodule, a vertex coordinate calculation submodule, an interpolation submodule, a convergence value calculation submodule and a convergence value change rate calculation submodule.

14. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 13, characterized in that: In the tunnel data processing module, the coordinates of the m joint points of a single ring (x1, y1)…(x m ,y m ), where the complete circumference is divided into m arcs corresponding to the number and specifications of the segments, and the coordinates of the endpoints of each arc are (x1, y1)…(x m ,y m ); The arc endpoint screening submodule: ① Select two points with the smallest non-negative horizontal coordinates from multiple points; ②Select the two points with the largest negative horizontal coordinates from multiple points; ③ From the four points obtained in steps ① and ②, select two points with positive ordinates to obtain the upper vertex P u The two endpoints of the corresponding arc; the remaining two points are the corresponding lower vertices P d The two endpoints of the corresponding arc; ④ Select two points with the smallest non-negative ordinates from multiple points; ⑤ Select the two points with the largest negative ordinate from multiple points; ⑥ From the four points obtained in steps ④ and ⑤, select two points with positive horizontal coordinates to obtain the right vertex P r The two endpoints of the corresponding arc; the remaining two points are the corresponding left vertex P l The two endpoints of the corresponding arc.

15. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 13, characterized in that: In the tunnel data processing module, the vertex coordinate calculation submodule is used to calculate the coordinate values ​​of the four vertices of the upper, lower, left and right of the pipe ring: The radius R0 of each segment is known. When the arc radius R0 and the coordinates of the two end points (x s ,y s )、(x e ,y e ) In the case of Solve to obtain two circle centers that meet the conditions; further calculate the distances of the two circle centers relative to the coordinate origin, and the pipe ring convergence coordinate system takes the ideal pipe ring center as the origin, and select the center corresponding to the smaller distance as the final arc center (x c ,y c ), and then the arc equation (xx c ) 2 +(yy c ) 2 =R0 2 (x s ≤x≤x e ,y s ≤y≤y e ); Based on P u , P r , P d , P l The four vertices correspond to the endpoints of the arc, and the four arc equations are calculated; for P u Corresponding to the arc equation, let x = 0 and calculate the ordinate y u , that is, P u (1,y u ); for P r Corresponding to the arc equation, let y = 0 and calculate the horizontal coordinate x r , that is, P r (x r , 0); for P d Corresponding to the arc equation, let x = 0 and calculate the ordinate y d , that is, P d (0,y d ); for P l Corresponding to the arc equation, let y = 0 and calculate the horizontal coordinate x l , that is, P l (x l , 0).

16. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 13, characterized in that: In the tunnel data processing module, The interpolation submodule, based on the vertex coordinates obtained by the vertex coordinate calculation submodule, forms four numerical sequences of upper, lower, left and right in the order of ring numbers, uses an interpolation method to calculate the four vertex coordinate values ​​of the upper, lower, left and right of the uninstalled system pipe ring, and merges them with the original sequence according to the ring number to form a new sequence; the new sequence is disassembled according to the ring number to obtain the four vertex coordinates of each ring.

17. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 16, characterized in that: The interpolation submodule is specifically as follows: Perform smooth interpolation to obtain the 4-position vertex coordinate data of the adjacent pipe ring without the measurement system installed; merge the vertex coordinate data of the pipe ring with and without the measurement system installed according to the ring number to form a new up, down, left, and right coordinate sequence: Assumption: The pipe rings are connected by bolts, and their horizontal and vertical convergence will not cause sudden changes between the rings; According to the numbers 1 to n of the pipe ring, the coordinate sequence of the 4-position vertices of the pipe ring is directly measured by matching: The upper vertex sequence (i, y u_i )、(I+Δn,y u_i+Δn )…(i+kΔn,y u_i+kΔn ); The right vertex sequence (i, x r_i )、(i+Δn,x r_i+Δn )…(i+kΔn,x r_i+kΔn ); The next vertex sequence (i, y d_i )、(i+Δn,y d_i+Δn )…(i+kΔn,y d_i+kΔn ); Left vertex sequence (i, x l_i )、(i+ΔΔn,x l_i+Δn )…(i+kΔn,x l_i+kΔn ); The above sequence is decomposed according to the ring number to obtain the coordinates of the four vertices of each ring.

18. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 3, characterized in that: The early warning and display module, on the one hand, compares the convergence measurement result with the early warning threshold, and issues an early warning if the convergence value is close to the limit or the convergence speed is beyond the limit, and issues an alarm if any of them exceeds the limit; on the other hand, it combines the convergence measurement result of each pipe ring and the construction number of each pipe ring to display the post-convergence appearance changes of the entire tunnel composed of all the pipe segments at the beginning and the end; thereby integrating locality and overallity to support the tunnel pipe ring convergence deformation monitoring and alarm function.

19. A real-time online monitoring system for full-line convergence of a construction / operation and maintenance tunnel as claimed in claim 3, characterized in that: At each monitored tunnel site, an industrial computer (PC) is also installed to access the on-site wireless local area network; the sensor data in each single-loop convergence measurement system can also be provided to the industrial computer (PC) through the wireless local area network; The industrial computer (PC) includes a data management module, a single-loop measurement data processing module, a tunnel data processing module, a risk warning module, and an interaction module. The industrial computer (PC) also locally realizes the functions of data storage, output processing, risk warning, and interaction with the cloud server platform.

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