Tunnel pipe ring convergence long-time on-line automatic measurement system

Abstract

A tunnel pipe ring convergence long-time on-line automatic measurement system is characterized in that a pipe ring is composed of a plurality of pipe pieces and comprises an angle sensor, a gateway and a convergence measurement module; the angle sensor is mounted on each duct piece and is used for measuring an inclination angle value of the corresponding duct piece; the gateway is used for acquiring and transmitting the inclination angle value in a wireless communication mode; the convergence measurement module is used for receiving the shield tunneling machine construction data and the inclination angle value, calculating the convergence value of the pipe ring, and displaying and recording the convergence value of the pipe ring in a graphical mode. According to the invention, long-time on-line automatic measurement of convergence deformation of the pipe ring is realized, the measurement mode is simple and convenient, and implementation and popularization are easy.

Description

Technical Field

[0001] The present invention relates to the field of tunnel monitoring and is applied to tunnel construction and operation and maintenance, and in particular to a long-term online automatic measurement system for tunnel pipe ring convergence. Background Art

[0002] With the rapid development of China's transportation network, the number of tunnels in China has ranked first in the world. Monitoring the safety status of tunnels has become an important part of tunnel safety construction and operation, and the monitoring results have 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 force changes during shield construction, the tunnel ring is prone to convergence and deformation within the tunnel cross section. Automatic detection of tunnel convergence and deformation is of great significance to tunnel construction safety and tunnel operation and maintenance safety monitoring. Figure 1 As shown in the figure, there are many monitoring technologies for tunnel pipe rings in the tunnel operation and maintenance stage, but there is no breakthrough in high-precision measurement algorithms. In addition, due to the limited measurement space blocked by shield machine equipment and the harsh measurement environment, it is often carried out through manual measurement, and the measurement efficiency is low. There is an urgent need for an automatic measurement system for pipe ring convergence deformation.

[0004] Close to 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. This technical solution is limited in accuracy and installation convenience due to the uncontrollable installation accuracy of the measuring points and the limitations of the fitting means.

[0005] Based on the above technical problems, the applicant proposed the technical solution of the present application. Summary of the invention

[0006] The purpose of the present invention is to provide a long-term online automatic measurement system for tunnel pipe ring convergence. By monitoring the angle change of the pipe segment, the distance change value between two non-adjacent pipe ring joints is determined, and then the pipe ring convergence distance is obtained, thereby realizing automatic measurement of the tunnel pipe ring convergence deformation. The measurement method is simple, easy to implement and promote.

[0007] Technical Solution

[0008] A long-term online automatic measurement system for convergence of a tunnel pipe ring, wherein the pipe ring is composed of a plurality of pipe segments and is characterized in that it includes an angle sensor, a gateway and a convergence measurement module; the angle sensor is installed on each pipe segment and is used to measure the inclination value of the corresponding pipe segment; the gateway is used to obtain and transmit the inclination value through wireless communication; the convergence measurement module is used to receive the inclination value, calculate the convergence value of the pipe ring, and graphically display and record the convergence value of the pipe ring.

[0009] Preferably, the tunnel pipe ring convergence long-term online automatic measurement system is characterized in that the convergence measurement module includes a data communication module, a human-computer interaction module, and a data processing module; the data communication module communicates with the gateway, so that the angle sensor on each pipe segment is connected to the convergence measurement module; the human-computer interaction module is used for system status event display, system parameter setting and data graphical display; the data processing module performs data conversion and filtering preprocessing on the convergence value, and calculates the pipe ring joint coordinate value, and calculates the convergence value according to the pipe ring joint coordinate value.

[0010] Preferably, the data processing module includes a data conversion filtering unit, a pipe ring joint coordinate calculation unit, and a convergence value calculation unit;

[0011] The data conversion and filtering unit is used for preprocessing the shield machine construction data and the convergence value by data conversion and filtering;

[0012] The pipe ring joint coordinate calculation unit 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 a number of pipe segments; and

[0013] Based on the central angle of each segment and the initial azimuth angle value of the F block with the shortest arc length in each segment within the circumference of the pipe ring, the azimuth angle value of each joint is determined, and the initial coordinates of the joint and the initial distance between any two non-adjacent joints are obtained; and

[0014] In an absolute coordinate system, the angle change value of each segment within a set period is measured, and based on the angle change value, the final coordinate value of each joint and the final distance between any two non-adjacent joints are calculated;

[0015] The convergence value calculation unit is used to calculate the difference between the final distance and the initial distance for any two non-adjacent seams, and use the difference as the convergence value of the pipe ring.

[0016] Preferably, in the pipe ring joint coordinate calculation unit,

[0017] The pipe ring is equivalent to a planar multi-link mechanism, and each pipe segment is a link;

[0018] 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;

[0019] The obtained coordinate value of the first end point of each connecting rod is used as the coordinate value of the connecting rod joint.

[0020] Preferably, in the pipe ring joint coordinate calculation unit, the coordinate value of each joint is calculated by the following formula:

[0021]

[0022] Wherein, the subscript i represents the number of the joint, the superscript m represents 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.

[0023] Preferably, in the pipe ring joint coordinate calculation unit, the F pipe segments with the shortest arc length among the pipe segments are determined as azimuthal pipe segments, and the remaining pipe segments are determined as non-azimuthal pipe segments, wherein there is only one azimuthal pipe segment.

[0024] Preferably, in the pipe ring joint coordinate calculation unit, 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.

[0025] Preferably, 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, 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, and the two first segments adjacent to the azimuth segments are numbered L1 and L2 respectively;

[0026] 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.

[0027] Preferably, the initial coordinate P of the seam i (x i ,y i ) is calculated by the following formula:

[0028]

[0029] 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.

[0030] Preferably, the convergence value calculation unit is also used to compare the difference between the final distance and the initial distance with a preset threshold range. If the difference is within the preset threshold range, it is determined that the pipe ring meets the convergence expectations. If the difference is outside the preset threshold range, it is determined that the pipe ring exceeds the convergence expectations and an alarm message is issued. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Hardware architecture diagram of the tunnel ring convergence long-term online automatic measurement system of the embodiment;

[0032] Figure 2 Schematic diagram of sensor installation of tunnel ring convergence long-term online automatic measurement system

[0033] Figure 3 Embodiment: Pipe ring convergence software module architecture diagram of tunnel pipe ring convergence long-term online automatic measurement system;

[0034] Figure 4 The industry's tunnel ring convergence deformation and indicators, where (a) is a schematic diagram of tunnel ring convergence deformation and (b) is a schematic diagram of common measurement indicators of existing ring deformation;

[0035] Figure 5 Schematic diagram of the principle of the technical solution of the present invention, wherein (a) is a schematic diagram of the set pipe ring deformation measurement index, (b) is a schematic diagram of the equivalent conversion of the pipe segment into a connecting rod mechanism, (c) is a schematic diagram of the corresponding central angle of the pipe segment, and (d) is a schematic diagram of the pipe segment joint number and joint azimuth;

[0036] Figure 6 is a schematic diagram of the convergence target circle;

[0037] Figure 7It is a schematic diagram of rotation around a point on a plane in a coordinate system, where (a) is a schematic diagram of a single rigid body point rotating around a point on a plane in a coordinate system, and (b) is a schematic diagram of a multi-link mechanism undergoing rotational displacement;

[0038] Figure 8 Schematic diagram of the seam spacing convergence curve comparing manual measurement and system measurement in the present invention, wherein (a), (b), (c), and (d) illustrate experimental curves of multiple groups of different seams. DETAILED DESCRIPTION

[0039] The technical solution of the present invention will be further described in detail below in conjunction with the accompanying drawings, implementation methods, examples, effect verification examples, etc.

[0040] Example

[0041] The present invention discloses a tunnel ring convergence long-term online automatic measurement system, referred to as "application system".

[0042] The application system of the present invention can be applied to the tunnel construction stage and the operation and maintenance stage.

[0043] In this embodiment, the tunnel construction stage is used as the scenario. The application system consists of two parts: a hardware system and a software system, and is deployed at the tunnel construction site.

[0044] Example application system hardware architecture Figure 1 The hardware system of the embodiment is composed of an angle sensor, a gateway, and an industrial computer (PC), which are used to measure the angle value of the pipe ring, communication transmission, and a measurement software module, and also includes a programmable logic controller (PLC), which is mounted on the tunnel shield machine.

[0045] The 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 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 of the ring. It is recommended that the angle sensor use a wireless inclination sensor.

[0046] The gateway is used to obtain sensor measurement results through wireless communication;

[0047] The programmable logic controller (PLC) is used to obtain the construction data of the shield machine and transmit it to the industrial computer (PC).

[0048] The functional architecture of the application system of the embodiment is as follows Figure 3 As shown, the industrial computer (PC) is used to carry the measurement software module to realize functions such as data communication, convergence deviation calculation, graphical display, data storage query, etc.

[0049] The measurement software module runs on an industrial computer (PC), and includes a data communication submodule, a human-computer interaction submodule, a data processing submodule, and a data storage query submodule.

[0050] The data communication submodule includes a convergence data gateway communication and a programmable logic controller (PLC) data communication, which are respectively used for the industrial computer (PC) to obtain sensor measurement data from the convergence gateway side and set sensor parameters through the gateway; the industrial computer (PC) obtains the shield machine ring number, mileage, and excavation status data from the programmable logic controller (PLC), and writes the convergence numerical results output by the data processing submodule into the programmable logic controller (PLC).

[0051] The human-computer interaction submodule is used for system status event display, system parameter setting, and data visualization display. 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 data processing submodule in the form of curves or pictures for intuitive inspection.

[0052] The data processing submodule includes a data conversion and filtering unit, a pipe ring joint coordinate calculation unit, and a convergence value calculation unit, which are respectively used for preprocessing data conversion and filtering, calculating each joint coordinate value, and calculating the convergence value according to the joint coordinates.

[0053] The conversion and filtering unit is communicatively connected to the data communication submodule; and is communicatively connected to the storage and query submodule.

[0054] Wherein, the pipe ring joint coordinate calculation unit is in communication connection with the conversion and filtering unit;

[0055] The pipe ring joint coordinate calculation unit 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 a number of pipe segments; and

[0056] Based on the central angle of each segment and the initial azimuth angle value of the F block with the shortest arc length in each segment within the circumference of the pipe ring, the azimuth angle value of each joint is determined, and the initial coordinates of the joint and the initial distance between any two non-adjacent joints are obtained; and

[0057] In an absolute coordinate system, the angle change value of each pipe segment within a set period is measured, and based on the angle change value, the final coordinate value of each joint and the final distance between any two non-adjacent joints are calculated.

[0058] Furthermore, the pipe ring joint coordinate calculation unit is specifically implemented as follows:

[0059] 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;

[0060] Select the next seam as the starting seam point in clockwise / counterclockwise order to calculate the corresponding coordinates of each seam, and multiple sets of coordinate values ​​corresponding to each seam;

[0061] After taking the average of multiple sets of coordinate values ​​corresponding to each seam, the final coordinate value of each seam is determined;

[0062] Based on the final coordinate value of each seam, a final distance between any two non-adjacent seams is calculated.

[0063] Further, in the pipe ring joint coordinate calculation unit, the rigid body rotation coordinate calculation method includes:

[0064] The pipe ring is equivalent to a planar multi-link mechanism, and each pipe segment is a link;

[0065] 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;

[0066] The obtained coordinate value of the first end point of each connecting rod is used as the coordinate value of the connecting rod joint.

[0067] Furthermore, in the pipe ring joint coordinate calculation unit, the coordinate value of each joint is calculated by the following formula:

[0068]

[0069] 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.

[0070] Furthermore, in the pipe ring joint coordinate calculation unit, the F pipe segments with the shortest arc length in the pipe segments are determined as azimuthal pipe segments, and the remaining pipe segments are determined as non-azimuthal pipe segments, wherein there is only one azimuthal pipe segment.

[0071] Furthermore, in the pipe ring joint coordinate calculation unit, 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.

[0072] Furthermore, in the pipe ring joint coordinate calculation unit, the azimuth angle value of the azimuth pipe segment is set to αF 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;

[0073] 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.

[0074] Furthermore, in the pipe ring joint coordinate calculation unit, the initial coordinate P of the joint i (x i ,y i ) is calculated by the following formula:

[0075]

[0076] 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.

[0077] Wherein, the convergence value calculation unit is in communication connection with the pipe ring joint coordinate calculation unit;

[0078] The convergence calculation unit is used to calculate the difference between the final distance and the initial distance for any two non-adjacent seams, and use the difference as the convergence value of the pipe ring in this direction.

[0079] The storage and query submodule is communicatively connected with the convergence value calculation unit;

[0080] The storage and query submodule is used to store relevant data by time and supports historical data query and data export functions.

[0081] It should be noted that the convergence data of this embodiment is transmitted to the PLC for access and calling of data by other systems (such as tunneling management software and shield machine remote monitoring platform), and can also be used for display on the touch screen of the shield driver. The PLC transmits the construction data (mainly ring number, tunneling mileage, etc.) to the PC for data storage and curve drawing (by mileage) of the convergence measurement system, and can also transmit the F block position (manually set through the HMI) to the PC for pipe ring joint azimuth calculation.

[0082] The originality of the system and its software algorithm

[0083] The key point of designing the pipe ring convergence measurement algorithm is to reasonably describe the degree of pipe ring convergence deformation. The same ring 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 pipe ring cross section causes the pipe ring convergence deformation.

[0084] like Figure 4 As shown in (a) and (b), the existing pipe ring deformation measurement indicators are the waistline distance and vertical distance change values. This value is relatively rough and cannot fully describe the overall deformation of the pipe ring.

[0085] like Figure 5 In (a), the algorithm design of the present invention uses the distance change value between each joint in the pipe ring and the joints at other positions to describe the degree of convergence deformation of the pipe ring.

[0086] The following describes the principles and mathematical models for implementing the design of the pipe ring convergence measurement algorithm.

[0087] 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 5 In (b), 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 the common numbers are 6, 8, and 10.

[0088] 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 6As 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, that is, the reference circle, and the long dashed line section larger on the periphery represents the maximum circle 3 of the cross section. The section formed by the median circle 2 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.

[0089] 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 difficulty in implementing stable power supply through cables, the recommended solution is to use a wireless transmission inclination sensor to realize pipe segment angle measurement.

[0090] The realization of pipe ring convergence measurement needs to be based on the following assumptions: An inclination sensor is arranged on each pipe segment, and the start time of measurement 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 whole ring are obtained, the distance 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 time of measurement to the current time.

[0091] 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 5 (c) 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 6 The median circle shown in the figure 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 5 (d) The central 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 =βB 2＝ …=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 Describe the orientation of the entire ring. Facing the excavation direction, the top is 0°, and the angle increases clockwise. The ring has a wedge shape, among which the F block is the shortest. By adjusting the F block on the circumference, 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 align the orientation angle α F Describe the orientation of the full ring tube.

[0092] 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.

[0093] 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, 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;

[0094] 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.

[0095] 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.

[0096] like Figure 5 (d) By numbering each joint of the pipe segment, the corresponding joint azimuth angle can be calculated. The following is an example of a pipe ring containing 10 pipe segments. Facing the excavation direction of the shield construction, with the top as 0° and the angle increasing clockwise, the joints of the pipe ring are numbered, and their corresponding azimuth angles are shown in the following table:

[0097] Table 1. Seam number and angle table

[0098]

[0099] 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:

[0100]

[0101] Where, the arc radius R0, the subscript i represents the number of the joint, α i Represents the azimuth angle corresponding to the joint of the i-th segment.

[0102] After the initial coordinates of each joint point are calculated by the above formula, based on this, the coordinates of the joint point after rotation can be calculated by simply measuring the angle change of each segment relative to the initial moment at each measurement moment. The key to the segment convergence measurement algorithm is the calculation of the target point coordinates 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 7 As shown in (a).

[0103] 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 ), B j The coordinates can be solved by the following formula:

[0104]

[0105] 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 7 In (b) (taking a 4-bar linkage as an example), each link rotates around one end point. 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.

[0106] Note: where θ AB ,θBC ,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 D Both refer to the relative rotation angle of the rigid link relative to the upper rigid link.

[0107] 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 point B when the other connecting rods are not bent relative to each other. j (i.e. B2), C2, D2, E2 coordinates.

[0108] 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 , further calculate the point C when the other connecting rods do not bend relative to each other j (i.e. C3), D3, E3 coordinates.

[0109] The third step is to calculate the rigid body with C3 as the rotation center. C1D1 Rotation angle θ C =θ CD -θ BC , further calculate the point D when the remaining connecting rods do not bend relative to each other j (i.e. D4) and E4 coordinates.

[0110] Step 4: Calculate the rotation angle θ of the rigid body D1E1 with D4 as the rotation center D =θ DE -θ CD , further calculate the point E when the remaining connecting rods do not bend relative to each other j (i.e. E5) coordinates. So far, the calculation of the coordinates of each hinge point after the rotation of each connecting rod has been completed.

[0111] Based on the above rigid body rotation coordinate calculation method, taking a pipe ring composed of 10 pipe segments as an example, the specific process of calculating the pipe ring convergence distance is explained under the premise of knowing the rotation angle of each pipe segment:

[0112] 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.

[0113] 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 segments, determine the azimuth angle value of each joint, and obtain the initial coordinates of the joint and the initial distance between any two non-adjacent joints.

[0114] 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 (X k ,y k )——k is the seam number, and the initial distance between each seam point is calculated.

[0115] Step 103, in an absolute coordinate system, measuring the angle change value of each pipe segment within a set period, and based on the angle change value, calculating the final coordinate value of each joint and the final distance between any two non-adjacent joints.

[0116] Step 103 includes the following sub-steps:

[0117] Step 1031, determining the angle change value of each pipe segment in the absolute coordinate system within a preset setting period.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] Step 1035: Calculate the final distance between any two non-adjacent seams based on the final coordinate value of each seam.

[0122] 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 ,θL1-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 .

[0123] 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:

[0124]

[0125] 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:

[0126]

[0127] Repeat the above steps to calculate the seam coordinates one by one wait.

[0128] At this point, the coordinate values ​​of each seam point with the rotation center starting from seam position 0 are obtained.

[0129] 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.

[0130] From the above, it can be inferred that the coordinate value of each seam is calculated by the following formula:

[0131]

[0132] 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.

[0133] Step 104: for any two of the non-adjacent seams, calculate the difference between the final distance and the initial distance, and use the difference as the convergence value of the pipe ring in this direction.

[0134] In one example, the following steps are also included: comparing the difference between the final distance and the initial distance with a preset threshold range; if the difference is within the preset threshold range, determining that the pipe ring meets the convergence expectations; if the difference is outside the preset threshold range, determining that the pipe ring exceeds the convergence expectations, and issuing an alarm message.

[0135] Comparative verification of implementation effect

[0136] The following is an explanation using a specific on-site construction scenario as an example.

[0137] Each ring of the tunnel pipe ring is composed of 10 independent pipe segments. The outer diameter of the pipe ring used is 15.2m, the inner diameter is 13.9m, the pipe segment thickness is 650mm, and the ring width is 2m. The corresponding No. 286 slurry shield machine is used as the system carrier platform. The 280th ring pipe ring convergence measurement test verification is taken as an example to illustrate the measurement accuracy of the application system. Due to the actual operability of manual measurement, manual measurement and application system data collection are selected after the pipe ring is separated from the trolley, and the pipe ring convergence values ​​measured by manual measurement and application system measurement are compared to verify the measurement accuracy of the application system.

[0138] An inclination sensor is pasted and installed on each segment of the same ring to measure the rotation angle of each segment in the cross-sectional direction of the ring, so that the application system can collect data and calculate the convergence distance. Reflective sheets are pasted near the joints where reflective sheets can be installed to provide a mark for the total station to measure the joint position, so as to facilitate the measurement of the convergence value of the joints and joint spacing of the ring segments.

[0139] Due to the obstruction of ventilation and sewage pipelines, reflectors could not be installed on some pipe ring joints. Finally, 10 reflectors were installed. When two prisms were attached to the same joint position, the average value of the two was taken as the joint coordinate. The corresponding relationship between the reflector and the pipe ring assembly position is shown in Table 2 below:

[0140] Table 2 Correspondence between reflective sheets, joints and tube segments

[0141]

[0142] Manual measurements were taken four times a day, at 9:00, 12:00, 15:00, and 19:00, for a total of about four days of monitoring, and a total of 12 sets of joint spacing values ​​were collected. The application system used for convergence measurement measures data every 15 minutes, so a time period close to the manual measurement was selected and the corresponding data was extracted as effective comparison data. The data at 9:00 on the first day was used as the initial data for comparison, and the latter's convergence distance changes were based on the change value relative to that moment. The relatively distant joints in the pipe ring were selected as comparison objects. This ring selected four pairs of joints, 1-5, 1-6, 4-9, and 5-9, for comparison. The corresponding curve change values ​​are as follows: Figure 8 shown.

[0143] As can be seen from the figure, both the manual measurement and the application system measurement results show that the ring convergence distance changes little, generally less than 1mm. Although there are deviations in individual positions, the overall trend is similar, and considering the measurement errors of manual and application systems, the measurement results of the two can be basically considered consistent within the order of 1mm.

[0144] Through practical application and data verification, it can be known that the long-term online automatic measurement system for tunnel pipe ring convergence of the present invention can realize real-time and effective measurement of pipe ring convergence change trend, and provides a new and effective monitoring means for monitoring pipe ring convergence deformation in the stage when the pipe ring is not yet stable during construction. It can realize effective monitoring of pipe ring deformation trend and degree, and has high accuracy and feasible technical solutions. The implementation and application of this technology realizes automatic, fast and long-term measurement of pipe ring convergence, which has positive significance for ensuring construction safety and improving project quality.

[0145] In view of the inventiveness of the system of the present invention, this specification further discloses, explains and compares as follows:

[0146] It should be noted that the tunnel pipeline convergence deformation monitoring method and system proposed in CN116105672A describes the pipe ring convergence deformation and gives an early warning using two indicators: roundness error and radial shrinkage; while the present invention uses individual The distance change value of non-adjacent joints relative to the ideal circular ring describes the pipe ring convergence situation, and the convergence threshold can be set for description. 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 nearly parallel to the pipe ring chord length, 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 distance 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 distance, thereby greatly reducing the difficulty of installation and construction. During construction, the sensor measurement axis only needs to be arranged in the same direction along the circumference. The sensor can be installed at any position of the pipe segment, and the on-site operation is convenient.

Claims

1. A long-term online automatic measurement system for the convergence of a tunnel ring, wherein the ring is composed of a number of segments, and is characterized in that: Includes angle sensor, gateway and convergence measurement module; The angle sensor is installed on each pipe segment and is used to measure the inclination value of the corresponding pipe segment; The gateway is used to obtain and transmit the tilt angle value through wireless communication; The convergence measurement module is used to receive the inclination angle value, calculate the convergence value of the pipe ring, and graphically display and record the convergence value of the pipe ring.

2. The tunnel ring convergence long-term online automatic measurement system according to claim 1 is characterized in that: The convergence measurement module includes a data communication module, a human-computer interaction module, and a data processing module; The data communication module communicates with the gateway, so that the angle sensor on each segment is connected to the convergence measurement module; The human-computer interaction module is used for system status event display, system parameter setting and data graphical display; The data processing module performs data conversion and filtering preprocessing on the segment inclination angle convergence value, calculates the pipe ring joint coordinate value, and calculates the convergence value based on the pipe ring joint coordinate value.

3. The tunnel ring convergence long-term online automatic measurement system according to claim 2 is characterized in that: The data processing module includes a data conversion filter unit, a pipe ring joint coordinate calculation unit, and a convergence value calculation unit; The data conversion and filtering unit is used for preprocessing data conversion and filtering of the segment inclination angle convergence value; The pipe ring joint coordinate calculation unit 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 a number of pipe segments; as well as Based on the central angle of each segment and the initial azimuth angle value of the F block with the shortest arc length in each segment within the circumference of the pipe ring, the azimuth angle value of each joint is determined, and the initial coordinates of the joint and the initial distance between any two non-adjacent joints are obtained; as well as In an absolute coordinate system, the angle change value of each segment within a set period is measured, and based on the angle change value, the final coordinate value of each joint and the final distance between any two non-adjacent joints are calculated; The convergence value calculation unit is used to calculate the difference between the final distance and the initial distance for any two non-adjacent seams, and use the difference as the convergence value of the pipe ring.

4. The tunnel ring convergence long-term online automatic measurement system according to claim 3 is characterized in that: In the pipe ring joint coordinate calculation unit, 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.

5. The tunnel ring convergence long-term online automatic measurement system according to claim 3 is characterized in that: In the pipe ring joint coordinate calculation unit, the coordinate value of each joint is calculated by the following formula: Among them, the subscript i represents the number of the joint, the superscript m represents the mth rotation of the segment during the iterative calculation process, is the coordinate value of the ith 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.

6. The tunnel ring convergence long-term online automatic measurement system according to claim 5 is characterized in that: In the pipe ring joint coordinate calculation unit, the F pipe segments with the shortest arc length in the pipe segments are determined as azimuthal pipe segments, and the remaining pipe segments are determined as non-azimuthal pipe segments, wherein there is only one azimuthal pipe segment.

7. The tunnel ring convergence long-term online automatic measurement system according to claim 6 is characterized in that: In the pipe ring joint coordinate calculation unit, 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.

8. The tunnel ring convergence long-term online automatic measurement system according to claim 7 is characterized in that: 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 in a single ring. The joints are numbered M0, M1, ... Mn-1 in a counterclockwise manner based on the azimuth segments, and the second segments are numbered B1, B2, ... Bn-3 in a clockwise manner 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.

9. The tunnel ring convergence long-term online automatic measurement system according to claim 8 is characterized in that: 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.

10. The tunnel ring convergence long-term online automatic measurement system according to claim 3 is characterized in that: The convergence value calculation unit is also used to compare the difference between the final distance and the initial distance with a preset threshold range. If the difference is within the preset threshold range, it is determined that the pipe ring meets the convergence expectations. If the difference is outside the preset threshold range, it is determined that the pipe ring exceeds the convergence expectations and an alarm message is issued.

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