System and method for collecting track control network data in tunnel

Abstract

The invention provides a data acquisition system and method for a track control network in a tunnel, and the system comprises an outer sleeve which is provided with a triangular pedestal at the bottom and a middle diaphragm plate in the middle. The internal operation platform in the outer sleeve comprises an annular battery pack, a slewing bearing, an X-axis rotating mechanism, a Y-axis rotating mechanism, a vertical control mechanism, a visual camera module, a laser ranging assembly and a double-axis dip angle measurement module. The azimuth angle and the pitch angle are accurately controlled and calculated through the servo motor, the visual camera and the laser distance measuring instrument automatically recognize and measure a plurality of track control point positions, absolute coordinates of the control point positions are automatically calculated, and the measurement efficiency is effectively improved; a balancing weight is arranged in the device to control the measuring platform to keep horizontal, meanwhile, an inclination sensor is arranged to effectively calculate inclination angle changes caused by gravity center changes when the measuring platform rotates around a shaft, and compensation is conducted through calculation. And the damping liquid is filled around the balancing weight, so that the influence of micro-vibration of the motor on the measurement precision is inhibited.

Description

Technical Field

[0001] The invention belongs to the field of urban rail transit construction measurement, and in particular relates to a data acquisition system and method for a track control network in a tunnel. Background Art

[0002] At present, as the public's requirements for the riding comfort of urban rail transit continue to increase, the quality of rail transit project construction is also facing higher requirements. As an important component of rail engineering construction, the precision measurement of the track control network will directly affect the accuracy and error range of track plate laying and rail adjustment. The current track control network generally uses a total station in conjunction with a prism and adopts the method of free station corner intersection for measurement. In actual measurement, technicians are required to operate the total station to measure multiple control points in sequence repeatedly. The operation error affects the measurement result to a certain extent. At the same time, since a free station needs to measure 6 measurement points before and after, the whole process is time-consuming and inefficient. In view of the problems of large operation errors and time-consuming and labor-intensive measurement of the track control network by the above-mentioned existing total station, the present invention designs a track control network data acquisition system and method in the tunnel. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a data acquisition system and method for a track control network in a tunnel, which improves measurement efficiency and can compensate for errors to ensure measurement accuracy.

[0004] The present invention achieves the above technical objectives through the following technical means.

[0005] A data acquisition system for a track control network in a tunnel comprises an outer sleeve, wherein a triangular base is provided at the bottom of the outer sleeve, a portable handle is provided at the top, a middle horizontal partition is provided in the middle, a dust cover is installed at the top, and an internal operating platform is installed on the middle horizontal partition inside the outer sleeve; the internal operating platform comprises an annular battery pack, a slewing bearing, an X-axis rotation mechanism, a Y-axis rotation mechanism, a vertical control mechanism, and a collection device.

[0006] Furthermore, the triangular base includes three triangular support plates, each of which is connected to the pin shaft at the bottom of the outer sleeve; it also includes a limit block, which is located on the outside of the triangular support plate and fixedly connected to the bottom of the outer sleeve, and is used to limit the rotation angle of the triangular support plate; a magnetic block is installed at the hollow part of the triangular support plate, which is used to realize magnetic locking when the triangular support plate is closed.

[0007] Furthermore, a hole is provided in the middle of the middle transverse partition, and an annular battery pack is provided on the upper part of the middle transverse partition; the slewing bearing includes a slewing bearing outer ring and a slewing bearing inner ring, the slewing bearing outer ring is fixed to the outer sleeve, an internal gear is provided on the inner side of the slewing bearing inner ring, the internal gear is meshed with the gear at the power output end of the first servo motor, and the inner ring of the slewing bearing is rotated around the Z axis under the action of the first servo motor; the bottom of the first servo motor is connected to the support plate, and the support plate is fixed to the outer sleeve.

[0008] Furthermore, the X-axis rotation mechanism includes an annular fixed frame and an annular movable frame. The annular fixed frame is fixedly connected to the upper part of the inner ring of the slewing bearing. A pair of pins are provided on the inner side of the annular fixed frame. The annular fixed frame and the annular movable frame are connected by the pins to realize the free rotation of the annular movable frame around the X-axis.

[0009] Furthermore, the Y-axis rotation mechanism includes a collection platform base, and the collection platform base is connected to the annular movable frame through a pin shaft to achieve free rotation of the collection platform base around the Y-axis.

[0010] Furthermore, the vertical control structure includes a triangular connecting plate, one side of the triangular connecting plate is fixedly connected to the base of the collection platform through a second connecting rod, and the other side is connected to the first connecting rod. The other end of the first connecting rod is provided with a ball joint connected to the cylindrical counterweight block, and the other end of the first connecting rod is also sealed to the middle horizontal partition through a rubber sleeve; the space formed by the cylindrical counterweight block and the outer sleeve is filled with damping liquid to reduce the impact of equipment operation vibration.

[0011] Furthermore, the acquisition equipment includes a dual-axis inclination measurement module, a visual camera module, and a laser ranging component; a groove is provided at the bottom of the cylindrical counterweight block, and a dual-axis inclination measurement module is embedded therein; the visual camera module is fixed by a slot on the base of the acquisition platform;

[0012] The laser distance measuring component comprises a laser distance measuring instrument, an inclination rotating plate, a vertical support plate, an extension rod, a third connecting rod and a second servo motor; the inclination rotating plate is fixedly connected to the bottom of the laser distance measuring instrument, an extension rod is extended from the middle of the inclination rotating plate, both ends of the extension rod are connected to the pin shaft of the vertical support plate, and the vertical support plate is fixed on the base of the acquisition platform; one end of the extension rod passes through the vertical support plate and is fixed with a cylindrical gear, the cylindrical gear is meshed with the cylindrical gear at one end of the third connecting rod, the other end of the third connecting rod is connected with a bevel gear, the bevel gear is meshed with the bevel gear at the power output end of the second servo motor, and the second servo motor is fixed on the base of the acquisition platform, so that the second servo motor drives the laser distance measuring instrument to rotate inclination.

[0013] Furthermore, the main axis directions of the visual camera module, the laser ranging component, and the dual-axis inclination angle measurement module are consistent and consistent with the X-axis direction.

[0014] A method for collecting data of a track control network in a tunnel using the above-mentioned track control network data collection system in a tunnel comprises the following process:

[0015] S1: Bury track control point P i ;

[0016] S2: Two CPII control points P in the tunnel 0 The distance between them is a measurement section. The measurement is carried out in sequence along the tunnel advancing direction. Two adjacent track control points P are selected. i The relatively flat part in the middle section is used as a free station. Corner reflectors are installed at three track control points before and after the free station. During the initial measurement, the CPII control point P 0 Corner reflectors are installed at the same time;

[0017] S3: Unfold the triangular support plate and set up the equipment at the free setting station. After standing for a period of time, the equipment automatically starts to calibrate. The center of the acquisition platform base in the initial static state is taken as the measurement coordinate origin o, the direction pointed by the visual camera module is the positive direction of the X-axis, and the acquisition platform base plane is the XY plane. The measurement coordinate system O is established. m ; Define the coordinate system where the CPII control point is located as the absolute coordinate system O r ;

[0018] S4: Measure 3 orbit control points before and after the CPII control point and the free station respectively;

[0019] S5: With the synchronous operation of S4, the visual camera module takes sample photos, performs image recognition on the corner reflector at the control point, and returns O m The rough coordinates of the corner reflector of the control point in the coordinate system are used to further constrain the Y-axis and Z-axis rotation range of the laser ranging instrument; when the laser ranging instrument transmits a laser beam and receives the returned laser through the corner reflector at the control point, the measured distance lP of the control point in this state is calculated i , calculate the base of the acquisition platform around O m The rotation angle P of the Z axis in the coordinate system i α, calculate the angle P of the tilt plate i γ returns the rotation angle P of the inclination sensor around the main axis i θ x , rotated around the secondary axis by an angle P i θ y ;

[0020] S6: Change the control point measurement coordinates from O m Coordinate system conversion to O r Coordinate system, O m With O r The conversion between coordinate systems is as follows:

[0021] Or =R x R y R z ·O m +Δ

[0022] Where:

[0023]

[0024]

[0025]

[0026]

[0027] Where: R x , R y , R z They represent the rotation transformation matrix of the coordinate system around the X-axis, Y-axis, and Z-axis respectively, and Δ represents the translation transformation matrix of the coordinate system; P 0 X r , P 0 Y r , P 0 Z r The CPII control point is in the absolute coordinate system O r The xyz coordinates under lP 0 O m The length from the CPII control point measured in the coordinate system; P 0 γ is O m The angle of rotation of the tilt plate when the CPII control point is measured in the coordinate system;

[0028] After completing the measurement of the current 6 control points, the mobile data acquisition instrument will measure the next 6 control points, repeat S4 and S5 operations to complete the data measurement within a measurement operation section; finally, data adjustment will be performed to complete the establishment of the track control network.

[0029] Furthermore, the specific process of S4 is as follows:

[0030] The first servo motor starts, driving the inner ring of the slewing bearing to rotate around O m The Z axis rotates 360° in the coordinate system, which indirectly drives the annular movable frame and the base of the collection platform to rotate around O m The Z axis rotates 360° in the coordinate system; at the same time, the second servo motor starts, drives the third connecting rod to rotate through the bevel gear meshing transmission, and then drives the extension rod on the inclination rotating plate to rotate through the cylindrical gear meshing transmission at the end of the third connecting rod, thereby realizing the laser ranging instrument along the O m The Y-axis rotates periodically in the coordinate system, and through the rotation of the Y-axis and the Z-axis, a 360° rotating spatial laser frequency sweep is finally formed.

[0031] The present invention has the following beneficial effects:

[0032] The acquisition system provided by the present invention uses a servo motor to accurately control and calculate the azimuth and pitch angles, and a visual camera and a laser ranging instrument automatically identify and measure multiple track control points, and automatically calculate the absolute coordinates of the control points. The above method can effectively improve the measurement efficiency; a counterweight block is arranged inside the device to control the measurement platform to remain horizontal, and a tilt sensor is arranged at the same time to effectively calculate the change in the tilt angle of the measurement platform caused by the change in the center of gravity when the measurement platform rotates around the axis, and compensate for it in time through calculation; the damping liquid is filled around the counterweight block to effectively suppress the influence of the motor micro-vibration on the measurement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 The overall diagram of the data acquisition system is as follows:

[0034] Figure 2 This is a schematic diagram of the triangular base structure at the bottom of the outer sleeve;

[0035] Figure 3 It is a schematic diagram of the cross-sectional structure of the data acquisition system;

[0036] Figure 4 This is a schematic diagram of the cross-sectional structure of the internal operating platform;

[0037] Figure 5 This is the structural layout diagram of the laser ranging module and the visual camera module;

[0038] In the figure: 1-outer sleeve; 11-triangular base; 111-triangular support plate; 112-limiting block; 113-magnetic block; 12-portable handle; 13-portable handle; 2-dust cover; 3-internal operating platform; 31-annular battery pack; 32-slewing bearing; 321-slewing bearing outer ring; 322-slewing bearing inner ring; 323-first servo motor; 324-support plate; 33-X-axis rotation mechanism; 331-annular fixing frame; 332 - annular movable frame; 34- Y-axis rotation mechanism; 342- acquisition platform base; 35- vertical control mechanism; 351- triangular connecting plate; 352- first connecting rod; 353- cylindrical counterweight block; 354- second connecting rod; 36- dual-axis inclination measurement module; 37- visual camera module; 371- card slot; 381- laser ranging instrument; 382- inclination rotation plate; 383- vertical support plate; 384- extension rod; 385- third connecting rod; 386- second servo motor. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0040] In the description of the present invention, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, because they cannot be understood as limitations on the present invention; the terms "installation", "connection", "fixed", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a direct connection, it can be an indirect connection through an intermediate medium, or it can be the internal connection of two elements; for ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0041] like Figure 1 , Figure 2 , Figure 3 As shown, the tunnel track control network data acquisition system of the present invention includes an outer sleeve 1, a dust cover 2 installed on the top of the outer sleeve 1, and an internal operating platform 3 located inside the outer sleeve 1.

[0042] like Figure 1 , Figure 3 As shown, the outer sleeve 1 has a triangular base 11 at the bottom, a portable handle 12 at the top, and a middle transverse partition 13 in the middle. Figure 2 As shown, the triangular base 11 includes a triangular support plate 111, a limit block 112, and a magnetic block 113; the triangular support plate 111 has three pieces, all of which are connected to the bottom pin of the outer sleeve 1; the limit block 112 is located outside the triangular support plate 111 and is fixedly connected to the bottom of the outer sleeve 1, and is used to limit the rotation angle of the triangular support plate 111; the magnetic block 113 is located at the hollow part of the triangular support plate 111 to achieve magnetic locking when the triangular support plate 111 is closed. Figure 3 As shown, a hole is provided in the middle of the middle transverse partition 13 , and a ring-shaped battery pack 31 is provided on the upper part of the middle transverse partition 13 .

[0043] like Figure 3 As shown, the internal operating platform 3 includes an annular battery pack 31, a slewing bearing 32, an X-axis rotation mechanism 33, a Y-axis rotation mechanism 34, a vertical control mechanism 35, and a collection device.

[0044] like Figure 3 , Figure 4As shown, the slewing bearing 32 includes a slewing bearing outer ring 321 and a slewing bearing inner ring 322; the slewing bearing outer ring 321 is fixedly connected to the outer sleeve 1, and an internal gear is provided on the inner side of the slewing bearing inner ring 322, which is engaged with the gear at the power output end of the first servo motor 323. Under the action of the first servo motor 323, the slewing bearing inner ring 322 can be rotated around the Z axis; the bottom of the first servo motor 323 is bolted to the support plate 324, and the support plate 324 is fixed to the outer sleeve 1.

[0045] like Figure 3 , Figure 4 As shown, the X-axis rotation mechanism 33 includes an annular fixed frame 331 and an annular movable frame 332. The annular fixed frame 331 is fixedly connected to the upper part of the inner ring 322 of the slewing bearing, and a pair of pins are provided inside the annular fixed frame 331. The annular fixed frame 331 and the annular movable frame 332 are connected by the pins to realize the free rotation of the annular movable frame 332 around the X-axis.

[0046] like Figure 3 , Figure 4 As shown, the Y-axis rotation mechanism 34 includes a collection platform base 342, and the collection platform base 342 is connected to the annular movable frame 332 through a pin shaft, so that the collection platform base 342 can rotate freely around the Y-axis.

[0047] like Figure 3 , Figure 4 As shown, the vertical control structure 35 includes a triangular connecting plate 351, a first connecting rod 352, a cylindrical counterweight 353, and a second connecting rod 354. One side of the triangular connecting plate 351 is fixedly connected to the acquisition platform base 342 through three second connecting rods 354, and the other side is connected to the first connecting rod 352. The other end of the first connecting rod 352 is provided with a ball joint connected to the cylindrical counterweight 353, and the other end of the first connecting rod 352 is also sealed and connected to the middle transverse partition 13 through a rubber sleeve 355. The space formed by the cylindrical counterweight 353 and the outer sleeve 1 is filled with damping liquid to reduce the impact of equipment operation vibration; the bottom of the cylindrical counterweight 353 is provided with a groove, and a dual-axis inclination measurement module 36 is embedded therein.

[0048] like Figure 4 , Figure 5 As shown, the acquisition equipment includes a visual camera module 37 , a laser ranging component, and a dual-axis inclination measurement module 36 .

[0049] like Figure 4 , Figure 5 As shown, the visual camera module 37 is fixed by a slot 371 on the acquisition platform base 342 .

[0050] like Figure 4 , Figure 5As shown, the laser distance measuring assembly includes a laser distance measuring instrument 381 and an inclination adjustment mechanism, and the inclination adjustment mechanism includes an inclination rotation plate 382, ​​a vertical support plate 383, an extension rod 384, a third connecting rod 385, and a second servo motor 386. The inclination rotation plate 382 is fixedly connected to the bottom of the laser distance measuring instrument 381, and an extension rod 384 extends from the middle of the inclination rotation plate 382. Both ends of the extension rod 384 are pin-connected to the vertical support plate 383, and the vertical support plate 383 is fixed to the base 342 of the acquisition platform. One end of the extension rod 384 passes through the vertical support plate 383 and is fixed with a cylindrical gear, which is meshed with the cylindrical gear at one end of the third connecting rod 385. The other end of the third connecting rod 385 is connected to a bevel gear, which is meshed with the bevel gear at the power output end of the second servo motor 386. The second servo motor 386 is fixed to the collection platform base 342 by bolts, so that the second servo motor 386 drives the laser ranging instrument 381 to rotate at an inclination angle.

[0051] like Figure 4 , Figure 5 As shown, the main axis directions of the visual camera module 37, the laser ranging component, and the dual-axis inclination angle measurement module 36 are consistent and consistent with the X-axis direction, which facilitates coordinate conversion during measurement.

[0052] The method for collecting data of a track control network in a tunnel according to the present invention comprises the following steps:

[0053] S1: Bury track control point P i The control points are arranged on one side of the tunnel wall at a spacing of about 50m, the curved section is arranged on the tunnel wall on the side with greater curvature, and the control points are arranged at a height of about 1.5m.

[0054] S2: Two CPII control points P in the tunnel 0 The distance between them is a measurement section. The measurement is carried out in sequence along the tunnel advancing direction. Two adjacent track control points P are selected. i The relatively flat part in the middle section is used as a free station. Corner reflectors are installed at three track control points before and after the free station. During the initial measurement, the CPII control point P 0 Corner reflectors are also installed at the same time.

[0055] S3: Data acquisition, the device is turned on, the triangular support plate 111 is unfolded and the device is set up at the free setting station. After standing for 5 seconds, the device automatically starts calibration. The center of the acquisition platform base 342 in the initial static state is taken as the measurement coordinate origin o, the direction pointed by the visual camera module 37 is the positive direction of the X axis, and the plane of the acquisition platform base 342 is the XY plane. The measurement coordinate system O is established. m ; Define the coordinate system where the CPII control point is located as the absolute coordinate system O r .

[0056] S4: Measure the CPII control point and the three orbital control points before and after the free station as the boundary by the following method:

[0057] The first servo motor 323 is started, driving the inner ring of the slewing bearing 322 to rotate around m The Z axis rotates 360° in the coordinate system, thereby indirectly driving the annular movable frame 332 and the collection platform base 342 to rotate around O m The Z axis rotates 360° in the coordinate system at a speed of 5 rpm. At the same time, the second servo motor 386 is started, driving the third connecting rod 385 to rotate through the bevel gear meshing transmission, and then driving the extension rod 384 on the inclination rotating plate 382 to rotate through the cylindrical gear meshing transmission at the end of the third connecting rod 385, thereby realizing the laser ranging instrument 381 along the O m The Y-axis rotates periodically in the coordinate system with a rotation period of 1s. By rotating the Y-axis and the Z-axis, a 360° rotating spatial laser frequency sweep is finally formed.

[0058] S5: With the synchronous operation of S4, the visual camera module 37 takes a sample shot every 0.5s, performs image recognition on the corner reflector at the control point, and returns the rough coordinates of the corner reflector at the control point in the Om coordinate system. The rough coordinates are used to further constrain the Y-axis and Z-axis rotation range of the laser rangefinder 381. When the laser rangefinder 381 emits a laser beam and receives the returned laser through the corner reflector at the control point, the control point measurement distance lP in this state is calculated. i , calculate the acquisition platform base 342 around O m The rotation angle P of the Z axis in the coordinate system i α, calculate the rotation angle P of the inclination rotation plate 382 i γ returns the rotation angle P of the inclination sensor 36 around the main axis i θ x , rotated around the secondary axis by an angle P i θ y .

[0059] S6: Change the control point measurement coordinates from O m Coordinate system conversion to O r Coordinate system, O m With O r The conversion between coordinate systems is as follows:

[0060] O r =R x R y R z ·O m +Δ

[0061] Where:

[0062]

[0063]

[0064]

[0065]

[0066] Where: R x , R y , R z They represent the rotation transformation matrix of the coordinate system around the X-axis, Y-axis, and Z-axis respectively, and Δ represents the translation transformation matrix of the coordinate system; P 0 X r , P 0 Y r , P 0 Z r The CPII control point is in the absolute coordinate system O r The xyz coordinates under lP 0 O m The length from the CPII control point measured in the coordinate system; P 0 γ is O m The rotation angle of the inclination rotation plate 382 when the CPII control point is measured in the coordinate system;

[0067] After completing the measurement of the current 6 control points, the mobile data acquisition instrument will measure the next 6 control points, repeat S4 and S5 operations to complete the data measurement within a measurement operation section; finally, data adjustment will be performed to complete the establishment of the track control network.

[0068] The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. A tunnel track control network data acquisition system, characterized in that: The outer sleeve (1) comprises an outer sleeve, wherein a triangular base (11) is provided at the bottom of the outer sleeve, a middle transverse partition (13) is provided in the middle, and an internal operating platform (3) is installed on the middle transverse partition (13); the internal operating platform (3) comprises an annular battery pack (31), a slewing bearing (32), an X-axis rotating mechanism (33), a Y-axis rotating mechanism (34), a vertical control mechanism (35), and a collection device.

2. The tunnel track control network data acquisition system according to claim 1, characterized in that: The triangular base (11) comprises three triangular support plates (111) which are all connected to the bottom pins of the outer sleeve (1); a limit block (112) located outside the triangular support plate (111) and fixedly connected to the bottom of the outer sleeve (1) for limiting the rotation angle of the triangular support plate (111); and a magnetic attraction block (113) is installed in the hollow part of the triangular support plate (111) for realizing magnetic attraction locking when the triangular support plate (111) is closed.

3. The tunnel track control network data acquisition system according to claim 1, characterized in that: A hole is provided in the middle of the middle transverse partition (13), and a ring-shaped battery pack (31) is provided on the upper part of the middle transverse partition (13); the slewing bearing (32) comprises a slewing bearing outer ring (321) and a slewing bearing inner ring (322); the slewing bearing outer ring (321) is fixed to the outer sleeve (1); an inner gear is provided on the inner side of the slewing bearing inner ring (322); the inner gear is meshed with a gear at the power output end of the first servo motor (323), and the slewing bearing inner ring (322) is rotated around the Z axis under the action of the first servo motor (323); the bottom of the first servo motor (323) is connected to the support plate (324), and the support plate (324) is fixed to the outer sleeve (1).

4. The tunnel track control network data acquisition system according to claim 3 is characterized in that: The X-axis rotation mechanism (33) comprises an annular fixed frame (331) and an annular movable frame (332); the annular fixed frame (331) is fixedly connected to the upper part of the inner ring (332) of the slewing bearing; a pair of pins are provided on the inner side of the annular fixed frame (331); the annular fixed frame (331) and the annular movable frame (332) are connected via the pins, so that the annular movable frame (332) can rotate freely around the X-axis.

5. The tunnel track control network data acquisition system according to claim 4, characterized in that: The Y-axis rotation mechanism (34) comprises a collection platform base (342), and the collection platform base (342) is connected to the annular movable frame (332) via a pin shaft, so that the collection platform base (342) can rotate freely around the Y-axis.

6. The tunnel track control network data acquisition system according to claim 5, characterized in that: The vertical control structure (35) comprises a triangular connecting plate (351), one side of the triangular connecting plate (351) is fixedly connected to the collection platform base (342) via a second connecting rod (354), and the other side is connected to the first connecting rod (352). The other end of the first connecting rod (352) is provided with a ball joint connected to a cylindrical counterweight (353). The other end of the first connecting rod (352) is also sealedly connected to the middle transverse partition (13) via a rubber sleeve (355); the space formed by the cylindrical counterweight (353) and the outer sleeve (1) is filled with damping liquid.

7. The tunnel track control network data acquisition system according to claim 6, characterized in that: The acquisition device comprises a dual-axis inclination angle measurement module (36), a visual camera module (37), and a laser distance measurement component; a groove is provided at the bottom of the cylindrical counterweight block (353), and the dual-axis inclination angle measurement module (36) is embedded therein; the visual camera module (37) is fixed by a slot (371) on the acquisition platform base (342); The laser distance measuring assembly comprises a laser distance measuring instrument (381), an inclination rotating plate (382), a vertical support plate (383), an extension rod (384), a third connecting rod (385), and a second servo motor (386); the inclination rotating plate (382) is fixedly connected to the bottom of the laser distance measuring instrument (381), an extension rod (384) is extended from the middle of the inclination rotating plate (382), both ends of the extension rod (384) are connected to the vertical support plate (383) by a pin, and the vertical support plate (383) is fixed to the base of the collection platform (342); one end of the extension rod (384) passes through the vertical support plate (383) and is fixed with a cylindrical gear, which is meshed with the cylindrical gear at one end of the third connecting rod (385); the other end of the third connecting rod (385) is connected to a bevel gear, which is meshed with the bevel gear at the power output end of the second servo motor (386); the second servo motor (386) is fixed on the collection platform base (342), so that the second servo motor (386) drives the laser ranging instrument (381) to rotate at an inclination angle.

8. The tunnel track control network data acquisition system according to claim 7, characterized in that: The main axis directions of the visual camera module (37), the laser distance measurement component, and the dual-axis inclination angle measurement module (36) are consistent and are consistent with the X-axis direction.

9. A method for collecting data of a track control network in a tunnel using the track control network data collection system in a tunnel according to claim 7, characterized in that: The process includes the following: S1: Bury track control point P i ; S2: Take the area between two CPII control points P0 in the tunnel as a measurement section, measure in sequence along the tunnel advance direction, and select two adjacent track control points P i The relatively flat part in the middle section is used as a free station, and corner reflectors are installed at three track control points before and after the free station; during the initial measurement, a corner reflector is installed at the CPII control point P0 at the same time; S3: unfold the triangular support plate (111) and set up the equipment at the free setting station, and start calibration automatically. Take the center of the acquisition platform base (342) in the initial static state as the measurement coordinate origin o, the direction pointed by the visual camera module (37) as the positive direction of the X axis, and the plane of the acquisition platform base (342) as the XY plane, and establish the measurement coordinate system O m ; Define the coordinate system where the CPII control point is located as the absolute coordinate system O r ; S4: Measure 3 orbit control points before and after the CPII control point and the free station respectively; S5: With the synchronous operation of S4, the visual camera module (37) is started, and the image recognition of the corner reflector at the control point is performed, and O is returned. m The rough coordinates of the corner reflector of the control point in the coordinate system are used to further constrain the Y-axis and Z-axis rotation ranges of the laser distance measuring instrument (381); when the laser distance measuring instrument (381) emits a laser beam and receives the returned laser through the corner reflector at the control point, the measured distance lP of the control point in this state is calculated. i , calculate the acquisition platform base (342) around O m The rotation angle P of the Z axis in the coordinate system i α, calculate the rotation angle P of the tilting rotation plate (382) i γ returns the rotation angle P of the inclination sensor (36) around the main axis i θ x , rotated around the secondary axis by an angle P i θ y ; S6: Change the control point measurement coordinates from O m Coordinate system conversion to O r Coordinate system: O r =R x R y R z ·O m +Δ Where: Where: R x , R y , R z Respectively represent the coordinate system rotation transformation matrix around the X-axis, Y-axis, and Z-axis, and Δ represents the coordinate system translation transformation matrix; P0X r ,P0Y r ,P0Z r The CPII control point is in the absolute coordinate system O r The xyz coordinates of the following; lP0 is O m The length from the CPII control point measured in the coordinate system; P0γ is O m The rotation angle of the tilt rotation plate (382) when the CPII control point is measured in the coordinate system; After completing the measurement of the current 6 control points, the mobile data acquisition instrument will measure the next 6 control points, and repeat S4 and S5 operations to complete the data measurement within a measurement operation section; finally, data adjustment is performed to complete the establishment of the track control network.

10. The method for collecting data of track control network in a tunnel according to claim 9, characterized in that: The specific process of S4 is as follows: The first servo motor (323) is started to drive the inner ring (322) of the slewing bearing to rotate around m The Z axis of the coordinate system rotates 360°, thereby indirectly driving the annular movable frame (332) and the collection platform base (342) to rotate around O m The Z axis of the coordinate system rotates 360°; at the same time, the second servo motor (386) is started, and the third connecting rod (385) is driven to rotate through the meshing transmission of the bevel gear, and then the extension rod (384) on the inclination rotating plate (382) is driven to rotate through the meshing transmission of the cylindrical gear at the end of the third connecting rod (385), thereby realizing the laser ranging instrument (381) along the O m The Y-axis rotates periodically in the coordinate system, and through the rotation of the Y-axis and the Z-axis, a 360° rotating spatial laser frequency sweep is finally formed.

Images