Automatic traverse measurement method for tunnel

Abstract

The invention discloses an automatic traverse measurement method for a tunnel, and the method comprises the following steps: setting a control point outside the tunnel, installing a prism on the control point, measuring the height of the prism, setting traverse points on the relatively stable inner walls of the two sides of the tunnel, installing a total station and a prism on each traverse point, measuring the instrument height and the prism height of each observation station; measuring a horizontal angle, a zenith distance and a slope distance through each traverse point to obtain observation data at each traverse point; data acquisition and transmission: acquiring angle and distance data at each lead point, and transmitting and summarizing the angle and distance data in a wireless or optical fiber manner; conducting traverse calculation to obtain coordinates of each traverse point; and result analysis is carried out. Through cooperative work of the total station, the automatic control platform and the data processing and analysis module, automation and high precision of wire measurement are realized. The system has the advantages of high automation degree, high precision, high reliability, strong adaptability and the like, and can meet the requirements of modern tunnel engineering on the measurement technology.

Description

Technical Field

[0001] The present invention relates to the field of measurement technology, and in particular to an automatic conductor measurement method for a tunnel. Background Art

[0002] In tunnel engineering, traverse measurement is an important means to ensure the accuracy and quality of the project. The traditional traverse measurement method has the following main problems: (1) The environmental conditions in the tunnel are poor, with high temperature, high humidity, high dust, and insufficient lighting, making manual operation difficult; (2) There is a lot of interference from construction, leaving little time for measurement, and the measurement task needs to be completed in a short time; (3) Error control is difficult, the side length is short, the centering error is large, and there are few redundant observation conditions, making it difficult to achieve manual measurement accuracy; (4) The influence of geological and structural deformation is large. Structural deformation caused by earthquakes, fault fracture zones, soft rocks, etc. affects the stability of the traverse points, and regular re-measurement is required to correct the data, otherwise the data reliability risk is high; (5) Due to the low accuracy, difficulty, and long time of manual observation. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems of great difficulty, low efficiency and large error in manual measurement, and propose an automated wire measurement system based on a measuring robot and an automated control platform.

[0004] To solve the above problems, the present invention provides an automated wire measurement method for a tunnel, comprising the following steps: Step 1: Set control points outside the tunnel, install prisms at these control points and measure the prism heights. Set traverse points on relatively stable inner walls on both sides of the tunnel, install a total station and prism at each traverse point, and measure the instrument height and prism height at each station. Step 2: Measure the horizontal angle, zenith distance, and slant distance at each traverse point to obtain observation data at each traverse point. This can be done either synchronously or in sections. Compared to traditional measurement methods, this allows for synchronous and efficient acquisition of observation data. Step 3: Data collection and transmission: collect angle and distance data at each conductor point and aggregate them via wireless or optical fiber transmission; Step 4: perform wire calculation to obtain the coordinates of each wire point; Step 5: Analyze the results.

[0005] Furthermore, the conductor points are set on the inner wall of the tunnel, and the distance between adjacent conductor points in the straight section is 300-500m, and the distance between adjacent conductor points in the curved section is 150-300m.

[0006] Furthermore, when calculating the guide line, the azimuth from the control point K1 to the first guide line point D1 is α0, and the azimuth from the guide line point Di to Di+1 is α i, then there is: α i = α i-1 + β i - 180, where β i is the turning angle; Denote the coordinates of control point K1 as northing coordinate X0 and easting coordinate Y0, and the coordinates of traverse point Di as northing coordinate X i and easting coordinate Y i , then there is: X i = X i-1 + S i-1 * cos(α i-1 ), Y i = Y i-1 + S i-1 * sin(α i-1 ), where S is the horizontal distance.

[0007] The present invention proposes an automated traverse surveying system for tunnel. Through the collaborative work of the measuring robot observation station, the automated control platform and the data processing and analysis module, the automation and high precision of traverse surveying are realized. This system has the advantages of high automation degree, high precision, high reliability, strong adaptability, etc., and can meet the requirements of modern tunnel engineering for surveying technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 is the flow chart of the automated traverse surveying method for tunnel; Figure 2 is the traditional traverse layout method; Figure 3 is the automated traverse surveying method for tunnel; Figure 4 is the schematic diagram of the calculation of the embodiment; Figure 5 is the visualized traverse map of the survey results; Figure 6 is the visualized coordinate deformation map of the survey results. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0010] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below in conjunction with the specific embodiments and with reference to the accompanying drawings. It should be understood that these descriptions are exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the descriptions of well-known structures and technologies are omitted to avoid unnecessarily confusing the concepts of the present invention.

[0011] As Figure 1 shown, an automated traverse surveying method for tunnel is provided, including the following steps: Step 1: Set control points outside the tunnel, install prisms at these control points and measure the prism heights. Set traverse points on relatively stable inner walls on both sides of the tunnel, install a total station and prism at each traverse point, and measure the instrument height and prism height at each station. Step 2: Measure the horizontal angle, zenith distance, and slant distance at each traverse point to obtain observation data at each traverse point. This can be done either synchronously or in sections. Compared to traditional measurement methods, this allows for synchronous and efficient acquisition of observation data. Step 3: Data collection and transmission: collect angle and distance data at each conductor point and aggregate them via wireless or optical fiber transmission; Step 4: perform wire calculation to obtain the coordinates of each wire point; Step 5: Analyze the results.

[0012] Conductor points are set on the inner wall of the tunnel. The distance between adjacent conductor points in the straight section is 300-500m, and the distance between adjacent conductor points in the curved section is 150-300m.

[0013] When calculating the guide line, the azimuth from the control point K1 to the first guide line point D1 is α0, and the azimuth from the guide line point Di to Di+1 is α i , then: α i =α i-1 +β i -180, β i is the turning angle; The coordinates of the control point K1 are the north coordinate X0, the east coordinate Y0, and the coordinates of the traverse point Di are the north coordinate X i , east coordinate Y i , then: X i =X i-1 +S i-1 *cos(α i-1 ), Y i =Y i-1 +S i-1 *sin(α i-1 ), S is the horizontal distance.

[0014] Several measurement robot observation stations are deployed along the tunnel axis. The number and spacing of the observation stations are determined according to the length, curvature and accuracy requirements of the tunnel.

[0015] The observation station consists of a measuring robot, a leveling base, sensors, a communication module, and a power supply; Measuring robot: Each observation station is equipped with a high-precision measuring robot. The measuring robot is a measuring instrument that integrates electronic angle measurement and electronic distance measurement, and can measure horizontal angle, vertical angle, and inclined distance simultaneously. Leveling base: Used to support and level the measuring robot to ensure that the measuring robot is in a horizontal state. Sensors: Equipped with sensors such as temperature, humidity, air pressure, visibility, and vibration to monitor environmental parameters. These sensors can be integrated within the observation station. Communication module: Used for data communication with the automated control platform. Wireless transmission or fiber optic wired transmission can be adopted. Power supply: Provides power for the observation station, and battery or tunnel power supply system can be used. Protection measures: The observation station should have dust-proof and moisture-proof functions to protect the measuring robot and other equipment. A metal structure frame for fixing the prism is attached to the outside of the measuring robot, and a 360 prism or multiple coaxial prisms are installed, which does not affect the rotation and aiming of the measuring robot.

[0016] The automated control platform includes a central controller, a data processing unit, a communication unit, etc. Automated control: Automatically controls the measuring robot to perform measurements, including angle measurement and distance measurement, that is, total station. Multi-station collaboration: Simultaneously controls multiple observation stations to perform measurements to achieve multi-station collaborative measurement. Multiple measuring robots are connected to the control platform through the communication module. Through multi-station collaboration, automated traverse measurement can be carried out according to a pre-set program. Data acquisition and transmission: Real-time collects the measurement data of the observation station and transmits it to the data processing and analysis module through the communication module. Environmental perception: Perceives the surrounding environment based on sensor data and adjusts the measurement strategy according to environmental changes. Automatically perceives the surrounding environment and vibration, and conducts observations when conditions are met. Self-check function: Has a self-check function and can detect the status of the measuring robot, including leveling and whether the communication is smooth, etc. Data processing: Performs preliminary data processing, such as data filtering and gross error elimination, etc.

[0017] In a specific embodiment, as Figure 2 shown, in the traditional technical solution, the circular points are known control points outside the tunnel, and the square points are traverse points arranged inside the tunnel, usually arranged on the ground on both sides of the internal road of the tunnel, which are easily interfered with or damaged by vehicle traffic and pedestrian trampling. The adjacent traverse points are kept visible, and the distance between adjacent traverse points is 300 - 500m in the straight section and 150 - 300m in the curve section.

[0018] Traditional implementation process: (1) Set up the total station on each traverse point in turn, set up prisms on the front and rear adjacent points, measure the horizontal angle, zenith distance, and inclined distance according to the requirements of traverse measurement, measure the instrument height and prism height, and obtain the observation data of the measuring station at each traverse point; (2) Conduct data inspection; (3) Conduct the calculation of the wire results to obtain the coordinate results of each wire point; (4) Conduct the result analysis.

[0019] Using the method of the present invention as Figure 3 shown, the circular points are the known control points outside the tunnel, and the square points are the wire points arranged inside the tunnel, which are arranged on the relatively stable inner walls on both sides of the tunnel and are not easily disturbed or damaged by vehicles and personnel. The adjacent wire points are kept visible, and the distance between adjacent wire points is 300 - 500 m in the straight section and 150 - 300 m in the curved section.

[0020] The implementation process of automatic wire measurement: (1) Install a prism on the control point and measure the prism height. Install a total station and a prism on each wire point, and measure the instrument height and prism height of each measuring station at the same time; (2) Control each measuring station through the automatic control platform to measure the horizontal angle, zenith distance, and inclined distance according to the requirements of wire measurement to obtain the observation data at each wire point; it can be measured synchronously in full or in segments synchronously. Compared with the traditional measurement method, the observation data can be obtained synchronously and efficiently; (3) Data acquisition and transmission; (4) Conduct the calculation of the wire results to obtain the coordinate results of each wire point; (5) Conduct the result analysis.

[0021] As Figure 4 shown, when calculating the wire, the coordinates of the control point K1 are the north coordinate X0 = 0 and the east coordinate Y0 = 0; the azimuth angle α0 from K1 to D1 is 90°.

[0022] The measured observation data is shown in the following table: Transition angle (°′″) Horizontal distance （m） Remark <![CDATA[β1]]> 85 16 24 <![CDATA[S0]]> 235.4632 <![CDATA[β2]]> 265 36 15 <![CDATA[S1]]> 212.1367 <![CDATA[β3]]> 128 16 28 <![CDATA[S2]]> 230.3462 <![CDATA[β4]]> 246 15 38 <![CDATA[S3]]> 200.2368 <![CDATA[β5]]> 43 26 19 <![CDATA[S4]]> 195.2389 <![CDATA[β6]]> 286 18 35 <![CDATA[S5]]> 203.1459 <![CDATA[S6]]> 162.3567 Note: To simplify the calculation process, the above β1~β6 are all the angles after verification, and the above S0~S6 are all the reduced horizontal distances.

[0023] Basic calculation formula: Denote the azimuth angle from K1 to D1 as α0, and the azimuth angle from D i to D i + 1 as α i , then there is: α i = α i-1 + β i - 180; Denote the coordinates of K1 as the north coordinate X0 and the east coordinate Y0, and the coordinates of D i as the north coordinate X i , and the east coordinate Y i , then there is: X i = X i-1 + Si-1 *cos(α i-1 ), Y i = Y i-1 + S i-1 *sin(α i-1 ).

[0024] The calculation results are shown in the following table: Azimuth (°′″) Point number North coordinate X (m) East coordinate Y (m) Remark <![CDATA[α0]]> 90 00 00 K1 0.0000 0.0000 Known data <![CDATA[α1]]> -4 43 36 D1 0.0000 235.4632 <![CDATA[α2]]> 80 52 39 D2 211.4153 217.9826 <![CDATA[α3]]> 29 09 07 D3 247.9357 445.4153 <![CDATA[α4]]> 95 24 45 D4 422.8087 542.9562 <![CDATA[α5]]> -41 08 56 D5 404.3927 737.3246 <![CDATA[α6]]> 65 09 39 D6 557.3620 603.6509 D7 625.5636 750.9881 After the result analysis, a visualized traverse diagram of the measurement results as shown Figure 5 can be obtained. For multiple measurement results, a visualized coordinate deformation diagram of the measurement results as shown Figure 6 can be obtained, which can be used for continuous long-term deformation monitoring of the surrounding rock during the tunnel operation period.

[0025] Traditionally, manual instrument setup and manual observation are used. After the instrument and equipment are set up during the initial layout of the present invention, subsequent observations are automated; traditionally, data collection relies on manual work and special software is used for data processing. The present invention integrates data collection, transmission, processing, and analysis into an automated platform; traditionally, only one station can be observed successively, while the present invention can perform collaborative observations of multiple stations; It should be understood that the above specific embodiments of the present invention are only used for exemplary illustration or explanation of the principle of the present invention, and do not constitute a limitation to the present invention. Therefore, any modifications, equivalent replacements, improvements, etc. made without departing from the spirit and scope of the present invention shall be included within the protection scope of the present invention. In addition, the appended claims of the present invention are intended to cover all changes and modification examples that fall within the scope and boundary of the appended claims, or equivalent forms of such scope and boundary.

Claims

1. An automated traverse surveying method for a tunnel, characterized in that, It includes the following steps: Step 1: Set control points outside the tunnel, install prisms on the control points and measure the prism heights. Set traverse points on the relatively stable inner walls on both sides of the tunnel, install total stations and prisms on each traverse point, and measure the instrument height and prism height at each measuring station at the same time; Step 2: Measure the horizontal angle, zenith distance and inclined distance through each traverse point to obtain the observation data at each traverse point; Step 3: Data acquisition and transmission, collect the angle and distance data at each traverse point, and summarize through wireless or optical fiber transmission; Step 4: Conduct traverse calculations to obtain the coordinates of each traverse point; Step 5: Conduct result analysis; When setting traverse points on the inner wall of the tunnel, the distance between adjacent traverse points in the straight section is 300 - 500m, and the distance between adjacent traverse points in the curve section is 150 - 300m; When calculating the wire, record the azimuth from the control point K1 to the first wire point D1 as α0, and the azimuth from the wire point Di to Di+1 as α i , then we have: α i = α i-1 + β i - 180, β i is the turning angle; Record the coordinates of the control point K1 as the northing coordinate X0 and the easting coordinate Y0, and the coordinates of the traverse point Di as the northing coordinate X i , and the easting coordinate Y i . Then we have: X i = X i-1 + S i-1 * cos(α i-1 ), Y i = Y i-1 + S i-1 * sin(α i-1 ), where S is the horizontal distance.

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