A tunnel monitoring system and method based on a single dual-wavelength laser radar

Abstract

The application relates to the technical field of tunnel structure safety monitoring, in particular to a tunnel monitoring system and method based on a single dual-wavelength laser radar; the system comprises the following steps: a single dual-wavelength laser radar is used to perform common-path scanning on a tunnel monitoring area and a control target group, and dual-wavelength scanning data are generated; first echo data and second echo data are collected and bound as a dual-wavelength same-point echo pair; compensation, registration, phase difference and distance difference processing are performed based on reference monitoring data, and tunnel deformation monitoring data are generated; material identification data and environmental interference data are generated according to the dual-wavelength same-point echo pair, and an early warning data packet is generated and sent to a tunnel monitoring platform. The application realizes dual-wavelength echo same-point correlation, micro-deformation monitoring, material interference area differentiation and early warning output under a complex tunnel environment.

Description

Technical Field

[0001] This invention relates to the field of tunnel structure safety monitoring technology, specifically to a tunnel monitoring system and method based on a single dual-wavelength lidar. Background Technology

[0002] Tunnel engineering requires continuous monitoring of its structural condition during excavation and support, secondary lining, and operation and maintenance stages. Monitoring typically includes crown settlement, surrounding rock convergence, cross-sectional profile changes, lining crack opening and closing, seepage area distribution, and the development of local defects. LiDAR, as a non-contact spatial measurement device, can acquire point cloud data, ranging data, and echo data by scanning tunnel cross-sections and structural surfaces. Comparative analysis of data from different monitoring periods allows for the assessment of changes in tunnel structural profile, surrounding rock deformation trends, and lining surface anomalies. Compared to manual inspection, contact displacement gauges, and single-point settlement monitoring, LiDAR is more suitable for long-distance, multi-section, and continuous structural monitoring scenarios in tunnels, and has become an important technical means for tunnel structural safety monitoring and defect identification. In lidar structural monitoring during tunnel construction and operation, there are still problems such as unstable scanning echo and point cloud results under complex operating environments, and the mixing of early minor structural risks with material reflection changes and environmental interference. Specifically: On the one hand, during tunnel excavation, shotcreting, grouting, transportation, ventilation, and drainage, dust, water mist, construction exhaust, damp lining surfaces, water-permeable reflective surfaces, and local obstruction can change the intensity, phase, and propagation state of the laser echo, causing point cloud gaps, local jumps, abnormal reflections, and inconsistencies in scanning data from the same cross section. This makes deformation results such as arch settlement, surrounding rock convergence, and crack opening and closing easily affected by environmental noise. On the other hand, early tunnel settlement, slight surrounding rock convergence, and minor crack opening and closing usually have small variation ranges, while the echo characteristics of lining concrete, surrounding rock, water stains, metal embedded parts, and rough shotcrete surfaces are different. This means that the same type of echo change in actual monitoring may originate from actual structural deformation, surface material changes, water seepage reflection changes, or dust and water mist attenuation, thereby increasing the difficulty of identifying and warning about minor tunnel risks. Summary of the Invention

[0003] The purpose of this invention is to provide a tunnel monitoring system and method based on a single dual-wavelength lidar, in order to solve the problems mentioned in the background art, such as unstable scanning echo and point cloud results under complex operating environments, the mixing of early micro-structure risks, material reflection changes, and environmental interference.

[0004] To achieve the above objectives, the present invention aims to provide a tunnel monitoring system based on a single dual-wavelength lidar, comprising: The dual-wavelength scanning unit is used to control a single dual-wavelength lidar to emit a first-wavelength laser and a second-wavelength laser to the tunnel monitoring area according to the tunnel monitoring task, to perform common-path scanning on the tunnel monitoring area and the control target group, generate dual-wavelength scanning data, and send the dual-wavelength scanning data to the same-point binding unit. The tunnel monitoring area includes the tunnel crown area, arch waist area, sidewall area, and invert arch area; the dual-wavelength scanning data includes monitoring section data, scanning position data, transmission timing data, ranging data, and point cloud data. The same-point binding unit is used to receive dual-wavelength scanning data sent by the dual-wavelength scanning unit, collect the first echo data corresponding to the first wavelength laser and the second echo data corresponding to the second wavelength laser, bind the first echo data and the second echo data into a dual-wavelength same-point echo pair according to the same monitoring section, the same scanning position, the same distance gate and the same timing window, and send the dual-wavelength same-point echo pair to the deformation calculation unit. The first and second echo data both include echo intensity data, echo phase data, and echo propagation time data; the same time window is the range of consistent emission times formed by the first wavelength laser and the second wavelength laser under the synchronous triggering reference; the dual-wavelength echo pair is a data combination indicating that the first echo data and the second echo data originate from the same sampling position on the tunnel surface; The deformation calculation unit is used to receive the dual-wavelength echo pair sent by the same-point binding unit, read the reference monitoring data corresponding to the control target group, perform reference compensation, point cloud registration, phase difference and distance difference processing on the dual-wavelength echo pair, generate tunnel deformation monitoring data, and send the tunnel deformation monitoring data and the dual-wavelength echo pair to the identification and early warning unit. The benchmark monitoring data includes target benchmark coordinates, initial cross-sectional point cloud, initial echo data, and channel phase offset data; benchmark compensation is used to eliminate the channel phase offset between the first echo data and the second echo data; tunnel deformation monitoring data includes crown settlement data, surrounding rock convergence data, crack opening and closing data, and deformation time history data. The identification and early warning unit is used to receive tunnel deformation monitoring data and dual-wavelength echo pairs sent by the deformation calculation unit, generate material identification data and environmental interference data based on the dual-wavelength echo pairs, generate early warning data packets based on the tunnel deformation monitoring data, material identification data and environmental interference data, and send the early warning data packets to the tunnel monitoring platform. The material identification data includes markings for lining concrete, surrounding rock, seepage areas, and embedded metal parts; the environmental interference data includes dust interference levels and water mist interference levels; and the early warning data includes deformation early warning data, material anomaly data, environmental interference data, and equipment power supply status data.

[0005] Preferably, in the dual-wavelength scanning unit, a single dual-wavelength lidar generates monitoring section data according to the tunnel monitoring task, and sequentially controls the first wavelength laser and the second wavelength laser to enter the same scanning channel according to the monitoring section data; the dual-wavelength scanning unit performs common-path scanning on the tunnel arch crown area, arch waist area, sidewall area and invert arch area according to the scanning position data corresponding to the monitoring section data, and performs common-path scanning on the control target group under the same monitoring section data; the dual-wavelength scanning unit writes the scanning position data, transmission timing data, ranging data and point cloud data corresponding to the tunnel monitoring area, as well as the scanning position data, transmission timing data, ranging data and point cloud data corresponding to the control target group, into dual-wavelength scanning data according to the same monitoring section data; the dual-wavelength scanning unit sends the dual-wavelength scanning data containing the monitoring section data, scanning position data, transmission timing data, ranging data and point cloud data to the same-point binding unit.

[0006] Preferably, in the same-point binding unit, after receiving the dual-wavelength scanning data sent by the dual-wavelength scanning unit, the same-point binding unit groups the first echo data corresponding to the first wavelength laser and the second echo data corresponding to the second wavelength laser according to the monitoring section data; the same-point binding unit establishes a binding condition group consisting of the same scanning position, the same distance gate, and the same timing window under the same monitoring section data; the same-point binding unit matches the first echo data and the second echo data according to the binding condition group, and writes the matched first echo data, second echo data, monitoring section data, scanning position data, distance gate data, and transmission timing data into the same dual-wavelength same-point echo pair; the same-point binding unit sends the dual-wavelength same-point echo pair to the deformation calculation unit.

[0007] Preferably, in the same-point binding unit, the same-point binding unit generates a valid binding identifier based on the dual-wavelength same-point echo pair and writes the valid binding identifier into the dual-wavelength same-point echo pair; the same-point binding unit generates a rescan identifier based on data lacking any binding condition of the same scanning position, the same distance gate, and the same timing window; the same-point binding unit writes the rescan identifier, the corresponding monitoring section data, the corresponding scanning position data, the corresponding first echo data, and the corresponding second echo data into the rescan data queue; the same-point binding unit sends the rescan data queue and the dual-wavelength same-point echo pair to the deformation calculation unit.

[0008] Preferably, in the deformation calculation unit, the deformation calculation unit establishes reference monitoring data based on the target reference coordinates, initial cross-sectional point cloud, initial echo data, and channel phase offset data corresponding to the control target group; the deformation calculation unit associates the reference monitoring data with the monitoring cross-sectional data; after receiving the dual-wavelength same-point echo pair sent by the same-point binding unit, the deformation calculation unit performs reference compensation on the echo phase data in the dual-wavelength same-point echo pair based on the reference monitoring data to generate compensated echo data; the compensated echo data includes the first echo data and the second echo data after completing the channel phase offset correction.

[0009] Preferably, in the deformation calculation unit, the deformation calculation unit performs point cloud registration, distance difference, and phase difference processing based on the compensated echo data and the reference monitoring data; the deformation calculation unit generates registered point cloud data based on the point cloud registration results, generates point cloud distance difference records based on the distance difference results, and generates dual-wavelength phase difference records based on the phase difference results; the deformation calculation unit writes the point cloud distance difference records and dual-wavelength phase difference records into the point deformation record; the deformation calculation unit writes the point deformation records into the structural partition record according to the tunnel crown area, arch waist area, sidewall area, and invert area, and generates tunnel deformation monitoring data including crown settlement data, surrounding rock convergence data, crack opening and closing data, and deformation time history data based on the structural partition record.

[0010] Preferably, in the identification and early warning unit, after receiving the tunnel deformation monitoring data and dual-wavelength echo pairs sent by the deformation calculation unit, the identification and early warning unit generates a dual-wavelength intensity ratio record based on the echo intensity data in the dual-wavelength echo pairs; the identification and early warning unit generates material identification data based on the dual-wavelength intensity ratio record and the material identification mapping table; the identification and early warning unit generates environmental interference data based on the echo attenuation data, point cloud missing data, and rescan data queue in the dual-wavelength echo pairs; the identification and early warning unit writes the tunnel deformation monitoring data, material identification data, and environmental interference data into an early warning combination record, and generates an early warning data packet based on the early warning combination record; the identification and early warning unit sends the early warning data packet to the tunnel monitoring platform.

[0011] On the other hand, the present invention provides a tunnel monitoring method based on a single dual-wavelength lidar, used in the tunnel monitoring system based on a single dual-wavelength lidar described above, comprising the following steps: s8.1. According to the tunnel monitoring task, control a single dual-wavelength lidar to emit the first wavelength laser and the second wavelength laser to the tunnel monitoring area, perform common optical path scanning on the tunnel monitoring area and the control target group, and generate dual-wavelength scanning data. s8.2 Receive dual-wavelength scanning data, collect the first echo data corresponding to the first wavelength laser and the second echo data corresponding to the second wavelength laser, and bind the first echo data and the second echo data into a dual-wavelength same-point echo pair according to the same monitoring section, the same scanning position, the same distance gate and the same timing window; s8.3 Read the benchmark monitoring data corresponding to the control target group, perform benchmark compensation, point cloud registration, phase difference and distance difference processing on the dual-wavelength echo pair, and generate tunnel deformation monitoring data; s8.4. Based on the dual-wavelength echo at the same point, generate material identification data and environmental interference data. Based on the tunnel deformation monitoring data, material identification data, and environmental interference data, generate an early warning data packet and send the early warning data packet to the tunnel monitoring platform.

[0012] Compared with the prior art, the above-mentioned technical solution of the present invention has the following beneficial technical effects: 1. In this invention, based on the establishment of dual-wavelength scanning data and dual-wavelength echo pairs, the first wavelength laser and the second wavelength laser can be mapped to the same sampling position on the tunnel surface, avoiding mismatch of different wavelength echo data in the monitoring section, scanning position and ranging position, making the data source used for subsequent deformation calculation more unified, thereby improving the reliability of monitoring results of small deformations such as tunnel arch settlement, surrounding rock convergence and crack opening and closing; 2. In this invention, the dual-wavelength echo pairs are compensated based on the benchmark monitoring data, and a warning data package is generated by combining point cloud registration, phase difference, distance difference, material identification data and environmental interference data. This enables joint judgment of tunnel structural deformation, surface material changes and dust and water mist interference, so that the monitoring results can not only reflect the geometric changes of the tunnel cross section, but also distinguish the impact of water seepage, material reflection and environmental interference on the echo data, reducing the probability of misjudgment and missed judgment in the complex environment of the tunnel. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of one embodiment of the present invention; Reference numerals in the attached figures: 1. Dual-wavelength scanning unit; 2. Same-point binding unit; 3. Deformation calculation unit; 4. Identification and early warning unit. Detailed Implementation

[0014] Example 1, as Figure 1As shown, a tunnel monitoring system based on a single dual-wavelength lidar is provided, including: a dual-wavelength scanning unit 1, which controls the single dual-wavelength lidar to emit a first wavelength laser and a second wavelength laser to the tunnel monitoring area according to the tunnel monitoring task, performs common optical path scanning on the tunnel monitoring area and the control target group, generates dual-wavelength scanning data, and sends the dual-wavelength scanning data to the same-point binding unit 2. The tunnel monitoring area includes the tunnel crown area, arch waist area, sidewall area, and invert arch area; the dual-wavelength scanning data includes monitoring section data, scanning position data, transmission timing data, ranging data, and point cloud data. Same-point binding unit 2 is used to receive dual-wavelength scanning data sent by dual-wavelength scanning unit 1, collect the first echo data corresponding to the first wavelength laser and the second echo data corresponding to the second wavelength laser, bind the first echo data and the second echo data into a dual-wavelength same-point echo pair according to the same monitoring section, the same scanning position, the same distance gate and the same timing window, and send the dual-wavelength same-point echo pair to deformation calculation unit 3; The first and second echo data both include echo intensity data, echo phase data, and echo propagation time data; the same time window is the range of consistent emission times formed by the first wavelength laser and the second wavelength laser under the synchronous triggering reference; the dual-wavelength echo pair is a data combination indicating that the first echo data and the second echo data originate from the same sampling position on the tunnel surface; Deformation calculation unit 3 is used to receive the dual-wavelength same-point echo pair sent by the same-point binding unit 2, read the reference monitoring data corresponding to the control target group, perform reference compensation, point cloud registration, phase difference and distance difference processing on the dual-wavelength same-point echo pair, generate tunnel deformation monitoring data, and send the tunnel deformation monitoring data and the dual-wavelength same-point echo pair to the identification and early warning unit 4. The benchmark monitoring data includes target benchmark coordinates, initial cross-sectional point cloud, initial echo data, and channel phase offset data; benchmark compensation is used to eliminate the channel phase offset between the first echo data and the second echo data; tunnel deformation monitoring data includes crown settlement data, surrounding rock convergence data, crack opening and closing data, and deformation time history data. The identification and early warning unit 4 is used to receive tunnel deformation monitoring data and dual-wavelength echo pairs sent by the deformation calculation unit 3, generate material identification data and environmental interference data based on the dual-wavelength echo pairs, generate early warning data packets based on the tunnel deformation monitoring data, material identification data and environmental interference data, and send the early warning data packets to the tunnel monitoring platform. The material identification data includes markings for lining concrete, surrounding rock, seepage areas, and embedded metal parts; the environmental interference data includes dust interference levels and water mist interference levels; and the early warning data includes deformation early warning data, material anomaly data, environmental interference data, and equipment power supply status data.

[0015] In this embodiment, in the dual-wavelength scanning unit 1, a single dual-wavelength lidar generates monitoring section data according to the tunnel monitoring task, and sequentially controls the first wavelength laser and the second wavelength laser to enter the same scanning channel according to the monitoring section data; the dual-wavelength scanning unit 1 performs common-path scanning on the tunnel arch crown area, arch waist area, sidewall area and invert arch area according to the scanning position data corresponding to the monitoring section data, and performs common-path scanning on the control target group under the same monitoring section data; the dual-wavelength scanning unit 1 writes the scanning position data, transmission timing data, ranging data and point cloud data corresponding to the tunnel monitoring area, as well as the scanning position data, transmission timing data, ranging data and point cloud data corresponding to the control target group, into dual-wavelength scanning data according to the same monitoring section data; the dual-wavelength scanning unit 1 sends the dual-wavelength scanning data containing the monitoring section data, scanning position data, transmission timing data, ranging data and point cloud data to the same-point binding unit 2.

[0016] In this embodiment, the dual-wavelength scanning unit 1 is configured as a front-end acquisition unit in the tunnel monitoring device for generating dual-wavelength scanning data. After receiving the tunnel monitoring task, the dual-wavelength scanning unit 1 first reads the monitoring section data in the tunnel monitoring task. The monitoring section data includes the monitoring section number, monitoring section location, monitoring section acquisition batch, and the tunnel monitoring area range corresponding to the monitoring section. The dual-wavelength scanning unit 1 starts a single dual-wavelength lidar based on the monitoring section data. The single dual-wavelength lidar generates a first wavelength laser and a second wavelength laser through the same transmission control link. The first wavelength laser and the second wavelength laser enter the same scanning channel. The same scanning channel includes a shared transmission optical path, scanning mirror group, and scanning angle control component. The dual-wavelength scanning unit 1 controls the first wavelength laser and the second wavelength laser to be projected along the same scanning channel to the tunnel monitoring area and the control target group according to the scanning order corresponding to the monitoring section data.

[0017] In this embodiment, the tunnel monitoring area is organized into the tunnel crown area, arch waist area, sidewall area, and invert area as defined in claim 1; the dual-wavelength scanning unit 1 configures scanning position data for the tunnel crown area, arch waist area, sidewall area, and invert area according to the monitoring section data; the scanning position data includes scanning line number, scanning angle number, scanning sequence number, and sampling position number; the dual-wavelength scanning unit 1 performs common-path scanning on the tunnel crown area, arch waist area, sidewall area, and invert area according to the scanning position data; the control target group is deployed at a fixed reference position in the tunnel monitoring area; the dual-wavelength scanning unit 1 performs common-path scanning on the control target group under the same monitoring section data; the scanning position data corresponding to the control target group and the scanning position data corresponding to the tunnel monitoring area are jointly included in the same monitoring section data.

[0018] In this embodiment, the dual-wavelength scanning unit 1 records emission timing data, ranging data, and point cloud data during the common-path scanning process. The emission timing data includes the emission batch identifier, emission trigger identifier, and wavelength channel identifier corresponding to the first wavelength laser and the second wavelength laser. The ranging data includes the propagation time record and distance gate record corresponding to each sampling position. The point cloud data includes the point coordinates, point number, and area identifier corresponding to each sampling position. The dual-wavelength scanning unit 1 writes the scanning position data, emission timing data, ranging data, and point cloud data corresponding to the tunnel monitoring area into the dual-wavelength scanning data. The dual-wavelength scanning unit 1 writes the scanning position data, emission timing data, ranging data, and point cloud data corresponding to the control target group into the same dual-wavelength scanning data. The dual-wavelength scanning data uses the monitoring section data as the data attribution field.

[0019] In this embodiment, dual-wavelength scanning data is the data object transmitted from dual-wavelength scanning unit 1 to point-binding unit 2. The dual-wavelength scanning data is organized according to the field order of monitoring section data, scanning position data, transmission timing data, ranging data, and point cloud data. The monitoring section data is used to define the tunnel section to which the dual-wavelength scanning data belongs. The scanning position data is used to define the sampling positions corresponding to the first wavelength laser and the second wavelength laser. The transmission timing data is used to define the transmission order corresponding to the first wavelength laser and the second wavelength laser. The ranging data is used to define the distance gate belonging to each sampling position. The point cloud data is used to define the spatial point corresponding to each sampling position. The processing boundary of dual-wavelength scanning unit 1 is to form and send dual-wavelength scanning data. Point-binding unit 2 uses dual-wavelength scanning data as the data source for binding processing of the first echo data and the second echo data.

[0020] In this embodiment, in the same-point binding unit 2, after receiving the dual-wavelength scanning data sent by the dual-wavelength scanning unit 1, the same-point binding unit 2 groups the first echo data corresponding to the first wavelength laser and the second echo data corresponding to the second wavelength laser according to the monitoring section data; under the same monitoring section data, the same-point binding unit 2 establishes a binding condition group consisting of the same scanning position, the same distance gate, and the same timing window; the same-point binding unit 2 matches the first echo data and the second echo data according to the binding condition group, and writes the matched first echo data, second echo data, monitoring section data, scanning position data, distance gate data, and transmission timing data into the same dual-wavelength same-point echo pair; the same-point binding unit 2 sends the dual-wavelength same-point echo pair to the deformation calculation unit 3.

[0021] In this embodiment, after receiving the dual-wavelength scanning data sent by the dual-wavelength scanning unit 1, the same-point binding unit 2 uses the monitoring section data in the dual-wavelength scanning data as the first layer of data basis for echo grouping; the scanning position data as the second layer of data basis for echo grouping; the distance gate record in the ranging data as the third layer of data basis for echo grouping; and the transmission batch identifier, transmission trigger identifier, and wavelength channel identifier in the transmission timing data as the fourth layer of data basis for echo grouping. The same-point binding unit 2 separates the first echo data corresponding to the first wavelength laser and the second echo data corresponding to the second wavelength laser from the dual-wavelength scanning data according to the wavelength channel identifier. The first echo data includes the first echo intensity data, the first echo phase data, and the first echo propagation time data. The second echo data includes the second echo intensity data, the second echo phase data, and the second echo propagation time data. The same-point binding unit 2 assigns the first echo data and the second echo data to the echo grouping set under the same monitoring section data, respectively.

[0022] In this embodiment, the same-point binding unit 2 establishes a binding condition group under the same monitoring section data; the binding condition group consists of the same scanning position, the same distance gate, and the same timing window; the same scanning position is determined by the scan line number, scan angle number, scan sequence number, and sampling position number; the same distance gate is determined by the distance gate record in the ranging data; the same timing window is determined by the consistency range of the emission time formed by the first wavelength laser and the second wavelength laser under the synchronous triggering reference; the same-point binding unit 2 matches the first echo data and the second echo data according to the binding condition group; the same-point binding unit 2 writes the matched first echo data, second echo data, monitoring section data, scanning position data, distance gate data, and emission timing data into the same dual-wavelength same-point echo pair; the dual-wavelength same-point echo pair uses the monitoring section data and scanning position data as the data attribution fields; the same-point binding unit 2 sends the dual-wavelength same-point echo pair to the deformation calculation unit 3.

[0023] In this embodiment, in the same-point binding unit 2, the same-point binding unit 2 generates a valid binding identifier based on the dual-wavelength same-point echo pair and writes the valid binding identifier into the dual-wavelength same-point echo pair; the same-point binding unit 2 generates a rescan identifier based on data lacking any binding condition of the same scanning position, the same distance gate, and the same timing window; the same-point binding unit 2 writes the rescan identifier, the corresponding monitoring section data, the corresponding scanning position data, the corresponding first echo data, and the corresponding second echo data into the rescan data queue; the same-point binding unit 2 sends the rescan data queue and the dual-wavelength same-point echo pair to the deformation calculation unit 3.

[0024] In this embodiment, the same-point binding unit 2 generates a valid binding identifier based on the dual-wavelength same-point echo pair; the valid binding identifier is written in correspondence with the monitoring section data, scanning position data, range gate data, and transmission timing data in the dual-wavelength same-point echo pair; the valid binding identifier is used to mark that the first echo data and the second echo data have formed a data combination of the same tunnel surface sampling position according to the binding condition group; the same-point binding unit 2 establishes a binding result record based on the valid binding identifier; the binding result record includes the dual-wavelength same-point echo pair number, monitoring section data, scanning position data, range gate data, transmission timing data, and valid binding identifier; the binding result record is transmitted to the deformation calculation unit 3 along with the dual-wavelength same-point echo pair, serving as the data index for the deformation calculation unit 3 to read the dual-wavelength same-point echo pair.

[0025] In this embodiment, the same-point binding unit 2 generates a rescan identifier based on data lacking any binding condition of the same scanning position, the same distance gate, and the same timing window; the rescan identifier is associated with and written to the corresponding monitoring section data, scanning position data, first echo data, and second echo data; the same-point binding unit 2 writes the rescan identifier, the corresponding monitoring section data, the corresponding scanning position data, the corresponding first echo data, and the corresponding second echo data into the rescan data queue; the rescan data queue is sorted according to the monitoring section data and the scanning position data; the rescan data queue is used to record sampling position data for which dual-wavelength same-point echo pairs have not been formed; the same-point binding unit 2 sends the rescan data queue and the dual-wavelength same-point echo pairs together to the deformation calculation unit 3, so that the deformation calculation unit 3 can distinguish between data that has formed dual-wavelength same-point echo pairs and data written into the rescan data queue.

[0026] In this embodiment, the deformation calculation unit 3 establishes reference monitoring data based on the target reference coordinates, initial cross-sectional point cloud, initial echo data, and channel phase offset data corresponding to the control target group; the deformation calculation unit 3 associates the reference monitoring data with the monitoring cross-sectional data; after receiving the dual-wavelength echo pair sent by the same-point binding unit 2, the deformation calculation unit 3 performs reference compensation on the echo phase data in the dual-wavelength echo pair based on the reference monitoring data to generate compensated echo data; the compensated echo data includes the first echo data and the second echo data after completing the channel phase offset correction.

[0027] In this embodiment, when the tunnel monitoring device enters the reference establishment state, the deformation calculation unit 3 reads the target reference coordinates corresponding to the control target group and reads the initial cross-sectional point cloud and initial echo data formed by the dual-wavelength scanning unit 1 in the initial monitoring batch. The target reference coordinates include the target number, target spatial coordinates, and monitoring cross-sectional data to which the target belongs for each target point in the control target group. The initial cross-sectional point cloud includes the initial sampling position number, initial point coordinates, initial point area identifier, and initial distance gate record. The initial echo data includes the initial echo intensity data, initial echo phase data, and initial echo propagation time data corresponding to the first wavelength laser, as well as the initial echo intensity data, initial echo phase data, and initial echo propagation time data corresponding to the second wavelength laser. The deformation calculation unit 3 generates channel phase offset data based on the first echo data and the second echo data of the control target group in the initial monitoring batch. The deformation calculation unit 3 associates the target reference coordinates, initial cross-sectional point cloud, initial echo data, and channel phase offset data according to the monitoring cross-sectional data to form reference monitoring data.

[0028] In this embodiment, after receiving the dual-wavelength co-point echo pair sent by the co-point binding unit 2, the deformation calculation unit 3 reads the corresponding reference monitoring data according to the monitoring section data in the dual-wavelength co-point echo pair; the deformation calculation unit 3 reads the channel phase offset data from the reference monitoring data and matches the channel phase offset data with the echo phase data in the dual-wavelength co-point echo pair; the deformation calculation unit 3 performs channel phase offset correction on the echo phase data in the first echo data and performs channel phase offset correction on the echo phase data in the second echo data; the deformation calculation unit 3 writes the first echo data and the second echo data after channel phase offset correction into the compensated echo data; the compensated echo data retains the monitoring section data, scanning position data, range gate data, and transmission timing data in the dual-wavelength co-point echo pair; the compensated echo data serves as the data source for point cloud registration, phase difference, and range difference processing.

[0029] In this embodiment, the deformation calculation unit 3 performs point cloud registration, distance difference, and phase difference processing based on the compensated echo data and the reference monitoring data. The deformation calculation unit 3 generates registered point cloud data based on the point cloud registration results, generates point cloud distance difference records based on the distance difference results, and generates dual-wavelength phase difference records based on the phase difference results. The deformation calculation unit 3 writes the point cloud distance difference records and dual-wavelength phase difference records into the point deformation record. The deformation calculation unit 3 writes the point deformation records into the structural partition record according to the tunnel crown area, arch waist area, sidewall area, and invert area, and generates tunnel deformation monitoring data including crown settlement data, surrounding rock convergence data, crack opening and closing data, and deformation time history data based on the structural partition record.

[0030] In this embodiment, the deformation calculation unit 3 performs point cloud registration processing based on the compensated echo data and the reference monitoring data. The deformation calculation unit 3 reads the point cloud data corresponding to the current monitoring batch from the compensated echo data and reads the initial cross-sectional point cloud from the reference monitoring data. The deformation calculation unit 3 uses the target reference coordinates as the cross-sectional alignment reference and aligns the point cloud data corresponding to the current monitoring batch with the initial cross-sectional point cloud. The deformation calculation unit 3 writes the point cloud data corresponding to the current monitoring batch that has completed cross-sectional alignment into the registration point cloud data. The registration point cloud data includes the current sampling position number, the current point coordinates, the identifier of the area to which the current point belongs, and the current distance gate record. The deformation calculation unit 3 performs distance difference processing on the registration point cloud data and the initial cross-sectional point cloud according to the same sampling position number to generate a point cloud distance difference record. The point cloud distance difference record includes the sampling position number, the initial point coordinates, the current point coordinates, the distance difference value, and the identifier of the area to which the point belongs.

[0031] In this embodiment, the deformation calculation unit 3 performs phase difference processing based on the compensated echo data; the deformation calculation unit 3 reads the first echo data and the second echo data from the compensated echo data according to the same monitoring section data, the same scanning position data, and the same range gate data; the deformation calculation unit 3 generates a dual-wavelength phase difference record based on the echo phase data in the first echo data and the echo phase data in the second echo data; the dual-wavelength phase difference record includes monitoring section data, scanning position data, range gate data, first echo phase data, and second echo phase data. Echo phase data and phase difference values; Deformation calculation unit 3 writes the point cloud distance difference record and dual-wavelength phase difference record into the point deformation record according to the sampling location number; Deformation calculation unit 3 writes the point deformation record into the structural partition record according to the tunnel crown area, arch waist area, sidewall area and invert area; Deformation calculation unit 3 generates crown settlement data, surrounding rock convergence data, crack opening and closing data and deformation time history data according to the structural partition record, and incorporates crown settlement data, surrounding rock convergence data, crack opening and closing data and deformation time history data into the tunnel deformation monitoring data.

[0032] In this embodiment, the identification and early warning unit 4 receives tunnel deformation monitoring data and dual-wavelength echo pairs sent by the deformation calculation unit 3. It then generates a dual-wavelength intensity ratio record based on the echo intensity data in the dual-wavelength echo pairs. The identification and early warning unit 4 generates material identification data based on the dual-wavelength intensity ratio record and the material identification mapping table. It also generates environmental interference data based on the echo attenuation data, point cloud missing data, and rescan data queue in the dual-wavelength echo pairs. The identification and early warning unit 4 writes the tunnel deformation monitoring data, material identification data, and environmental interference data into an early warning combination record and generates an early warning data packet based on the early warning combination record. Finally, the identification and early warning unit 4 sends the early warning data packet to the tunnel monitoring platform.

[0033] In this embodiment, after receiving the tunnel deformation monitoring data and the dual-wavelength echo pair sent by the deformation calculation unit 3, the identification and early warning unit 4 generates a dual-wavelength intensity ratio record based on the echo intensity data in the dual-wavelength echo pair. The dual-wavelength intensity ratio record includes monitoring section data, scanning position data, distance gate data, first echo intensity data, second echo intensity data, and intensity ratio value. The identification and early warning unit 4 reads the material identification mapping table. The material identification mapping table includes material identifiers, intensity ratio ranges, continuous point quantity conditions, and region attribution conditions. The identification and early warning unit 4 matches the dual-wavelength intensity ratio record with the material identification mapping table to generate material identification data. The material identification data includes lining concrete identifiers, surrounding rock identifiers, seepage zone identifiers, and metal embedded part identifiers. The material identification data maintains a correspondence with the dual-wavelength echo pair according to the monitoring section data and scanning position data.

[0034] In this embodiment, the identification and early warning unit 4 generates environmental interference data based on the echo intensity data, echo propagation time data, point cloud data, and rescan data queue of the dual-wavelength echo pair. The environmental interference data includes dust interference level and water mist interference level. The dust interference level is generated based on the echo intensity attenuation record, the point cloud missing record, and the number of sampling positions in the rescan data queue. The water mist interference level is generated based on the echo propagation time fluctuation record, the echo intensity attenuation record, and the point cloud missing record. The identification and early warning unit 4 writes the tunnel deformation monitoring data, material identification data, and environmental interference data into the early warning combination record. The early warning combination record includes deformation monitoring field, material identification field, environmental interference field, and equipment power supply status field. The identification and early warning unit 4 generates an early warning data packet based on the early warning combination record. The early warning data packet includes deformation early warning data, material anomaly data, environmental interference data, and equipment power supply status data. The identification and early warning unit 4 sends the early warning data packet to the tunnel monitoring platform.

[0035] Example 2: This invention proposes a tunnel monitoring method based on a single dual-wavelength lidar, used in the tunnel monitoring system based on a single dual-wavelength lidar described in Example 1 above, comprising the following steps: s8.1. According to the tunnel monitoring task, control a single dual-wavelength lidar to emit the first wavelength laser and the second wavelength laser to the tunnel monitoring area, perform common optical path scanning on the tunnel monitoring area and the control target group, and generate dual-wavelength scanning data. s8.2 Receive dual-wavelength scanning data, collect the first echo data corresponding to the first wavelength laser and the second echo data corresponding to the second wavelength laser, and bind the first echo data and the second echo data into a dual-wavelength same-point echo pair according to the same monitoring section, the same scanning position, the same distance gate and the same timing window; s8.3 Read the benchmark monitoring data corresponding to the control target group, perform benchmark compensation, point cloud registration, phase difference and distance difference processing on the dual-wavelength echo pair, and generate tunnel deformation monitoring data; s8.4. Based on the dual-wavelength echo at the same point, generate material identification data and environmental interference data. Based on the tunnel deformation monitoring data, material identification data, and environmental interference data, generate an early warning data packet and send the early warning data packet to the tunnel monitoring platform.

[0036] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited thereto. Various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the spirit of the present invention.

Claims

1. A tunnel monitoring system based on a single dual-wavelength lidar, characterized in that, include: The dual-wavelength scanning unit (1) is used to control a single dual-wavelength lidar to emit a first wavelength laser and a second wavelength laser to the tunnel monitoring area according to the tunnel monitoring task, to perform common optical path scanning on the tunnel monitoring area and the control target group, generate dual-wavelength scanning data, and send the dual-wavelength scanning data to the same-point binding unit (2). The tunnel monitoring area includes the tunnel crown area, arch waist area, sidewall area, and invert arch area; the dual-wavelength scanning data includes monitoring section data, scanning position data, transmission timing data, ranging data, and point cloud data. Same-point binding unit (2) is used to receive dual-wavelength scanning data sent by dual-wavelength scanning unit (1), collect the first echo data corresponding to the first wavelength laser and the second echo data corresponding to the second wavelength laser, bind the first echo data and the second echo data into a dual-wavelength same-point echo pair according to the same monitoring section, the same scanning position, the same distance gate and the same timing window, and send the dual-wavelength same-point echo pair to deformation calculation unit (3). The first and second echo data both include echo intensity data, echo phase data, and echo propagation time data; the same time window is the range of consistent emission times formed by the first wavelength laser and the second wavelength laser under the synchronous triggering reference; the dual-wavelength echo pair is a data combination indicating that the first echo data and the second echo data originate from the same sampling position on the tunnel surface; The deformation calculation unit (3) is used to receive the dual-wavelength same-point echo pair sent by the same-point binding unit (2), read the reference monitoring data corresponding to the control target group, perform reference compensation, point cloud registration, phase difference and distance difference processing on the dual-wavelength same-point echo pair, generate tunnel deformation monitoring data, and send the tunnel deformation monitoring data and the dual-wavelength same-point echo pair to the identification and early warning unit (4). The benchmark monitoring data includes target benchmark coordinates, initial cross-sectional point cloud, initial echo data, and channel phase offset data; benchmark compensation is used to eliminate the channel phase offset between the first echo data and the second echo data; tunnel deformation monitoring data includes crown settlement data, surrounding rock convergence data, crack opening and closing data, and deformation time history data. The identification and early warning unit (4) is used to receive the tunnel deformation monitoring data and dual-wavelength echo pairs sent by the deformation calculation unit (3), generate material identification data and environmental interference data based on the dual-wavelength echo pairs, generate early warning data packets based on the tunnel deformation monitoring data, material identification data and environmental interference data, and send the early warning data packets to the tunnel monitoring platform. The material identification data includes markings for lining concrete, surrounding rock, seepage areas, and embedded metal parts; the environmental interference data includes dust interference levels and water mist interference levels; and the early warning data includes deformation early warning data, material anomaly data, environmental interference data, and equipment power supply status data.

2. The tunnel monitoring system based on a single dual-wavelength lidar according to claim 1, characterized in that, In the dual-wavelength scanning unit (1), a single dual-wavelength lidar generates monitoring section data according to the tunnel monitoring task, and controls the first wavelength laser and the second wavelength laser to enter the same scanning channel in sequence according to the monitoring section data; the dual-wavelength scanning unit (1) performs common optical path scanning on the tunnel arch crown area, arch waist area, side wall area and invert arch area according to the scanning position data corresponding to the monitoring section data, and performs common optical path scanning on the control target group under the same monitoring section data; the dual-wavelength scanning unit (1) writes the scanning position data, transmission timing data, ranging data and point cloud data corresponding to the tunnel monitoring area, as well as the scanning position data, transmission timing data, ranging data and point cloud data corresponding to the control target group, into dual-wavelength scanning data according to the same monitoring section data; the dual-wavelength scanning unit (1) sends the dual-wavelength scanning data written with the monitoring section data, scanning position data, transmission timing data, ranging data and point cloud data to the same-point binding unit (2).

3. The tunnel monitoring system based on a single dual-wavelength lidar according to claim 2, characterized in that, In the same point binding unit (2), after receiving the dual wavelength scanning data sent by the dual wavelength scanning unit (1), the same point binding unit (2) groups the first echo data corresponding to the first wavelength laser and the second echo data corresponding to the second wavelength laser according to the monitoring section data; The same point binding unit (2) establishes a binding condition group consisting of the same scanning position, the same distance gate and the same time window under the same monitoring section data; The same-point binding unit (2) matches the first echo data and the second echo data according to the binding condition group, and writes the matched first echo data, second echo data, monitoring section data, scanning position data, distance gate data and transmission timing data into the same dual-wavelength same-point echo pair; the same-point binding unit (2) sends the dual-wavelength same-point echo pair to the deformation calculation unit (3).

4. The tunnel monitoring system based on a single dual-wavelength lidar according to claim 3, characterized in that, In the same-point binding unit (2), the same-point binding unit (2) generates a valid binding identifier based on the dual-wavelength same-point echo pair, and writes the valid binding identifier into the dual-wavelength same-point echo pair; The same-point binding unit (2) generates a rescan identifier based on data lacking any binding condition of the same scanning position, the same distance gate, and the same timing window; The same point binding unit (2) writes the rescan identifier, the corresponding monitoring section data, the corresponding scanning position data, the corresponding first echo data and the corresponding second echo data into the rescan data queue; The same-point binding unit (2) sends the rescan data queue and the dual-wavelength same-point echo pair to the deformation calculation unit (3).

5. The tunnel monitoring system based on a single dual-wavelength lidar according to claim 4, characterized in that, In the deformation calculation unit (3), the deformation calculation unit (3) establishes reference monitoring data based on the target reference coordinates, initial cross-sectional point cloud, initial echo data and channel phase offset data corresponding to the control target group; the deformation calculation unit (3) associates the reference monitoring data with the monitoring cross-sectional data; after receiving the dual-wavelength same-point echo pair sent by the same-point binding unit (2), the deformation calculation unit (3) performs reference compensation on the echo phase data in the dual-wavelength same-point echo pair based on the reference monitoring data to generate compensated echo data; The compensated echo data includes the first echo data and the second echo data after completing the channel phase offset correction.

6. The tunnel monitoring system based on a single dual-wavelength lidar according to claim 5, characterized in that, In the deformation calculation unit (3), the deformation calculation unit (3) performs point cloud registration, range difference and phase difference processing based on the compensation echo data and the reference monitoring data; the deformation calculation unit (3) generates registered point cloud data based on the point cloud registration result, generates point cloud range difference record based on the range difference result, and generates dual-wavelength phase difference record based on the phase difference result; the deformation calculation unit (3) writes the point cloud range difference record and the dual-wavelength phase difference record into the point deformation record; The deformation calculation unit (3) writes the point deformation records into the structural partition records according to the tunnel crown area, arch waist area, sidewall area and invert arch area, and generates tunnel deformation monitoring data including crown settlement data, surrounding rock convergence data, crack opening and closing data and deformation time history data based on the structural partition records.

7. The tunnel monitoring system based on a single dual-wavelength lidar according to claim 6, characterized in that, In the identification and early warning unit (4), after receiving the tunnel deformation monitoring data and the dual-wavelength echo pair sent by the deformation calculation unit (3), the identification and early warning unit (4) generates a dual-wavelength intensity ratio record based on the echo intensity data in the dual-wavelength echo pair; the identification and early warning unit (4) generates material identification data based on the dual-wavelength intensity ratio record and the material identification mapping table; the identification and early warning unit (4) generates environmental interference data based on the echo attenuation data, point cloud missing data and rescan data queue in the dual-wavelength echo pair; the identification and early warning unit (4) writes the tunnel deformation monitoring data, material identification data and environmental interference data into the early warning combination record, and generates an early warning data packet based on the early warning combination record; The identification and early warning unit (4) sends the early warning data packet to the tunnel monitoring platform.

8. A tunnel monitoring method based on a single dual-wavelength lidar, used in a tunnel monitoring system based on a single dual-wavelength lidar as described in any one of claims 1-9, characterized in that: Includes the following steps: s8.

1. According to the tunnel monitoring task, control a single dual-wavelength lidar to emit the first wavelength laser and the second wavelength laser to the tunnel monitoring area, perform common optical path scanning on the tunnel monitoring area and the control target group, and generate dual-wavelength scanning data. s8.2 Receive dual-wavelength scanning data, collect the first echo data corresponding to the first wavelength laser and the second echo data corresponding to the second wavelength laser, and bind the first echo data and the second echo data into a dual-wavelength same-point echo pair according to the same monitoring section, the same scanning position, the same distance gate and the same timing window; s8.3 Read the benchmark monitoring data corresponding to the control target group, perform benchmark compensation, point cloud registration, phase difference and distance difference processing on the dual-wavelength echo pair, and generate tunnel deformation monitoring data; s8.

4. Based on the dual-wavelength echo at the same point, generate material identification data and environmental interference data. Based on the tunnel deformation monitoring data, material identification data, and environmental interference data, generate an early warning data packet and send the early warning data packet to the tunnel monitoring platform.

Images