Tunnel automatic monitoring and measurement equipment and method based on fixed-point tour measurement

1 . A tunnel automatic monitoring and measurement method based on a fixed-point tour measurement, comprising following steps:

s 1 : setting a plurality of sets of monitoring sections on a surface of a tunnel support structure, and setting a plurality of monitoring points on each of the plurality of sets of monitoring sections, wherein longitudinal positions of adjacent monitoring points are in one-to-one correspondences, and wherein the monitoring points on the plurality of sets of monitoring sections constitute a plurality of monitoring lines;

s 2 : obtaining coordinate information of relevant monitoring points at different time points through a tour monitoring method of a tunnel automatic monitoring and measuring equipment;

coordinate data acquisition and calculation steps of the relevant monitoring points are as follows:

s 2 . 1 : according to requirements of on-site construction, formulating relevant monitoring programs;

s 2 . 2 : moving a monitoring trolley to a suitable position and parking the monitoring trolley, adjusting positions of each of a plurality of automatic tracking and identification devices installed on the monitoring trolley to make sure that the plurality of automatic tracking and identification devices correspond to corresponding monitoring lines one by one, and numbering each of the plurality of automatic tracking and identification devices, obtaining absolute coordinate values (x Qm , y Qm , z Qm ) of each of the plurality of automatic tracking and identification devices by a total station, wherein the x Qm , y Qm , z Qm are the absolute coordinate values of an automatic tracking and identification device Q of the plurality of automatic tracking and identification devices in x, y and z directions of a tunnel measurement coordinate system after an m-th shift of the monitoring trolley, respectively;

s 2 . 3 : aligning a laser ray of each of the plurality of automatic tracking identification devices with a corresponding monitoring line, and adjusting a vertical deflection angle α of each of the plurality of automatic tracking and identification devices from zero to 90 degrees, as a result of that, an initial lateral deflection angle β of each of the plurality of monitoring lines is obtained;

s 2 . 4 : starting a cycle monitoring work, adjusting the vertical deflection angle α of each of the plurality of automatic tracking and identification devices from 90 degrees to zero, wherein in this process, monitoring information of a reflective marking of corresponding monitoring point is captured and a laser point measurement is performed on the corresponding monitoring point, recording monitoring information of a reflective marking of a monitoring section D n measured by the automatic tracking and identification device Q when the monitoring trolley is in an m-th displacement position and an i-th cycle of monitoring, wherein the monitoring information comprises:

D n −( x Qm +a Qmin ,y Qm +b Qmin ,z Qm +c Qmin )− T Qmin

wherein (x Qm , y Qm , z Qm ) is an absolute coordinate of the automatic tracking and identification device Q after the monitoring trolley moves its position in an m-th time,

a Qmin , b Qmin and c Qmin are monitoring variables corresponding to the x, y and z directions, respectively;

a Qmin =L Qmin ×cos α Qmin sin β Qmin ,

b Qmin =L Qmin ×cos α Qmin cos β Qmin ,

c Qmin =L Qmin ×sin α Qmin ,

L Qmin is a laser ray length;

α Qmin is a vertical deflection angle;

β Qmin is a transverse deflection angle; and

T Qmin is a monitoring time;

s 3 : extracting required initial support deformation data by calculating coordinate information of specific monitoring points at different time points; and

s 4 : formulating a corresponding support structure deformation risk criteria, as well as corresponding early warning levels, and automatic emergency measures.

2 . The tunnel automatic monitoring and measurement method based on the fixed-point tour measurement according to claim 1 , wherein in step s 1 , at least five monitoring points are set on each of the plurality of sets of monitoring sections, at least five monitoring points are arranged in a tunnel vault, and at least five monitoring points are symmetrically arranged in an arch waist and arch foot position relative to the tunnel vault, wherein the at least five monitoring points on each of the plurality of sets of monitoring sections constitute five monitoring lines to monitor the tunnel vault, the arch waist and the arch foot respectively.

3 . The tunnel automatic monitoring and measurement method based on the fixed-point tour measurement according to claim 1 , wherein in step s 2 , the tunnel automatic monitoring and measuring equipment comprises the monitoring trolley allowed to move freely in a longitudinal direction of a tunnel, the plurality of automatic tracking and identification devices are set on the monitoring trolley, and the plurality of automatic tracking and identification devices are connected to a background processing system through a telecommunication; a number of reflective markings used to mark a location of a monitoring point are arranged on a surface of the tunnel support structure, the reflective markings form monitoring sections in a transverse direction of the tunnel and monitoring lines in an axial direction of the tunnel; each of the plurality of automatic tracking and identification devices is relative to a corresponding monitoring line; each of the plurality of automatic tracking and identification devices comprises an intelligent scanning camera and a laser ray head, and each of the plurality of automatic tracking and identification devices is fixed on an arch truss by a fixed frame, wherein the fixed frame is allowed to adjust transverse and vertical deflection angles of the laser ray head;

collecting a tunnel measurement coordinate system and an unit coordinate system of the plurality of monitoring points, the tunnel measurement coordinate system is consistent with a construction control network coordinate system of a project; the unit coordinate system of the plurality of monitoring points takes a tangent line direction of an on-line position of the plurality of monitoring points as a positive direction of a y-axis, and a vertical direction is a z-axis direction, and an x-axis direction is determined according to a right-handed law;

setting a reflective marking on each of the plurality of monitoring points, using each one of the plurality of automatic tracking and identification devices with an intelligent scanning camera to realize an automatic intelligent tracking and recognition of reflective markings, collecting unit coordinate information of relevant monitoring points by a laser point measurement, comprising collecting a longitudinal deflection angle, and a transverse deflection angle of a laser ray, the laser ray length, a monitoring time point, automatic tracking and identification device displacement coordinates and tour monitoring number information in a monitoring work.

4 . The tunnel automatic monitoring and measurement method based on the fixed-point tour measurement according to claim 3 , wherein the monitoring trolley comprises the arch truss corresponding to a tunnel contour, a plurality of walking mechanisms are set at a bottom of the arch truss, and the plurality of automatic tracking and identification devices are arranged in a ring on a front side of the arch truss to realize a comprehensive detection of the tunnel contour in front of the monitoring trolley.

5 . The tunnel automatic monitoring and measurement method based on the fixed-point tour measurement according to claim 3 , wherein the fixed frame comprises a connecting seat sleeved with a bar of the arch truss, a connecting plate is arranged on the connecting seat, the connecting plate is rotationally connected with a horizontal rotation turntable, a coordinate target is arranged on a back of the horizontal rotation turntable, and a hinge seat is arranged in a front of the horizontal rotation turntable, the intelligent scanning camera and the laser ray head are hinged on the hinge seat through a vertical rotation shaft.

6 . The tunnel automatic monitoring and measurement method based on the fixed-point tour measurement according to claim 3 , wherein a deformation calculation of the tunnel support structure during a monitoring period is carried out by using a principle of fixed point monitoring:

wherein regarding the automatic tracking and identification device Q and the monitoring section D n , deformations of monitoring points under an i-th cycle monitoring at an m-th moving position of the monitoring trolley and an h-th cycle monitoring at an r-th moving position of the monitoring trolley are calculated as follows:

(1) a numerical calculation of settlement deformation:

Δ H Qn(mi-rh) =( z Qm +c Qmin )−( z Qr +c Qrhn );

a settlement deformation rate calculation of specific monitoring points of monitoring section D n :

Δ VH Qn(mi-rh) =ΔH Qn(mi-rh) /( T Qmin −T Qrhn );

(2) a numerical calculation of horizontal convergence:

(2.1) when a y-axis direction of the unit coordinate system of the plurality of monitoring points is consistent with a y-axis direction of the tunnel measurement coordinate system: an angle γ between the y-axis direction of the unit coordinate system of the plurality of monitoring points and the y-axis direction of the tunnel measurement coordinate system is equal to 0 degree, deformation calculation results of the tunnel support structure are as follows:

a numerical calculation of horizontal convergence of specific monitoring points of monitoring section D n :

Δ X Qn(mi-rh) =( x Qm +a Qmin )−( x Qr +a Qrhn )

a calculation of horizontal convergence rate of specific monitoring points of monitoring section D n :

Δ VX Qn(mi-rh) −ΔX Qn(mi-rh) /( T Qmin −T Qrhn )

a numerical calculation of axial deformation of specific monitoring points of monitoring section D n :

Δ Y Qn(mi-rh) =( y Qm +b Qmin )−( y Qr +b Qrhn )

a calculation of axial deformation rate of specific monitoring points of monitoring section D n :

Δ VY Qn(mi-rh) =ΔY Qn(mi-rh) /( T Qmin −T Qrhn )

( 2 . 2 ) when there is an angle γ between the y-axis direction of the unit coordinate system of the plurality of monitoring points and the y-axis direction of the tunnel measurement coordinate system, and the angle γ is not equal to 0 degree, deformation calculation results of the tunnel support structure are as follows:

Δ L =((Δ XQn (mi-rh) ) 2 +(Δ YQn (mi-rh) ) 2 ) 0.5

δ=arctan(Δ X Qn(mi-rh) /ΔY Qn(mi-rh) )

θ=180°−γ−δ

ΔX′=ΔL*sin θ

ΔY′=ΔL*cos θ

wherein ΔL is a length of a line connecting coordinate points before and after deformation of the plurality of monitoring points;

γ is an angle between a positive direction of a y-axis of the unit coordinate system of the plurality of monitoring points and a positive direction of a y-axis of the tunnel measurement coordinate system;

δ is an angle between a coordinate point connection before and after the deformation of the plurality of monitoring points and a negative direction of the y-axis of the tunnel measurement coordinate system;

θ is an angle between the coordinate point connection before and after the deformation of the plurality of monitoring points and the positive direction of the y-axis of the unit coordinate system;

ΔX′ is a displacement value in the x-axis direction of the unit coordinate system of the plurality of monitoring points, wherein ΔX′ is also a horizontal convergence value of the plurality of monitoring points; meanwhile, a horizontal convergence rate of the monitoring points is ΔX/(T Qmin −T Qrhn ), and

ΔY′ is a displacement value of the y-axis direction of the unit coordinate system of the plurality of monitoring points, wherein ΔY′ is also an axial displacement value of the plurality of monitoring points, meanwhile, an axial displacement rate of the monitoring points is ΔY′/(T Qmin −T Qrhn ).

7 . The tunnel automatic monitoring and measurement method based on the fixed-point tour measurement according to claim 3 , wherein in step s 4 , according to a cumulative deformation value and deformation rate, a monitoring situation is judged, and the support structure deformation risk criteria, as well as corresponding early warning levels, and automatic emergency measures are pre-formulated in the background processing system for monitoring and early warning;

1) a judgment criteria of cumulative deformation value

if the cumulative deformation value of a monitoring point is less than ⅓ of a reserved deformation, it is considered safe and normal monitoring;

if the cumulative deformation value of the monitoring point is between ⅓ and ⅔ of the reserved deformation, a monitoring frequency is automatically doubled, and wireless communication facilities of the tunnel automatic monitoring and measuring equipment are configured to send a reminder signal to a relevant person in charge of the project;

if the cumulative deformation value of the monitoring point is greater than ⅔ of the reserved deformation, the monitoring frequency is automatically tripled, and a risk warning signal is sent to a relevant person in charge of the project through the wireless communication facilities of the tunnel automatic monitoring and measurement equipment;

2) A judgment criteria of deformation rate

if the deformation rate of the monitoring point is less than 0.2 mm/d, it is regarded as safe and normal monitoring;

if the deformation rate of the monitoring point is between 0.2 mm/d and 1 mm/d, the monitoring frequency is automatically doubled, and a reminder signal is sent to the relevant person in charge of the project through the wireless communication facilities of the tunnel automatic monitoring and measuring equipment; and

if the deformation rate of the monitoring point is greater than 1 mm/d, the monitoring frequency is automatically tripled, and a risk warning signal is sent to the relevant person in charge of the project through the wireless communication facilities of the tunnel automatic monitoring and measuring equipment.

8 . The tunnel automatic monitoring and measurement method based on the fixed-point tour measurement according to claim 2 , wherein in step s 2 , the tunnel automatic monitoring and measuring equipment comprises the monitoring trolley allowed to move freely in a longitudinal direction of a tunnel, the plurality of automatic tracking and identification devices are set on the monitoring trolley, and the plurality of automatic tracking and identification devices are connected to a background processing system through a telecommunication; a number of reflective markings used to mark a location of a monitoring point are arranged on a surface of the tunnel support structure, the reflective markings form monitoring sections in a transverse direction of the tunnel and monitoring lines in an axial direction of the tunnel; each of the plurality of automatic tracking and identification devices is relative to a corresponding monitoring line; each of the plurality of automatic tracking and identification devices comprises an intelligent scanning camera and a laser ray head, and each of the plurality of automatic tracking and identification devices is fixed on an arch truss by a fixed frame, wherein the fixed frame is allowed to adjust transverse and vertical deflection angles of the laser ray head;

collecting a tunnel measurement coordinate system and an unit coordinate system of the plurality of monitoring points, the tunnel measurement coordinate system is consistent with a construction control network coordinate system of a project; the unit coordinate system of the plurality of monitoring points takes a tangent line direction of an on-line position of the plurality of monitoring points as a positive direction of a y-axis, and a vertical direction is a z-axis direction, and an x-axis direction is determined according to a right-handed law;

setting a reflective marking on each of the plurality of monitoring points, using each one of the plurality of automatic tracking and identification devices with an intelligent scanning camera to realize an automatic intelligent tracking and recognition of reflective markings, collecting unit coordinate information of relevant monitoring points by a laser point measurement, comprising collecting a longitudinal deflection angle and a transverse deflection angle of a laser ray, the laser ray length, a monitoring time point, automatic tracking and identification device displacement coordinates and tour monitoring number information in a monitoring work.