(4) the flexibility of the operation is good, and it can flexibly set up monitoring points with reflective markings according to the needs of deformation monitoring of support structure, and cooperate with the working mode of longitudinal scanning recognition and point laser measurement of intelligent scanning camera, so as to realize the flexible increase and decrease of structural deformation monitoring section, so as to meet the needs of on-site construction for monitoring section to the greatest extent. In addition, the number and location of monitoring lines can be flexibly determined according to actual needs, and the number and installation location of corresponding automatic tracking and identification devices can also be flexibly set. The monitoring schemes provided are flexible and versatile;

(5) the reliability of the operation is strong, adopting the longitudinal monitoring mode, the monitoring direction of the equipment intersects with the axial direction of the tunnel at a small angle, the camera line of sight and the laser ray are not easily blocked by the construction machinery because they are close to the side of the support structure, the interference of the construction operation in the tunnel is small during the monitoring process, which can effectively guarantee the effective duration of the automatic monitoring work;

(6) the equipment has complete functions and the present invention can also indicate the spatial position of the corresponding coordinate points by inputting coordinate information in the background processing system, and then indicating the spatial position of the corresponding coordinate points by the pointing function of the laser ray head of the automatic tracking and identification device, which has certain construction auxiliary function.

Other advantages, objectives and characteristics of the present invention will be described in the subsequent instructions to some extent, and to some extent, based on the following investigation and research, it will be obvious to the technicians in this field, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following instructions.

BRIEF DESCRIPTION OF THE DRAWINGS

To make the purpose, technical scheme and advantages of the present invention more clear, the following will further describe the present invention in detail in combination with the drawings, wherein:

FIG. 1 is a structure diagram of the present invention;

FIG. 2 is a structure diagram showing the connecting plate 204 set in the lower part of the connecting seat 203;

FIG. 3 is a structure diagram showing the connecting plate 204 set on the left side of the connecting seat 203;

FIG. 4 is a structural diagram showing the connecting plate 204 set on the right side of the connecting seat 203;

FIG. 5 is an installation diagram of explosion-proof sleeve 3.

FIG. 6 is a monitoring diagram of the present invention.

FIG. 7 is a schematic diagram of the laser ray deflection angle of the automatic tracking and identification device.

FIG. 8 is a schematic diagram of the numerical coordinate conversion parameters of the monitoring point deformation.

DETAILED DESCRIPTION OF THE EMBODIMENTS

The following will refer to the attached figure to describe the preferred embodiment of the present invention in detail. It should be understood that the preferred embodiment is only to illustrate the invention, not to limit the scope of protection of the present invention.

As shown in FIG. 1-FIG. 5,

A tunnel automatic monitoring and measuring equipment based on fixed-point tour measurement, including a monitoring trolley 1 that can move freely in the longitudinal direction of a tunnel, multiple automatic tracking and identification devices 2 are set on the monitoring trolley 1, the automatic tracking and identification device 2 is connected to the background processing system telecommunication; the number of reflective markings are arranged on the surface of the tunnel support structure to mark the location of the monitoring point, the reflective markings form-the monitoring section in the transverse direction of the tunnel and the monitoring line in the axial direction of the tunnel; each automatic tracking and identification device 2 is relative to the corresponding monitoring line, the automatic tracking and identification device is used to automatically track the reflective marking, collect the monitoring time point of the monitoring point, the displacement coordinate information of the monitoring point and the number of tour monitoring, the background processing system is used to store, analyze and call the data in sequence, and then calculate and analyze the relative monitoring data to obtain the deformation of the support structure; when the deformation exceeds the preset situation, the early warning information can be automatically sent out.

The monitoring trolley 1 is a special monitoring trolley, which includes the arch truss 101 corresponding to the tunnel contour, and the bottom of the arch truss 101 is equipped with a walking mechanism 102.

The arch truss 101 includes a support frame composed of a crossbeam, a number of top beams, a longitudinal beam, and a diagonal brace, the support frame should be larger than the conventional waterproof board trolley and the secondary lining trolley to ensure the smooth passage of the traffic, and try to avoid the collision between the monitoring trolley 1 and the construction vehicle; the bottom end of the support frame is connected with the triangular support foot through the column, the walking mechanism 102 and the vibration monitoring instrument are set in the middle of the triangular support foot.

The automatic tracking and identification device 2 is a multi-piece ring arranged on the front side of the arch truss 101 to realize the all-round detection of the tunnel contour in front of the monitoring trolley 1.

Preferably, the laser ray device 2 is at least five settings, which are installed on the beams and columns of the arch truss 101 and correspond to the tunnel vault, arch waist and arch foot positions, respectively. Specifically, three automatic tracking and identification devices 2 are arranged in the middle and left and right sides of the beam, which are used to monitor the position of the tunnel vault and the arch waist on both sides; the other two automatic tracking and identification devices 2 are arranged on the left and right side of the column, which are used to monitor the position of the arch foot on the left and right sides of the tunnel.

The automatic tracking and identification device includes an intelligent scanning camera 201 and a laser ray head 202, which is connected to the arch truss 101 by a fixed frame that can adjust the lateral deflection angle and vertical deflection angle of the laser ray head 202.

The fixed frame includes a connecting seat 203 which is sleeved with the bar of the arch truss 101, and a connecting plate 204 is arranged on the connecting seat 203, the connecting plate 204 is rotationally connected with a horizontal rotation turntable 205, and a hinge seat 206 is arranged on the horizontal rotation turntable 205, the intelligent scanning camera 201 and the laser ray head 202 are hinged on the hinge seat 206 through the vertical rotation axis 207; the flat rotary turntable 205 and the vertical rotary shaft 207 are connected to the background processing system, the flat rotary turntable 205 can be used to adjust the lateral angle of the automatic tracking and identification device; the vertical rotation axis 207 is used to adjust the vertical angle of the automatic tracking and identification device. Specifically, through the cooperation of the horizontal flat rotating turntable 205 and the vertical rotary axis 207, the remote programmed control of the background processing system can realize the remote automatic adjustment of the degree of freedom of the intelligent scanning camera 201 and the laser ray head 202 in the two directions of the transverse angle and the vertical angle. The automatic tracking and identification device 2 has extremely high flexibility and can realize the monitoring of multiple monitoring points on multiple monitoring lines by a single device.

The background processing system is also connected with the remote controller which controls the movement of the monitoring trolley 1, the mobile monitoring along the longitudinal direction of the tunnel can be realized by controlling the longitudinal movement of the monitoring trolley along the tunnel through the remote controller.

The connecting seat 203 is composed of two halves of anchorage blocks spliced by bolts 2031, at the docking surface of the two halves of anchorage blocks, there is a card slot spliced by two halves, the card slot is matched with the bar of the arch truss 101, so that the two halves of anchorage blocks can be stuck on the bar of the arch truss 101 through the card slot.

According to the installation position of the automatic tracking and identification device in the arch truss 101, the connecting plate 204 is respectively set at the lower part of the connecting seat 203 and the left and right sides to ensure that the connecting plate 204 is tested in the arch truss 101, and the connecting plate 204 and half of the anchoring block are integrated structure.

The flat rotating turntable 205 runs through the connecting plate 204 and is equipped with a coordinate target behind it. The coordinate target is used to assist the positioning of the coordinate points of the automatic tracking and identification device 2. Through the coordinate target, the measuring instrument such as the total station is manually operated from the monitoring station.

In addition, the vibration monitoring instrument is installed on the monitoring trolley. When the vibration monitoring instrument senses that the monitoring trolley is collided and displaced, it immediately sends a collision displacement signal to the person in charge of tunnel monitoring and measurement. The person in charge of monitoring and measurement organizes relevant personnel to check the parking of the monitoring trolley, and re-measure the coordinate points of each automatic tracking and identification device 2, and correct the coordinates.

It also includes explosion-proof sleeve 3, which can be nested outside the flat turntable 205 as a protection device for intelligent scanning camera 201 and laser ray head 202.

As shown in FIG. 1-FIG. 3,

A tunnel automatic monitoring and measurement method based on fixed-point circuit measurement, which includes the following steps:

- s1. multiple sets of monitoring sections are set on the surface of the tunnel support structure, and multiple monitoring points are set on each set of monitoring sections;
- s2. the coordinates of the relevant monitoring points at different time points are obtained by the automatic tracking and identification device;
- s3. the required initial support deformation data are extracted by calculating the coordinate information of specific monitoring points at different time points;
- s4. the corresponding support structure deformation risk criteria are formulated, as well as corresponding early warning levels, and automatic emergency measures.

In step s1, the longitudinal positions of the monitoring points on each group of monitoring sections are in one-to-one correspondences, so that the monitoring points on multiple sets of monitoring sections constitute multiple monitoring lines. Preferably, at least five monitoring points are set on each group of monitoring sections, are arranged at the vault of the tunnel, and are symmetrically arranged at the arch waist and arch foot positions relative to the vault, so that the monitoring points on multiple sets of monitoring sections constitute five monitoring lines, and the vault, arch waist and arch foot of the tunnel are monitored separately.

In step s2, the tunnel measurement coordinate system and the unit coordinate system of the monitoring point are collected, the tunnel measurement coordinate system is consistent with the construction control network coordinate system of the project to ensure the universality of the measurement results; the unit coordinate system of the monitoring point described in this paper takes the tangent line direction of the on-line position of the monitoring point as the positive direction of the y-axis, the vertical direction as the z-axis direction, and then the x-axis direction is determined according to the right-hand law; reflective marking is set on each monitoring point, and automatic intelligent tracking and recognition is carried out through automatic tracking and identification device; specifically, the automatic tracking and identification device with intelligent scanning camera is used to automatically patrol and identify the reflective marking according to the preset program, and then the coordinate information of the relevant monitoring points is collected by point laser measurement, which includes the longitudinal deflection angle, transverse deflection angle, laser ray length, monitoring time point, automatic tracking and identification device displacement coordinates and tour monitoring number information of laser rays during monitoring work.

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

- s2.1 according to the requirements of on-site construction, formulating relevant monitoring programs are formulated and then the monitoring points are arranged on the surface of the support structure;
- s2.2. a monitoring trolley is moved to a suitable position and the monitoring trolley is parked firmly, an automatic tracking and identification device installed on the monitoring trolley is debugged to make sure that a plurality of automatic tracking and identification devices correspond to the corresponding monitoring lines one by one, and each automatic tracking and identification device is numbered, absolute coordinate values (x_Qm, y_Qm, z_Qm) of each automatic tracking and identification device after measured by a total station are obtained, wherein the x_Qm, y_Qm, z_Qmare the absolute coordinate values of the automatic tracking and identification device Q in the x, y and z directions of a tunnel measurement coordinate system after an m-th shift of the monitoring trolley, respectively;
- S2.3 a laser ray of the automatic tracking identification device is aligned with the corresponding monitoring line, and a vertical deflection angle α of the automatic tracking and identification device is adjusted 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;
- S2.4 the cycle monitoring work is started, the vertical deflection angle α of the automatic tracking and identification device is adjusted gradually from 90 degrees to zero, in this process, a reflective marking of the corresponding monitoring point is intelligently captured and a laser point measurement on the monitoring point is carried out, recording the automatic tracking and identification device Q in the monitoring of the m-th displacement position and the i-th cycle monitoring of the trolley:
  
  D_n−(x_Qm+a_Qmin,y_Qm+b_Qmin,z_Qm+c_Qmin)−T_Qmin
- where, (x_Qm, y_Qm, z_Qm) is the absolute coordinate of the automatic tracking and identification device Q at the m-th displacement position of the monitoring trolley,
- a_Qmin, b_Qminand c_Qminare the monitoring variables corresponding to the x, y and z directions, respectively,
  
  a_Qmin=L_Qmin×cos α_Qminsin β_Qmin,
  
  b_Qmin=L_Qmin×cos α_Qmincos β_Qmin,
  
  c_Qmin=L_Qmin×sin α_Qmin,
- L_Qminis the corresponding laser ray length;
- α_Qminis the corresponding vertical deflection angle;
- β_Qminis the corresponding transverse deflection angle;
- T_Qminis the corresponding monitoring time.

The specific examples of setting up five monitoring lines at the tunnel vault, arch waist and arch foot are as follows:

- the automatic tracking and identification devices are numbered, and the absolute coordinate values of each automatic tracking and identification device are obtained by total station measurement, that is, the absolute coordinates of the automatic tracking and identification device I under the first moving position of the monitoring trolley (x₁₁, y₁₁, z₁₁), the absolute coordinates of the automatic tracking and identification device II (x₂₁, y₂₁, z₂₁) . . . ,
- according to the above method, the absolute coordinates (x₁₂, y₁₂, z₁₂), (x₂₂, y₂₂, z₂₂) . . . , (x₁₃, y₁₃, z₁₃), (x₂₃, y₂₃, z₂₃) . . . , . . . , (z_1m, y_1m, z_1m), (x_2m, y_2m, z_2m) . . . of the automatic tracking and identification device under the subsequent moving position of the monitoring trolley are obtained;
- by adjusting the horizontal rotation turntable of each automatic tracking and identification device, the lens of the intelligent scanning camera of each automatic tracking and identification device aligns the five monitoring lines of vault, arch waist and arch foot respectively, the transverse deflection angles β₁₁, β₂₁, β₃₁, β₄₁and β₅₁at this time were recorded respectively, the transverse deflection angles β₁₁, β₂₁, β₃₁, β₄₁and β₅₁correspond to the initial transverse deflection angles of the five monitoring lines under the first moving position of the monitoring trolley, before each tour monitoring activity of the first moving position of the monitoring trolley, the lateral deflection angle of the automatic tracking and identification device is adjusted to the above angle;
- according to the above method, the initial lateral deflection angles β₁₂, β₂₂, β₃₂, β₄₂, β₅₂. . . β_1m, β_2m, β_3m, β_4m, β_5munder the subsequent moving position of the monitoring trolley are obtained;
- by adjusting the vertical rotation axis of each automatic tracking and identification device, the longitudinal deflection angle α of the automatic tracking and identification device is adjusted from zero to 90 degrees, and then the longitudinal deflection angle α of the automatic tracking and identification device is continuously adjusted by the vertical rotation axis, the angle α is dynamically identified by the intelligent scanning camera in the scanning area of the camera; when the intelligent scanning camera recognizes the first reflective marking, the automatic tracking and identification device fine-tunes the lateral deviation angle β and the longitudinal deviation angle α of the automatic tracking and identification device through the horizontal flat rotating turntable and the vertical rotary axis, so that the laser ray is aligned with the reflective marking, and the point laser measurement work is carried out. The specific process is as follows:
- at the first displacement position of the monitoring trolley, the transverse deflection angle of the laser ray of the automatic tracking and identification device I to the reflective marking point of the monitoring section D₁arch is recorded as β₁₁₁₁, the longitudinal deflection angle is recorded as α₁₁₁₁, and the distance length of the laser ray is L₁₁₁₁and the monitoring time point is T₁₁₁₁;
- according to the coordinate information (x₁₁, y₁₁, z₁₁) of the automatic tracking and identification device I, the coordinates of the reflective identification points at the arch of the monitoring section D₁can be obtained by calculation (x₁₁+a₁₁₁₁, y₁₁+b₁₁₁₁, z₁₁+c₁₁₁₁), where:
  
  a₁₁₁₁=L₁₁₁₁×cos α₁₁₁₁sin β