测量机器人智能变形监测关键技术及应用研究

李双平; 刘祖强; 张斌; 郑俊星; 王栋; 王华为; 苏森南; 李永华

doi:10.13928/j.cnki.wrahe.2025.S1.145

水利水电技术（中英文） ›› 2025, Vol. 56 ›› Issue (S1) : 980 -987. DOI: 10.13928/j.cnki.wrahe.2025.S1.145

水利现代化

测量机器人智能变形监测关键技术及应用研究

李双平 ¹^,²^,³ ,
刘祖强 ¹^,²^,³ ,
张斌 ¹^,²^,³ ,
郑俊星 ⁴ ,
王栋 ⁴ ,
王华为 ¹^,²^,³ ,
苏森南 ⁴ ,
李永华 ¹^,²^,³

作者信息 +

Research on key technologies and applications of intelligent deformation monitoring for measurement robots

Shuangping LI ¹^,²^,³ ,
Zuqiang LIU ¹^,²^,³ ,
Bin ZHANG ¹^,²^,³ ,
Junxing ZHENG ⁴ ,
Dong WANG ⁴ ,
Huawei WANG ¹^,²^,³ ,
Sennan SU ⁴ ,
Yonghua LI ¹^,²^,³

Author information +

文章历史 +

PDF (12544K)

摘要

随着我国水利基础设施建设管理的持续高质量推进，保障这些工程安全和稳定运行已成为关键要点。聚焦传统的多台测量机器人未组网运行模式的痛点，提出一种基于多台测量机器人集成与协作的智能变形监测系统，旨在借助实时气象场模型校正以及监测网实时组网平差技术，大幅提高监测的精度与可靠性。攻克了多台测量机器人在智能变形监测系统里的集成与协作难题，达成了机器人设备间的无障碍通信以及任务的合理分配，有力提升了系统的总体效能。成功开发了实时气象场模型，可以精准获取并运用大气参数，对测距数据进行精细校正，进而显著减小环境因素给测量结果带来的影响。研发了实时组网平差技术，保证了数据处理的高效性与准确性。该系统已经在溪洛渡水电站、三峡枢纽、丹江口枢纽、乌东德水电站、白鹤滩水电站、南水北调等众多重大水利工程的安全监测中成功应用，系统的监测精度达到了±1.5 mm,不仅显著提升了工程运维的智能化水平，也为重大基础设施的安全管理提供了强有力的技术支持。研究成果填补了行业内技术空白，为类似的水利工程安全监测提供了宝贵的经验和参考，同时也推动了我国基础设施监测技术向着更高的层次发展。

Abstract

With the continuous high-quality promotion of water conservancy infrastructure construction and management in our country, ensuring the safety and stable operation of these projects has become a key point. Focusing on the pain points of the traditional multi measurement robot operating mode without networking, a smart deformation monitoring system based on the integration and collaboration of multiple measurement robots is proposed, aiming to greatly improve the accuracy and reliability of monitoring through real-time meteorological field model correction and real-time network adjustment technology. The integration and collaboration challenges of multiple measurement robots in an intelligent deformation monitoring system were overcome, achieving barrier free communication between robot devices and reasonable task allocation, effectively improving the overall efficiency of the system. We have successfully developed a real-time meteorological field model that can accurately obtain and utilize atmospheric parameters to finely calibrate ranging data, thereby significantly reducing the impact of environmental factors on measurement result. We have developed real-time network adjustment technology to ensure the efficiency and accuracy of data processing. The system has been successfully applied in the safety monitoring of many major water conservancy projects such as the Three Gorges Dam, Danjiangkou Dam, Xiluodu Hydropower Station, Wudongde Hydropower Station, Baihetan Hydropower Station, and South to North Water Diversion Project. The monitoring accuracy of the system has reached ± 2.0 mm, which not only significantly improves the intelligent level of engineering operation and maintenance, but also provides strong technical support for the safety management of key infrastructure. The research result have filled the technological gap in the industry, provided valuable experience and reference for similar water conservancy project safety monitoring, and also promoted the development of infrastructure monitoring technology in China to a higher level.