Online Control And Application Of Georobot In Subway Tunnel Automatic Deformation Monitoring

When construction, the structure of the subway tunnel will be affected by many factors, such as groundwater, the geology, structure material, nearby buildings, etc.), which will lead to tilt, settlement deformation of tunnel structure,or even a wide range of landslides.Therefore, the subway tunnel deformation monitoring is essential, especially some important construction area, requires all-weather, continuous monitoring. Traditional deformation monitoring methods are laborious, contain more error sources, and have long cycles, so it is hard to find some deformation particularly fast construction area in time, but automatic and intelligent robot is a little bit to make up for the shortage. Based on georobot for subway tunnel, this paper analyzes the deformation monitoring and makes simulation test, develops the related program controling the georobot online and data preprocessing which provides more security, and also has a strong theoretical research value and practical significance.Analysis and simulation experiments are all based on georobot TM30 in this paper, with VB 6.0 as a software tool, and TM30 provides secondary development platform, the research is mainly focused on the robot’s online control and data preprocessing. The concrete research content are as follows:(1) In terms of online control of the georobot, this paper studied the georobot and computer port connection, instrument parameter settings before the monitoring, station settings and automatic monitoring, and then the corresponding programming were performed.(2) Error sources of georobot TM30 was analyzed, to test the nominal accuracy, the angle and distance measurement experiment was performed, the results show that it has reliable measure precision; some reasonable and useful measures to weaken the influence of error were concluded.(3) Deformation monitoring method of subway tunnel was discussed, in terms of monitoring data preprocessing, a new estimation method was presented which called interval robust estimation, and simulation test was studied with the measured data, and the method had good robustness.(4) This paper adopted the method of cycle data difference, and a new distance difference method was used which corrected the distance value based on the known data, it turned out to eliminate the influence of common errors effectively.Angle and distance difference program which can process observation data in batch was performed.(5) The method of wavelet denoising was adopted. In the practical work, the useful signal is usually characterized by low frequency or some relatively stable signals, and the error characteristics generally show a high frequency noise, therefore, full use of the wavelet which has the characteristics of high frequency domain of low frequency can be made to weaken the influence of the noise effectively, and then the corresponding programming were performed.