CN109882201A - A kind of wet-spraying machine construction scanning means and scanning process - Google Patents
A kind of wet-spraying machine construction scanning means and scanning process Download PDFInfo
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- CN109882201A CN109882201A CN201910156266.8A CN201910156266A CN109882201A CN 109882201 A CN109882201 A CN 109882201A CN 201910156266 A CN201910156266 A CN 201910156266A CN 109882201 A CN109882201 A CN 109882201A
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Abstract
The present invention provides the present invention provides a kind of wet-spraying machine construction scanning means, including cantilever crane, laser scanner and vehicle-mounted computer；The vehicle-mounted computer is connect with cantilever crane and laser scanner respectively, and the control system of vehicle-mounted computer and wet-spraying machine connects.A kind of wet-spraying machine construction scanning process carries out first time scanning, scanning to arch, arch rear portion tunnel, the point cloud information for returning light identification point using laser scanner；Second of scanning is scanned to arch, there are the arch rear portion tunnels of shade；The point cloud data that unified twice sweep obtains, point cloud data obtain the point cloud chart in the few region to be sprayed of shade after splicing and fusion calculation.The present invention obtains the point cloud information of tunnel arch using laser scanner, data acquisition is accurate, using the method for secondary surface sweeping, and the point cloud data that twice sweep obtains is spliced and merged, shadow region can be reduced as far as possible, the subsequent detailed data of arch is obtained, reduces data error, improves computational accuracy.
Description
Technical field
The present invention relates to tunnel construction technical field of construction, and in particular to a kind of wet-spraying machine construction scanning process.
Background technique
With steady investment of the country in infrastructure construction, the construction volume in tunnel is in rising trend, but tunnel is applied
Work there is danger coefficients it is high, working environment is severe the features such as, with construction method be big using advanced automated construction equipment
Gesture is become.Currently, mostly using wet-spraying machine to carry out concrete ejection operation, compared with dry spraying machine, wet-spraying machine in tunnel construction site
Have many advantages, such as that operation dust is small, injection springback capacity is few, protection working environment, saves raw material, improves spray-layer quality, Er Qiecao
Make simple easy to maintain.
But traditional wet-spraying machine cantilever crane control is typically all to manually control, the degree of automation is low, and spraying effect is poor, greatly
Working efficiency is reduced greatly, affects construction effect.The feature in face to be onstructed must be extracted by realizing automation control just.
In conclusion being badly in need of a kind of wet-spraying machine construction scanning process to solve problems of the prior art.
Summary of the invention
It is an object of that present invention to provide a kind of wet-spraying machine construction scanning process, to solve asking for region feature extraction to be onstructed
Topic.
To achieve the above object, the present invention provides a kind of wet-spraying machine construction scanning means, including cantilever crane, laser scanner
And vehicle-mounted computer；The vehicle-mounted computer is connect with cantilever crane and laser scanner respectively, and the control system of vehicle-mounted computer and wet-spraying machine
System connection.
Preferably, the laser scanner setting is walked on platen in wet shot locomotive head portion, to obtain the three-dimensional mould in tunnel
Type.
Preferably, the cantilever crane has at least one of following movement movement: arm seat revolution, large arm pitching, large arm are stretched
Contracting, middle arm pitching, forearm rotary, forearm is flexible, nozzle turns round, nozzle oscillation and nozzle swipe.
A kind of wet-spraying machine construction scanning process, uses above-mentioned scanning means, comprising the following steps:
Step 1: first time scanning, laser scanner scans to arch, arch rear portion tunnel are carried out using laser scanner
Road, the point cloud information for returning light identification point；On the basis of returning light identification point, it is established that put the three-dimensional model diagram of cloud；
Step 2: carrying out second using laser scanner and scan, and scans to arch, there are the arch rear portion tunnels of shade
Road, the point cloud information for returning light identification point；On the basis of returning light identification point, it is established that put the three-dimensional model diagram of cloud；
Step 3: the point cloud data that unified twice sweep obtains, point cloud data obtain after splicing and fusion calculation
The point cloud chart in the few region to be sprayed of shade.
Preferably, the step 1 is specifically: wet-spraying machine being parked in the front of excavation face, starts laser scanner to arch
Region carries out first time scanning, then wet-spraying machine vehicle body is returned to position to be onstructed, and the supporting leg of wet-spraying machine is unfolded, into
Row vehicle attitude control.
Another preferred embodiment, the step 1 is specifically: install an automatic control bracket additional on the car body of wet-spraying machine,
Laser scanner is fixed on bracket, wet-spraying machine vehicle body is parked in construction location, and the supporting leg of wet-spraying machine is unfolded, is carried out vehicle body
Leveling；Then it stretches out bracket and surface sweeping is carried out to arch region, then bracket is retracted, complete to scan for the first time.
Preferably, further include importing design parameter in the control system of wet-spraying machine after the step 3, generate planning
File, and equipment is switched to automatic mode, control cantilever crane starts to spray for the first time, and injection track is Z-shape, then laser scanner
Continue to scan, generates planning file, second of the injection of control cantilever crane again.
Preferably, the method for the injection is specifically: vertical direction injection, fixed cantilever crane is motionless, nozzle right swing into
Row spraying, injection arch top, fixed cantilever crane is motionless, and spray head, which is swung up and down, to be sprayed.
It applies the technical scheme of the present invention, has the advantages that
(1) a kind of wet-spraying machine construction scanning process of the present invention, the point cloud information of tunnel arch is obtained using laser scanner,
Data acquisition precisely, is spliced and is merged using the method for secondary surface sweeping, and by the point cloud data that twice sweep obtains, can
Shadow region is reduced as far as possible, is obtained the subsequent detailed data of arch, is reduced data error, improve computational accuracy.
(2) in the present invention, an automatic control bracket is installed additional on wet-spraying machine, laser scanner is fixed on bracket, and
And bracket has preferable precision and rigidity, bracket can stretch within the scope of certain length, can be accurately by laser scanner
Sending reduces the calculating time once positioned to a fixed position, improves work efficiency.
(3) in the present invention, in such a way that a variety of spray regimes combine, in vertical direction injection, fixed cantilever crane is not
Dynamic, the method for the spraying that spray head swings is sprayed, and when spraying top, in such a way that spray head is swung up and down into
Row spraying.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is twice sweep positioning process process twice；
Fig. 2 is bracket extension method process flow；
Fig. 3 is lance ejection schematic diagram；
Fig. 4 is single jeting area partial enlarged view.
Specific embodiment
The embodiment of the present invention is described in detail below in conjunction with attached drawing, but the present invention can be limited according to claim
Fixed and covering multitude of different ways is implemented.
Embodiment 1:
Referring to Fig. 1, a kind of wet-spraying machine construction scanning means and scanning process, the present embodiment are applied to constructing tunnel.
A kind of wet-spraying machine construction scanning means includes cantilever crane, laser scanner and vehicle-mounted computer；The vehicle-mounted computer difference
It is connect with cantilever crane and laser scanner, and the control system of vehicle-mounted computer and wet-spraying machine connects.The laser scanner setting exists
Wet shot locomotive head portion is walked on platen.The cantilever crane have it is following movement at least one of movement: arm seat revolution, large arm pitching,
Large arm is stretched, middle arm pitching, forearm rotary, forearm is flexible, nozzle turns round, nozzle oscillation and nozzle swipe.
A kind of wet-spraying machine construction scanning process, comprising the following steps:
Step 1: first time scanning, laser scanner scans to arch, arch rear portion tunnel are carried out using laser scanner
Road, the point cloud information for returning light identification point；On the basis of returning light identification point, it is established that put the three-dimensional model diagram of cloud；
Step 2: carrying out second using laser scanner and scan, and scans to arch, there are the arch rear portion tunnels of shade
Road, the point cloud information for returning light identification point；On the basis of returning light identification point, it is established that put the three-dimensional model diagram of cloud；
Step 3: the point cloud data that unified twice sweep obtains, point cloud data obtain after splicing and fusion calculation
The point cloud chart in the few region to be sprayed of shade.
The step 1 is specifically: wet-spraying machine is parked in the front of excavation face, starting laser scanner to arch region into
Row scans for the first time, then wet-spraying machine vehicle body is returned to position to be onstructed, and the supporting leg of wet-spraying machine is unfolded, carries out vehicle body
Leveling.
Further include importing design parameter in the control system of wet-spraying machine after the step 3, generates planning file, and
Equipment is switched to automatic mode, control cantilever crane starts to spray for the first time, and then laser scanner continues to scan, and generates again
Plan file, second of the injection of control cantilever crane.In vertical direction injection, fixed cantilever crane is motionless, what spray head swung
The method of spraying is sprayed, and when injection top, it is sprayed in such a way that spray head is swung up and down.
As shown in Figure 3, Figure 4, diagram rectangular block region is the region that single injection event is formed, i.e. spray gun swings one and puts
The region that dynamic angle is formed can calculate to obtain square magnitude in single injection event region after scanner scanning, be set as Qsect.
Known quantity: the width value W (m) of single jeting area；The height value H (m) of single jeting area；The side in single region
Measure Qsect (m3)；Rate of pumping Vasp (m3/s)；Rebound rate R (percentage is the value between 0~1)；Spray distance Length_
spry(m)；Rotary shaft is from nozzle distance dis_nozzle (m).
According to known quantity, the spraying number of plies, vertical direction stepping angle can be calculated.
It can be in the hope of angle of oscillation by geometrical relationship:
θ rotate=2*arctan [0.5*W/Length_spry+dis_nozzle] (1)
Swing time half period:
Time=θ rotate/Vrotate (2)
Vrotate is swing speed in formula.
It swings in time half period and is sprayed onto effective amount of concrete on wall:
Q=Vasp*time* (1-R) (3)
Then injecting times:
N=Qsect/Q (4)
Since injection is that continous way bridging type sprays, then the stepping-in amount of H dimensional directions can be calculated:
Step=H/n (5)
If vertical direction stepping angle is θ vertical, then
Tan (θ vertical2)=0.5*step/ (Length_spry+dis_nozzle) (7)
Joint type (1)~(7) are available:
So in the case where setting stepping angle as definite value, according to the available swing speed Vrotate of formula (8)；Instead
It, in the case where setting swing speed, according to the available Z-shaped spraying profile of formula (8), and it is upper together with it is lower together between
Stepping angle θ vertical.
In above-mentioned derivation process, injection process, spray gun and horizontal plane angle and pump discharge, rapid hardening agent flux are fully considered
Between relationship, to obtain optimal jeting effect and minimum rebound rate.Work as a certain process, a certain angle of gun, pump simultaneously
Minimum rebound rate is obtained in the case where sending speed and rapid hardening agent flux, this parameter can be recorded and be written in Optimal Parameters, under
It is called when secondary injection, to obtain the spray technology parameter constantly promoted.
One of the above wet-spraying machine is constructed in scanning process, and the point cloud information of tunnel arch, number are obtained using laser scanner
Precisely according to acquisition, using the method for secondary surface sweeping, and the point cloud data that twice sweep obtains is spliced and is merged, Neng Goujin
Possible reduction shadow region obtains the subsequent detailed data of arch, reduces data error, improve computational accuracy.
Embodiment 2:
Referring to fig. 2, a kind of wet-spraying machine construction scanning process, the present embodiment are applied to constructing tunnel.
A kind of wet-spraying machine construction scanning process, comprising the following steps:
Step 1: first time scanning, laser scanner scans to arch, arch rear portion tunnel are carried out using laser scanner
Road, the point cloud information for returning light identification point；On the basis of returning light identification point, it is established that put the three-dimensional model diagram of cloud；
Step 2: carrying out second using laser scanner and scan, and scans to arch, there are the arch rear portion tunnels of shade
Road, the point cloud information for returning light identification point；On the basis of returning light identification point, it is established that put the three-dimensional model diagram of cloud；
Step 3: the point cloud data that unified twice sweep obtains, point cloud data obtain after splicing and fusion calculation
The point cloud chart in the few region to be sprayed of shade.
The step 1 is specifically: installing an automatic control bracket additional on the car body of wet-spraying machine, laser scanner is fixed
On bracket, wet-spraying machine vehicle body is parked in construction location, and the supporting leg of wet-spraying machine is unfolded, carries out vehicle attitude control；Then it stretches out
Bracket carries out surface sweeping to arch region, then bracket is retracted, and completes to scan for the first time.
Further include importing design parameter in the control system of wet-spraying machine after the step 3, generates planning file, and
Equipment is switched to automatic mode, control cantilever crane starts to spray for the first time, and then laser scanner continues to scan, and generates again
Plan file, second of the injection of control cantilever crane.
One of the above wet-spraying machine is constructed in scanning process, installs an automatic control bracket, laser scanning additional on wet-spraying machine
Instrument is fixed on bracket, and bracket has preferable precision and rigidity, and bracket can stretch within the scope of certain length, Ke Yizhun
True send laser scanner to a fixed position, compares the embodiment that twice sweep positions twice, reduces primary
It the calculating time of positioning, improves work efficiency.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (8)
- The scanning means 1. a kind of wet-spraying machine is constructed, which is characterized in that including cantilever crane, laser scanner and vehicle-mounted computer；The vehicle It carries computer to connect with cantilever crane and laser scanner respectively, and the control system of vehicle-mounted computer and wet-spraying machine connects.
- The scanning means 2. a kind of wet-spraying machine according to claim 1 is constructed, which is characterized in that the laser scanner setting It is walked on platen in wet shot locomotive head portion, to obtain the threedimensional model in tunnel.
- The scanning means 3. a kind of wet-spraying machine according to claim 1 or 2 is constructed, which is characterized in that the cantilever crane have with At least one of lower movement movement: arm seat revolution, large arm pitching, large arm be flexible, middle arm pitching, forearm rotary, forearm stretch, Nozzle revolution, nozzle oscillation and nozzle swipe.
- 4. a kind of scanning process of the wet-spraying machine construction scanning means as described in claims 1 to 3 any one, feature exist In, comprising the following steps:Step 1: first time scanning is carried out using laser scanner, laser scanner scans to arch, are returned arch rear portion tunnel The point cloud information of light identification point；On the basis of returning light identification point, it is established that put the three-dimensional model diagram of cloud；Step 2: carrying out second using laser scanner and scan, scanning to arch, there are the arch rear portion tunnel of shade, return The point cloud information of light identification point；On the basis of returning light identification point, it is established that put the three-dimensional model diagram of cloud；Step 3: the point cloud data that unified twice sweep obtains, point cloud data obtain shade after splicing and fusion calculation The point cloud chart in few region to be sprayed.
- The scanning process 5. a kind of wet-spraying machine according to claim 4 is constructed, which is characterized in that the step 1 is specifically: Wet-spraying machine is parked in the front of excavation face, starting laser scanner carries out first time scanning to arch region, then by wet-spraying machine Vehicle body returns to position to be onstructed, and the supporting leg of wet-spraying machine is unfolded, and carries out vehicle attitude control.
- The scanning process 6. a kind of wet-spraying machine according to claim 4 is constructed, which is characterized in that the step 1 is specifically: Install an automatic control bracket additional on the car body of wet-spraying machine, laser scanner is fixed on bracket, wet-spraying machine vehicle body is parked in Construction location, and the supporting leg of wet-spraying machine is unfolded, carry out vehicle attitude control；Then it stretches out bracket and surface sweeping is carried out to arch region, then Bracket is retracted, completes to scan for the first time.
- The scanning process 7. a kind of wet-spraying machine according to claim 5 or 6 is constructed, which is characterized in that after the step 3 Further include importing design parameter in the control system of wet-spraying machine, generate planning file, and equipment is switched to automatic mode, Control cantilever crane starts to spray for the first time, and injection track is Z-shape, and then laser scanner continues to scan, and generates planning text again Part, second of the injection of control cantilever crane.
- The scanning process 8. a kind of wet-spraying machine according to claim 7 is constructed, which is characterized in that the method for the injection is specific Be: vertical direction injection, fixed cantilever crane is motionless, and nozzle right swing is sprayed, and at the top of injection arch, fixed cantilever crane is motionless, Spray head, which is swung up and down, to be sprayed.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112232558A (en) * | 2020-10-09 | 2021-01-15 | 中国铁建重工集团股份有限公司 | TBM spraying and mixing system operation path planning method |
| CN112799088A (en) * | 2021-01-21 | 2021-05-14 | 中南大学 | Full-automatic tunnel wet spraying state detection method based on three-dimensional laser radar |
| CN114247582A (en) * | 2021-12-17 | 2022-03-29 | 中铁工程装备集团隧道设备制造有限公司 | Spraying path planning method |
| CN115339549A (en) * | 2022-10-18 | 2022-11-15 | 山东省地质矿产勘查开发局八〇一水文地质工程地质大队(山东省地矿工程勘察院) | Intelligent navigation measuring device convenient for acquiring hydrogeological parameters |
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Application publication date: 20190614 |