CN109900208B - Mine method tunnel excavation and primary support quality detection method - Google Patents
Mine method tunnel excavation and primary support quality detection method Download PDFInfo
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Abstract
The invention provides a method for detecting the excavation and initial support quality of a mine tunnel, which comprises the following steps: firstly, determining an optimal precision point and the maximum incident angle of a laser beam of a laser scanner; secondly, determining the distance between the stations measured by the laser scanner and the total number of the stations to be measured; thirdly, acquiring point cloud data of a primary support surface of the tunnel, wherein the point cloud data are three-dimensional coordinates of primary support surface points of the tunnel in a coordinate system of the tunnel monitoring reference points; fourthly, determining the mileage of the tunnel section to be detected according to the detection requirement of the tunnel section on the construction site; fifthly, projecting the extracted three-dimensional point coordinates onto a tunnel section to be detected; sixthly, determining a model value point used for fitting, and fitting to construct a curve, wherein the curve is an actual boundary obtained by excavating a tunnel section; and seventhly, determining the over-under excavation amount and the over-under excavation position of the section of the tunnel. The invention realizes the automatic, high-precision and continuous detection of the quality of the primary support of the tunnel by the mining method.
Description
Technical Field
The invention belongs to the field of tunnel detection, and particularly relates to a method for detecting the excavation and initial support quality of a mine tunnel.
Background
In recent years, with the rapid development of rail transit, the number of scales of engineering construction shows a tendency to increase continuously. According to the statistics of the national department of transportation, the national railway mileage in 2017 reaches 12.7 kilometers. Due to the influence of factors such as route planning, construction technology and construction cost, a large number of tunnels need to be constructed to meet engineering requirements. The mining method is one of the most common methods for building tunnels, and mainly comprises the steps of loosening surrounding rocks on an excavation surface in a blasting mode, excavating rock masses in sequence, and supporting the excavated rock masses so as to ensure the stability and the construction safety of the excavated rock masses. Due to the fact that the tunnel penetrates through the stratum, lithology is complex, types are variable, manual operation is conducted and the like, the blasting effect cannot meet design requirements. Meanwhile, the original ground stress balance is broken due to tunnel excavation, the tunnel surrounding rock is subjected to convergence deformation, and the actual section after excavation often deviates from the designed excavation section due to various factors, namely the phenomenon of overbreak and underexcavation occurs. Undermining results in insufficient secondary lining thickness, easily causes the increase of collapse and settlement, and overexcavation once more simultaneously increases the disturbance to the rock mass. The overexcavation causes the increase of slag discharge amount, prolongs the slag discharge operation time, and simultaneously leads to the increase of concrete backfill amount and increases the engineering cost. Therefore, the overbreak and underexcavation has great influence on the excavation quality, the construction progress, the safety and the engineering cost of the section of the tunnel by the mining method. Therefore, it is necessary to perform quality detection on the excavated section after primary support of tunnel excavation and compare the quality detection with the designed section size, so as to find out the problems of overbreak, tunnel section deformation and the like and timely make up for the problems.
Through the search of the prior art documents, the Chinese patent application No. CN201620030051, the publication No. CN205577997U, the patent names are: the utility model provides a tunnel surpasses owes to dig detection control device, this patent discloses: "a tunnel is surpassed and is owed and dig detection control device, it includes: the traveling system is used for positioning the device through a total station positioning parallel double-spliced angle steel, and rubber wheels are arranged at the bottom of the device for manual pushing traveling; the framework system is a stable triangular support system consisting of I-shaped steel and steel pipes; the telescopic system consists of seven telescopic screw rods, and the height of the trolley is adjusted to adapt to different surrounding rock sections; the rigid profile system adopts a framework welded by steel bars and is consistent with the profile of the section to be detected of the tunnel excavation and the primary support. "this patent surpass undermining detection device mainly is through flexible lead screw predetermine tunnel excavation first design section profile, then artifical promotion platform truck passes through the detection section, if the platform truck can pass through smoothly promptly indicate not to owe to dig, then the size of the volume of surpassing digging through the length reflection that the lead screw stretches out. However, in the actual tunnel section quality detection process, automatic and continuous detection of the section is often required. The method mainly depends on manual pushing of the trolley for measurement, and due to the fact that height difference exists in the laying of the trolley track, the telescopic screw rod is difficult to accurately keep the designed primary support excavation profile all the time in the advancing process of the trolley. Meanwhile, the overexcavation amount is obtained by observing the extension length of the screw rod through naked eyes manually, the accuracy is difficult to guarantee, and when the overexcavation amount at a certain point of the section is too large, the length of the screw rod is insufficient and cannot be measured.
In conclusion, the field operation of the existing measuring device is complicated, is difficult to control, the accuracy is difficult to guarantee, and the existence of a large number of human factors causes poor reliability, time and labor waste and low efficiency of the detection operation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method for detecting the excavation and initial support quality of a mine tunnel based on a three-dimensional laser scanning technology, which overcomes the defects and shortcomings of poor detection precision, low efficiency and incapability of continuous detection in the prior art and realizes the automatic, high-precision and continuous detection of the initial support quality of the mine tunnel.
In order to achieve the purpose, the invention provides a method for detecting the excavation and the primary support quality of a mine tunnel, which comprises the following steps:
firstly, determining an optimal precision point and the maximum incident angle of a laser beam of a laser scanner;
arranging a plurality of target papers on the arch waist of the tunnel to be detected along the horizontal direction of the axis of the tunnel, and determining one of the target papers as the optimal precision point;
the maximum incidence angle refers to an included angle between a connecting line of a laser beam emission point of the laser scanner and the optimal precision point and the cross section of the tunnel where the laser beam emission point of the laser scanner is located;
secondly, determining the distance between the stations measured by the laser scanner and the total number of the stations to be measured;
the survey station distance refers to the distance between any two adjacent laser scanning survey stations along the axis direction of the tunnel;
the total number of the stations is the number of laser scanning times required for detecting the primary branch quality of the tunnel;
thirdly, acquiring point cloud data of the surface of the primary support of the tunnel;
the point cloud data refers to three-dimensional coordinates of tunnel primary support surface points in a coordinate system of the tunnel monitoring reference points;
performing laser scanning operation on each survey station to obtain point cloud data of all the survey stations, and then performing point cloud data splicing to obtain complete tunnel primary support surface point cloud data; preferably, the point cloud data is spliced by adopting Cyclone matched post-processing software to obtain complete tunnel primary support surface point cloud data.
Fourthly, according to the detection requirement of the construction site tunnel section, determining the mileage of the tunnel section to be detected, the included angle between the tunnel section at the mileage position and the x axis of the coordinate system of the tunnel monitoring reference point, and the coordinate of the center point of the tunnel section at the mileage position, and then extracting the three-dimensional point coordinate of the tunnel section at the mileage position;
fifthly, projecting the extracted three-dimensional point coordinates onto a tunnel section to be detected;
the three-dimensional point coordinate projection refers to converting the three-dimensional point coordinate in the tunnel monitoring reference point coordinate system in the fourth step into a local coordinate system of the section of the tunnel to be measured;
sixthly, determining a model value point used for projection point coordinate fitting, and fitting to construct a smooth curve y (f) (x), wherein the smooth curve f (x) is an actual boundary obtained by tunnel section excavation; preferably, a curve y ═ f (x) is constructed by adopting cubic interpolation spline fitting, and a smooth curve f (x) determined by an interpolation fitting method is an actual boundary obtained by tunnel section excavation.
Seventhly, determining the over-under excavation amount and the over-under excavation position of the section of the tunnel;
and drawing a fitting curve obtained in the sixth step and a tunnel initial support design excavation boundary by taking the coordinate of the center point of the section of the tunnel where the mileage to be detected in the fourth step is located as the circle center, so as to compare the over-under excavation position and the over-under excavation amount.
Preferably, the method for determining the optimal precision point in the first step includes:
the method comprises the steps of arranging a plurality of target paper on the arch waist of a tunnel to be detected at equal intervals along the horizontal direction of the axis of the tunnel, sequentially measuring the distance between every two adjacent target paper, comparing the measured distance with the actual distance, and when the difference between the measured distance and the actual distance of the target paper exceeds a set value, determining that the scanning precision does not reach the standard, wherein the central point of the target paper is the optimal precision point.
Preferably, in the first step: the optimal precision point determination is performed according to the following steps:
s1: pasting the target paper on the arch waist of the tunnel to be detected along the horizontal direction of the axis of the tunnel, numbering the target paper from near to far by taking a laser scanner as a center, and spacing a distance between the adjacent target paper;
more preferably, the target paper is spaced by 2 m;
s2: carrying out distance measurement operation by utilizing a laser scanner, arranging the laser scanner on the central axis of the tunnel, and sequentially measuring the distance between each two adjacent target papers; more preferably, the point cloud data on the surface of the target paper is obtained by a laser scanner, then the point cloud data is imported into Cyclone post-processing software, and the central points of two adjacent target papers are sequentially selected by a selection tool in the software to obtain the measurement distance of each adjacent target paper.
S3: comparing the measured distance with the actual distance, and when the difference between the measured distance and the actual distance exceeds the set value, determining that the scanning precision does not reach the standard, wherein the central point of the maximum numbered target paper is the optimal precision point. More preferably, the set value is 10 mm.
Preferably, after determining the point of optimum accuracy, the maximum angle of incidence is measured by a total station. After the optimal precision point is determined, measuring the maximum incident angle by using a total station: firstly, selecting an angle measurement mode of a total station, aligning the angle measurement mode to the horizontal diameter direction of the section of the tunnel where the laser scanner is located, locking a horizontal micromotion, setting a horizontal angle to zero, finally opening the horizontal micromotion, and rotating to aim at an optimal precision point, wherein the angle displayed on a screen is the maximum incident angle.
Preferably, in the second step, the station spacing satisfies the following formula:
S＝D×tanθ
in the formula, S is a station spacing, m; d is the designed section diameter of the initial support of the tunnel, m; theta is the maximum incident angle of the laser scanner;
the total number of stations satisfies the following formula:
in the formula, N is the total number of the stations to be detected, and L is the total length of the tunnel to be detected and m; and S is the measuring station distance m.
Preferably, in the fourth step, the three-dimensional point coordinates of the tunnel section at the mileage are extracted, wherein the extraction width satisfies the following formula:
wherein W is the extraction width, mm; n is the total number of three-dimensional coordinate points obtained by three-dimensional laser scanning; d is the designed section diameter of the initial support of the tunnel, m; l is the tunnel length, m; rho is data point line density, mm-1And taking 2-3.
Preferably, in the fourth step, the extracted three-dimensional point coordinates of the tunnel section at the mileage satisfy the following formula:
|(xi-x0)sinα-(yi-y0)cosα|≤W i＝1,2,3,…,n
in the formula (x)i,yi,zi) Monitoring point coordinates under a reference point coordinate system for the tunnel; (x)0,y0,z0) Tunnel section to be detected under reference point coordinate system for tunnel monitoringCoordinates of the central point; n is the total number of three-dimensional coordinate points obtained by three-dimensional laser scanning; alpha is the included angle between the section of the tunnel to be detected and the x axis of the coordinate system of the tunnel monitoring datum point, and the anticlockwise turning direction is taken as positive.
Preferably, the coordinates of the projection point under the local coordinate system of the tunnel section to be measured in the fifth step satisfy the following formula:
y′j＝(xj-x0)cosα+(yj-y0)sinα+y0
z′j＝zi j＝1,2,3,…,k
in the formula (x)j,yj,zj) Extracting three-dimensional coordinate points meeting the width requirement in the fourth step; (y'j,z′j) The point coordinates of the tunnel section to be detected under the local coordinate system are obtained; (x)i,yi,zi) Monitoring point coordinates under a reference point coordinate system for the tunnel; (x)0,y0,z0) The coordinates of the center point of the section of the tunnel to be detected under the coordinate system of the tunnel monitoring reference point are obtained; k is the number of the three-dimensional coordinate points meeting the requirement of the extraction width in the fourth step; alpha is the included angle between the section of the tunnel to be detected and the x axis of the coordinate system of the tunnel monitoring datum point, and the anticlockwise turning direction is taken as positive.
Preferably, the method for determining the type value point in the sixth step includes the steps of:
(1) determining the section range of the tunnel to be detected according to the actual engineering condition;
(2) dividing a tunnel section within the range of the tunnel section to be detected into m fan-shaped areas along the circumferential direction according to a beta angle, wherein the beta angle is 2-5 degrees generally;
(3) based on one sector area, the center of the sector area
One projection point is randomly selected in the angle area to serve as a type value point used for fitting in the sector area, the determination methods of the type value points in other sector areas are the same, and m type value points used for interpolation fitting can be determined theoretically. The data points of laser scanning in the local range are sparse, and the data points are obtained practicallyThe number of type points may be less than m.
Preferably, according to the actual engineering situation, the fourth step to the sixth step are repeated, and the initial quality situation at different tunnel mileage positions can be detected.
Compared with the prior art, the invention has the following beneficial effects:
the method is used for detecting the excavation and initial support quality of the mine tunnel based on the three-dimensional laser scanning technology, overcomes the defects and shortcomings of poor detection precision, low efficiency and incapability of continuous detection in the prior art, realizes the automation, high precision and continuous detection of the excavation and initial support quality of the mine tunnel, and has great application value.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of a method for determining a maximum incident angle of a laser scanner according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the tunnel axis and the detection cross section in the coordinate system of the reference point for tunnel monitoring according to a preferred embodiment of the present invention;
FIG. 3 is a schematic diagram of a tunnel cross-section projection point screening method according to a preferred embodiment of the present invention;
fig. 4 is a diagram illustrating a detection result of the overbreak and the undermining of the tunnel section according to a preferred embodiment of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
The embodiment provides a method for detecting tunnel excavation and initial support quality by a mining method, which is based on a three-dimensional laser scanning technology, performs quality detection on an excavated section after primary support of tunnel excavation, obtains a smooth curve which is an actual excavation boundary of the tunnel section by fitting a cubic interpolation spline, compares the actual excavation boundary with a designed section size, and determines an overbreak amount and an overbreak position of the tunnel section.
In the construction process of a subway tunnel, the subway tunnel is of a circular structure, the range of ZDK19+ 100-ZDK 19+270 mile is constructed by a mining method, the primary support of tunnel excavation adopts grid steel frames combined with sprayed concrete, the total length of the tunnel is 170m, and the designed section diameter of the primary support is 6.4 m.
The method comprises the following concrete construction steps in the construction process:
determining an optimal precision point and a maximum incident angle of a laser beam of a laser scanner;
arranging a plurality of target papers on the arch waist of the tunnel to be detected along the horizontal direction of the axis of the tunnel, and determining one of the target papers as an optimal precision point; the maximum incidence angle refers to an included angle between a connecting line of a laser beam emission point of the laser scanner and an optimal precision point and a tunnel cross section where the laser beam emission point of the laser scanner is located;
the optimal precision point determining method comprises the following steps: the method comprises the steps that a plurality of target papers are arranged on the arch waist of a tunnel to be detected at equal intervals along the horizontal direction of the axis of the tunnel, the distance between every two adjacent target papers is measured in sequence, the measured distance is compared with the actual distance, when the difference between the measured distance and the actual distance of the target papers exceeds a set value, the scanning precision does not reach the standard, and at the moment, the central point of the target paper is the best precision point.
As shown in fig. 1, the on-site distance measurement work is performed by mounting a laser scanner on the central axis of the tunnel, adhering target paper to the arch of the tunnel at an interval of 2m along the direction of the axis of the tunnel, and numbering the target paper from the near to the far with the scanner as the center (No. 1 target paper.. 11 target paper). The method comprises the steps of carrying out laser scanning on target paper to obtain point cloud data on the surface of the target paper, then importing the point cloud data obtained through scanning into Cyclone post-processing software, sequentially selecting target center points of two adjacent target papers by using a selection tool of the software to obtain the measuring distances of the two adjacent target papers, namely 2.005m, 2.004m, 2.005m, 2.006m, 2.008m, 2.005m, 2.009m, 2.008m, 2009m, 2.025m and 2.020m, wherein the 2.025-2 mm is more than 10mm, so that the center point of the No. 10 target paper can be determined as the optimal precision point.
And then measuring the maximum incident angle by using a total station, firstly selecting an angle measuring mode of the total station, aligning the angle measuring mode to the horizontal diameter direction of the section of the tunnel where the laser scanner is located, then locking the horizontal micromotion, setting the horizontal angle to zero, finally opening the horizontal micromotion, and rotating to aim at the optimal precision point, wherein the maximum incident angle displayed on the screen is 79.92 degrees.
In a specific implementation process, the determination of the optimal precision point is performed according to the following steps:
s1: sticking target paper on the arch of the tunnel to be detected along the horizontal direction of the axis of the tunnel, numbering from near to far by taking a laser scanner as a center, and separating a distance between adjacent target paper; more preferably, the spacing distance between adjacent target papers is 2 m;
s2: the method comprises the following steps of (1) utilizing a laser scanner to carry out distance measurement operation, arranging the laser scanner on the central axis of a tunnel, and sequentially measuring the distance between each two adjacent target papers; more preferably, the point cloud data on the surface of the target paper is obtained by a laser scanner, then the point cloud data is imported into Cyclone post-processing software, and the central points of two adjacent target papers are sequentially selected by a selection tool in the software to obtain the measurement distance of each adjacent target paper.
S3: comparing the measured distance with the actual distance, and when the difference between the measured distance and the actual distance exceeds a set value, determining that the scanning precision does not reach the standard, wherein the central point of the maximum numbered target paper is the optimal precision point. More preferably, the set value is 10 mm.
And step two, determining the distance between the stations measured by the laser scanner and the total number of the stations to be measured. The survey station distance refers to the distance between any two adjacent laser scanning survey stations along the axis direction of the tunnel; the total number of the stations is the number of laser scanning times required for detecting the primary branch quality of the tunnel; the survey station spacing satisfies the following formula:
S＝D×tanθ
in the formula, S is a station spacing, m; d is the designed section diameter of the initial support of the tunnel, m; theta is the maximum incident angle of the laser scanner;
the total number of stations satisfies the following formula:
in the formula, N is the total number of the stations to be detected, and L is the total length of the tunnel to be detected and m; and S is the measuring station distance m.
In this embodiment, the station measurement distance of the laser scanner is: s is 6.4 × tan θ is 36m, 79.92 °. Then the distance between the measuring stations is 36m, and the total number of the measuring stations is:
5 are taken.
And step three, acquiring point cloud data of the surface of the primary support of the tunnel.
The point cloud data refers to three-dimensional coordinates of primary tunnel supporting surface points in a coordinate system of the tunnel monitoring reference points; and performing laser scanning operation on each station to obtain point cloud data of all stations, and then performing point cloud data splicing in a Cyclone matched post-processing software to obtain complete tunnel primary support surface point cloud data.
In this embodiment, each survey station performs laser scanning operation on the tunnel to obtain point cloud data of 5 survey stations. And then carrying out point cloud data splicing in Cyclone matched post-processing software to obtain about 1.5 hundred million complete three-dimensional coordinate data of the primary support surface points of the tunnel to be detected.
And step four, determining the mileage of the tunnel section to be detected, the included angle between the mileage tunnel section and the x axis of the coordinate system of the tunnel monitoring reference point and the coordinate of the center point of the mileage tunnel section according to the detection requirement of the tunnel section on the construction site, and extracting the point coordinate of the mileage tunnel section according to the set extraction width.
In some preferred embodiments, three-dimensional point coordinates of the tunnel section at the mileage are extracted, wherein the extraction width satisfies the following formula:
wherein W is an extractWidth, mm; n is the total number of three-dimensional coordinate points obtained by three-dimensional laser scanning; d is the designed section diameter of the initial support of the tunnel, m; l is the tunnel length, m; rho is data point line density, mm-1And taking 2-3.
In some preferred embodiments, the extracted three-dimensional point coordinates of the tunnel section at the mileage satisfy the following formula:
|(xi-x0)sinα-(yi-y0)cosα|≤W i＝1,2,3,…,n
in the formula (x)i,yi,zi) Monitoring point coordinates under a reference point coordinate system for the tunnel; (x)0,y0,z0) The coordinates of the center point of the section of the tunnel to be detected under the coordinate system of the tunnel monitoring reference point are obtained; n is the total number of three-dimensional coordinate points obtained by three-dimensional laser scanning; alpha is the included angle between the section of the tunnel to be detected and the x axis of the coordinate system of the tunnel monitoring datum point, and the anticlockwise turning direction is taken as positive.
In this embodiment, a tunnel section is taken every 10m from the initial mileage of a mine tunnel, and the overbreak and underexcavation conditions of 18 sections are detected, where the mileage is: ZDK20+100, ZDK20+110, ZDK20+120, ZDK20+130, ZDK20+140, ZDK20+150, ZDK20+160, ZDK20+170, ZDK20+180, ZDK20+190, ZDK20+200, ZDK20+210, ZDK20+220, ZDK20+230, ZDK20+240, ZDK20+250, ZDK20+260, ZDK20+ 270.
In this embodiment, the density of the data dot line is 2mm-1The extraction width is shown in fig. 2, and the calculation method is as follows:
the method for extracting the point coordinates is specifically described by taking the section at the tunnel mileage ZDK20+230 as an example. As shown in FIG. 2, the center point coordinate of the tunnel cross section is (x)0，y0，z0) And (18512.002, 31602.765 and 78.010), wherein the included angle between the detection section and the x axis of the coordinate system of the tunnel monitoring reference point is 74.02 degrees. In the three-dimensional point coordinates obtained by laser scanning, the point coordinates (x)1，y1，z1) And (x)2，y2，z2) For example, (x)1，y1，z1)＝(118512.0282，31602.423，81.172)，(x2，y2，z2) When the point x is determined to be (118512.0279, 31602.3875, 81.166)1，x2The method for judging whether the extraction width requirement is met is as follows:
|(x1-x0)sinα-(y1-y0)cosα|＝|(118512.0282-18512.002)×sin74.02°-(31602.423-31602.765)×cos74.02°|＝0.040＜0.045
|(x2-x0)sinα-(y2-y0)cosα|＝|(118512.0279-18512.002)×sin74.02°-(31602.3875-31602.765)×cos74.02°|＝0.047＞0.045
thus, the point coordinate (x)1，y1，z1) Satisfactory, point coordinates (x)2，y2，z2) It is not satisfactory. So that the point coordinate (x)1，y1，z1) And extracting the coordinates of other points in the same way. And finally, extracting all the coordinate points of which the cross section at the ZDK20+230 meets the width requirement, wherein the number of the coordinate points is 19962.
And fifthly, projecting the point coordinates within the extracted width onto the section of the tunnel to be detected. The three-dimensional point coordinate projection refers to converting the three-dimensional point coordinate under the tunnel monitoring reference point coordinate system in the fourth step into a local coordinate system of the section of the tunnel to be measured;
the coordinates of projection points under the local coordinate system of the section of the tunnel to be detected meet the following formula:
y′j＝(xj-x0)cosα+(yj-y0)sinα+y0
z′j＝zi j＝1,2,3,…,k
in the formula (x)jYj, zj) is the three-dimensional coordinate point which meets the requirement of extracting the width in the fourth step; (y'j,z′j) The point coordinates of the tunnel section to be detected under the local coordinate system are obtained; (x)i,yi,zi) Monitoring point coordinates under a reference point coordinate system for the tunnel; (x)0,y0,z0) The coordinates of the center point of the section of the tunnel to be detected under the coordinate system of the tunnel monitoring reference point are obtained; k is the number of the three-dimensional coordinate points meeting the requirement of the extraction width in the fourth step; alpha is the included angle between the section of the tunnel to be detected and the x axis of the coordinate system of the tunnel monitoring datum point, and the anticlockwise turning direction is taken as positive.
In this embodiment, the tunnel mileage ZDK20+230 is still used, and the coordinates of the section point (x)1，y1，z1) To illustrate the projection method, (x)1，y1，z1) When the tunnel section is (118512.0282, 31602.423, 81.172), the point coordinates in the local coordinate system of the projected tunnel section are calculated as follows:
y′1＝(x1-x0)cosα+(y1-y0)sinα+y0＝(18512.0282-18512.002)×sin74.02°+(31602.423-31602.765)×cos74.02°+31602.765＝31602.696
z′1＝z1＝81.172
then the section coordinate point (x) at the tunnel mileage ZDK20+230 can be obtained1，y1，z1) Projection coordinates of (y'1,z′1) And (31602.696,81.172), the projection calculation method of the coordinates of other points in the section extraction width is the same as the above.
And step six, determining a type value point used for projection point coordinate fitting according to the actual engineering situation, and fitting and constructing a curve y (f) (x) by using a cubic interpolation spline. The smooth curve f (x) determined by the interpolation fitting method is the actual boundary obtained by the excavation of the tunnel section.
The method for determining the type value point comprises the following steps:
(1) determining the section range of the tunnel to be detected according to the actual engineering condition;
(2) dividing the tunnel section within the range of the tunnel section to be detected into m fan-shaped areas along the circumferential direction according to the angle beta;
(3) taking one of the sectors as an example, the very center in the sector
Randomly selecting a projection in an angular regionThe points are used as the type value points for fitting in the sector area, the determination methods of the type value points in other sector areas are the same, and m type value points for interpolation fitting can be determined theoretically. Due to the sparse data points of the laser scanning in the local range, the number of actually obtained type value points may be less than m.
In this example, the projection point information in the range of the central angle of the tunnel cross section being 60 degrees is missing due to the influence of the track of the trolley and the like, and therefore the fitting range is selected as the area of the central angle being 300 degrees. As shown in fig. 3, the tunnel section is divided into 75 sector areas equally according to 4 degrees along the circumferential direction, then a projection point is selected from a 2-degree area in the center of one of the sector areas as a type value point for fitting in the sector area, and the determination methods of the type value points in the other sector areas are the same. And as the laser scanning data points in the local range are sparse, 73 type value points for interpolation fitting are obtained finally. And fitting the obtained 73 projection point coordinates by using a cubic interpolation spline to obtain a smooth curve, namely the actual excavation boundary of the tunnel section.
And seventhly, determining the over-under-excavation amount and the over-under-excavation position of the section of the tunnel.
In this example, the initial section diameter of the tunnel is 6.4 m. As shown in fig. 4, the center point coordinate (y) of the cross section at the tunnel mileage ZDK20+230 in step four0，z0) And (31602.765, 78.010) is taken as the center of a circle, the fitting curve obtained in the step six and the tunnel initial support design excavation boundary (a circle with the radius of 3.2 m) are drawn, and the over-under excavation position and the over-under excavation amount can be clearly compared.
And according to the actual engineering condition, repeating the fourth step to the sixth step to obtain the initial quality condition of the tunnel section at other mileage positions.
Claims (10)
1. A method for detecting the excavation and primary support quality of a mine tunnel is characterized by comprising the following steps: the method comprises the following steps:
firstly, determining an optimal precision point and the maximum incident angle of a laser beam of a laser scanner;
arranging a plurality of target papers on the arch waist of the tunnel to be detected along the horizontal direction of the axis of the tunnel, and determining one of the target papers as the optimal precision point;
the maximum incidence angle refers to an included angle between a connecting line of a laser beam emission point of the laser scanner and the optimal precision point and the cross section of the tunnel where the laser beam emission point of the laser scanner is located;
secondly, determining the distance between the stations measured by the laser scanner and the total number of the stations to be measured;
the survey station distance refers to the distance between any two adjacent laser scanning survey stations along the axis direction of the tunnel;
the total number of the stations is the number of laser scanning times required for detecting the primary branch quality of the tunnel;
thirdly, acquiring point cloud data of the surface of the primary support of the tunnel;
the point cloud data refers to three-dimensional coordinates of tunnel primary support surface points in a coordinate system of the tunnel monitoring reference points;
performing laser scanning operation on each survey station to obtain point cloud data of all the survey stations, and then performing point cloud data splicing to obtain complete tunnel primary support surface point cloud data;
fourthly, according to the detection requirement of the construction site tunnel section, determining the mileage of the tunnel section to be detected, the included angle between the tunnel section at the mileage position and the x axis of the coordinate system of the tunnel monitoring reference point, and the coordinate of the center point of the tunnel section at the mileage position, and then extracting the three-dimensional point coordinate of the tunnel section at the mileage position;
fifthly, projecting the extracted three-dimensional point coordinates onto a tunnel section to be detected;
the three-dimensional point coordinate projection refers to converting the three-dimensional point coordinate in the tunnel monitoring reference point coordinate system in the fourth step into a local coordinate system of the section of the tunnel to be measured;
sixthly, determining a model value point used for projection point coordinate fitting, and fitting to construct a smooth curve y (f) (x), wherein the smooth curve f (x) is an actual boundary obtained by tunnel section excavation;
seventhly, determining the over-under excavation amount and the over-under excavation position of the section of the tunnel;
and drawing a fitting curve obtained in the sixth step and a tunnel initial support design excavation boundary by taking the coordinate of the center point of the section of the tunnel where the mileage to be detected in the fourth step is located as the circle center, so as to compare the over-under excavation position and the over-under excavation amount.
2. The mining method tunnel excavation and primary support quality detection method according to claim 1, characterized in that: in a first step, the determining the optimal precision point comprises:
the method comprises the steps of arranging a plurality of target paper on the arch waist of a tunnel to be detected at equal intervals along the horizontal direction of the axis of the tunnel, sequentially measuring the distance between every two adjacent target paper, comparing the measured distance with the actual distance, and when the difference between the measured distance and the actual distance of the target paper exceeds a set value, determining that the scanning precision does not reach the standard, wherein the central point of the target paper is the optimal precision point.
3. The mining method tunnel excavation and primary support quality detection method according to claim 2, characterized in that: the determining the optimal precision point specifically comprises the following steps:
s1: pasting the target paper on the arch waist of the tunnel to be detected along the horizontal direction of the axis of the tunnel, numbering the target paper from near to far by taking a laser scanner as a center, and spacing a distance between the adjacent target paper;
s2: carrying out distance measurement operation by utilizing a laser scanner, arranging the laser scanner on the central axis of the tunnel, and sequentially measuring the distance between each two adjacent target papers;
s3: comparing the measured distance with the actual distance, and when the difference between the measured distance and the actual distance exceeds the set value, determining that the scanning precision does not reach the standard, wherein the central point of the maximum numbered target paper is the optimal precision point.
4. The mining method tunnel excavation and primary support quality detection method according to claim 1, characterized in that: and after the optimal precision point is determined, measuring the maximum incidence angle through a total station.
5. The mining method tunnel excavation and primary support quality detection method according to claim 1, characterized in that: in the second step, the station spacing satisfies the following formula:
S＝D×tanθ
in the formula, S is a station spacing, m; d is the designed section diameter of the initial support of the tunnel, m; theta is the maximum incident angle of the laser scanner;
the total number of stations satisfies the following formula:
in the formula, N is the total number of the stations to be detected, and L is the total length of the tunnel to be detected and m; and S is the measuring station distance m.
6. The mining method tunnel excavation and primary support quality detection method according to claim 1, characterized in that: in the fourth step, the three-dimensional point coordinates of the tunnel section at the mileage are extracted, wherein the extraction width satisfies the following formula:
wherein W is the extraction width, mm; n is the total number of three-dimensional coordinate points obtained by three-dimensional laser scanning; d is the designed section diameter of the initial support of the tunnel, m; l is the tunnel length, m; rho is data point line density, mm-1And taking 2-3.
7. The mining method tunnel excavation and primary support quality detection method according to claim 1, characterized in that: in the fourth step, the extracted three-dimensional point coordinates of the section of the tunnel at the mileage position satisfy the following formula:
|(xi-x0)sinα-(yi-y0)cosα|≤W i＝1,2,3,…,n
in the formula (x)i,yi,zi) Monitoring point coordinates under a reference point coordinate system for the tunnel; (x)0,y0,z0) For monitoring tunnelsCoordinates of the center point of the section of the tunnel to be detected under the quasi-point coordinate system; n is the total number of three-dimensional coordinate points obtained by three-dimensional laser scanning; alpha is an included angle between the section of the tunnel to be detected and the x axis of the coordinate system of the tunnel monitoring reference point, and the anticlockwise turning direction is taken as positive; w is the extraction width.
8. The mining method tunnel excavation and primary support quality detection method according to claim 1, characterized in that: and in the fifth step, the coordinates of projection points under the local coordinate system of the section of the tunnel to be detected meet the following formula:
y′j＝(xj-x0)cosα+(yj-y0)sinα+y0
z′j＝zi j＝1,2,3,…,k
in the formula (x)j,yj,zj) Extracting three-dimensional coordinate points meeting the width requirement in the fourth step; (y'j,z′j) The point coordinates of the tunnel section to be detected under the local coordinate system are obtained; (x)i,yi,zi) Monitoring point coordinates under a reference point coordinate system for the tunnel; (x)0,y0,z0) The coordinates of the center point of the section of the tunnel to be detected under the coordinate system of the tunnel monitoring reference point are obtained; k is the number of the three-dimensional coordinate points meeting the requirement of the extraction width in the fourth step; alpha is the included angle between the section of the tunnel to be detected and the x axis of the coordinate system of the tunnel monitoring datum point, and the anticlockwise turning direction is taken as positive.
9. The mining method tunnel excavation and primary support quality detection method according to claim 1, characterized in that: the value point determination method in the sixth step includes:
(1) determining the section range of the tunnel to be detected according to the actual engineering condition;
(2) dividing the tunnel section within the range of the tunnel section to be detected into m fan-shaped areas along the circumferential direction according to the angle beta;
(3) based on the midline of one sector area, the center of the sector area
And randomly selecting a projection point in the angle area as a type value point for fitting in the sector area, wherein the type value points in other sector areas are determined by the same method, and m type value points for interpolation fitting can be determined.
10. The mining method tunnel excavation and primary support quality detection method according to any one of claims 1 to 9, characterized in that: and repeating the fourth step to the sixth step according to the actual engineering condition, so as to detect the initial support quality conditions of different tunnel mileage positions.
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