CN110686616A - TBM tunnel surrounding rock morphology acquisition method and device - Google Patents
TBM tunnel surrounding rock morphology acquisition method and device Download PDFInfo
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- 239000011435 rock Substances 0.000 title claims abstract description 114
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 41
- 239000010959 steel Substances 0.000 claims abstract description 41
- 238000012545 processing Methods 0.000 claims abstract description 3
- 238000004804 winding Methods 0.000 claims description 31
- 230000008569 process Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 2
- 230000005641 tunneling Effects 0.000 abstract description 7
- 238000011158 quantitative evaluation Methods 0.000 abstract 1
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- 238000011160 research Methods 0.000 description 2
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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Abstract
The invention provides a TBM tunnel surrounding rock morphology acquisition method and device. Firstly, the device moves to the starting end of a surrounding rock section along with the steel arch assembling machine, and the stepping motor drives the circumferential moving device to move to the limit position of one end of the guide rail along the guide rail, so that the positioning of the circumferential moving device is completed. And then, the stepping motor rotates reversely, the circumferential moving device moves to the limit position of the other end of the guide rail along the guide rail, and the surrounding rock observation device fixed on the circumferential moving device acquires surrounding rock images at constant frequency. And then, the steel arch assembling machine moves to the next position along the tunnel, and the surrounding rock morphology acquisition is continued until the surrounding rock morphology acquisition is completed. And finally, all the acquired images are spliced together in sequence through image processing. The method can automatically acquire the surrounding rock morphology image, provides data support for quantitative evaluation of surrounding rock characteristics in the image, conjecture of the geology in front of the tunnel face and realization of geological forecast, and lays a foundation for realizing intelligent decision of TBM tunneling speed and support mode.
Description
Technical Field
The invention relates to the technical field of tunneling construction of a full-face Tunnel Boring Machine (TBM), in particular to a method and a device for acquiring the surrounding rock morphology of a TBM Tunnel.
Background
The TBM method has become an important choice among tunnel construction methods at home and abroad. However, due to the limitation of a plurality of factors such as time, technical equipment and technical level, geological survey before tunnel construction cannot be very detailed, and the construction process often encounters some unfavorable geological conditions which are not marked in geological data, so that the smooth construction of the TBM is influenced. Therefore, during construction (particularly when an undefined unfavorable geological section is passed), a surrounding rock image needs to be acquired to analyze the current geological condition, so that the geology in front of the tunnel face is predicted, and a supporting mode is determined.
At present, surrounding rock image acquisition work in the TBM construction process is carried out in a manual mode, but the range of image acquisition is limited by the range of motion of operators, the effect of the shot image is poor, the image space position information is fuzzy, and the surrounding rock characteristics cannot be quantitatively evaluated without a determined image scale. The problems directly affect the accuracy of surrounding rock condition judgment and geological prediction, and further affect the reliability of support decision-making.
Research in the aspect of the surrounding rock appearance collection system is few, and Qinghua university has designed a section based on segment erector and has been applicable to the surrounding rock observation system in two shield TBM construction tunnels, and patent application number is: 201811120125.2. the device utilizes the observation hole of predetermineeing on the section of jurisdiction to acquire the country rock photo, and reuse valve seal observation hole of design after accomplishing image acquisition.
According to the existing few researches and aiming at the defects of manual acquisition, the invention provides a method and a device for acquiring the surrounding rock morphology of a TBM tunnel, which automatically acquire surrounding rock morphology images by matching image acquisition frequency and circumferential movement speed, provide data support for obtaining complete tunnel surrounding rock morphology by using an image splicing technology, quantitatively evaluate the surrounding rock characteristics in the images, estimate the front geology of a tunnel face and realize geological forecast, and lay a foundation for realizing intelligent decision of TBM tunneling speed and support mode.
Disclosure of Invention
The invention aims to provide a method and a device for acquiring the surrounding rock morphology of a TBM (tunnel boring machine) tunnel, so as to solve the problems of limited acquisition area, poor imaging quality, fuzzy image space information and incapability of using an image for quantitative analysis in the conventional acquisition of the surrounding rock morphology of the TBM tunnel.
In a first aspect, the invention provides a method for acquiring the surrounding rock morphology of a TBM tunnel, which comprises the following steps:
1) and (3) installing the TBM tunnel surrounding rock morphology acquisition device on a TBM steel arch assembling machine base.
2) The device moves to the starting end of the surrounding rock ring segment with the appearance needing to be collected along with the steel arch assembling machine to complete axial positioning; the stepping motor drives the circumferential moving device to move to the limit position of one end of the guide rail along the guide rail, and positioning of the circumferential moving device is completed.
3) The stepping motor rotates reversely, the circumferential moving device is driven to move to the limit position of the other end of the guide rail along the guide rail at a constant speed, and the surrounding rock observation device fixed on the circumferential moving device collects surrounding rock images at a frequency matched with the circumferential moving speed.
4) The steel arch assembling machine advances to the next position along the tunnel, and the step 3 is repeated until the surrounding rock appearance of a complete ring is collected;
5) splicing the images acquired by one-time circumferential motion into one image through image processing, and sequentially splicing the synthesized circumferential surrounding rock morphology images together to obtain a morphology circumferential expansion synthetic image of a ring of surrounding rocks;
6) and finally, sequentially splicing the surrounding rock appearance circumferential expansion synthetic graphs of each ring to obtain the surrounding rock appearance circumferential expansion synthetic graph of the whole tunnel.
The guide rail is arc-shaped, and the circumferential movement device can move circumferentially along the guide rail, so that the surrounding rock observation device can acquire complete surrounding rock appearance.
The circumferential movement speed of the circumferential moving device can be adjusted by changing an input signal of the stepping motor, the acquisition frequency of the surrounding rock observation device can be adjusted by changing a control signal of the surrounding rock observation device, and the acquisition frequency of the corresponding surrounding rock observation device can be matched by adjusting the circumferential movement speed of the circumferential moving device to acquire the required image acquisition speed.
The device can calculate and record the tunnel axial position information of each surrounding rock image by combining the TBM position information and the steel arch erector base position information. The tunnel circumferential position information of each image can be calculated and recorded by combining the guide rail limit position and the movement speed of the stepping motor.
Wherein, the whole process of collecting the surrounding rock morphology is controlled by a computer.
In a second aspect, an embodiment of the present invention provides a TBM tunnel surrounding rock morphology acquisition apparatus, where the apparatus includes: the device comprises a surrounding rock observation device, a circumferential moving device, an H-shaped guide rail, a winding device, a tensioning device and a take-up reel.
In one embodiment of the invention, the circumferential moving device is composed of a connecting shaft, a wheel plate, a guide rail wheel and a steel wire rope connector. Three guide rail wheels are respectively arranged on two sides of the H-shaped guide rail, and the three guide rail wheels are arranged on the wheel plate in a triangular mode, so that the circumferential moving device can be limited on the H-shaped guide rail, and the smooth movement of the device can be guaranteed. The wheel plates on two sides of the H-shaped guide rail are connected through the connecting shaft. The steel wire rope connector is fixed on the connecting shaft and used for fixing a steel wire rope rolled by the winding device and driving the circumferential moving device to move.
In one embodiment of the invention, the winding device is composed of a winding drum, a coupling and a stepping motor. The winding reel is a hollow cylinder, a spiral line groove is formed in the surface of the winding reel, so that a wire can be wound conveniently, through holes are formed in the two ends of the line groove, a steel wire rope can be fixed in the through holes, and when the winding reel rotates, the wire is wound up at one end and is wound off at the other end, so that the length of the external steel wire rope is basically unchanged.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a TBM tunnel surrounding rock morphology acquisition method according to an embodiment of the invention;
fig. 2 is a schematic overall structure diagram of a TBM tunnel surrounding rock morphology acquisition device according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a surrounding rock observation device according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a circumferential movement device according to an embodiment of the present invention;
fig. 5 is a schematic view of an installation structure of a TBM tunnel surrounding rock morphology acquisition device according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of an H-shaped rail of one embodiment of the present invention;
fig. 7 is a schematic structural view of a wire winding device according to an embodiment of the present invention;
fig. 8 is a schematic diagram illustrating the operation of the winding device according to an embodiment of the present invention.
Description of reference numerals:
101-surrounding rock observation device, 102-circumferential moving device, 103-H-shaped guide rail, 104-coiling device, 105-tensioning device, 106-take-up reel, 1-main frame, 2-camera, 3-lens, 4-protective cover, 5-lens protective cover, 6-organic glass plate, 7-light source, 8-light source mounting seat, 9-bolt mounting hole, 10-connecting shaft, 11-wheel plate, 12-guide rail wheel, 13-steel wire rope connector, 14-TBM steel arch frame assembling machine base, 15-lateral bearing wheel, 16-guide wheel, 17-TBM main beam, 18-guide groove, 19-coiling drum, 20-coiling drum, 21-coupler and 22-stepping motor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
The method and the device for acquiring the surrounding rock morphology of the TBM tunnel provided by the embodiment of the invention are described below with reference to the accompanying drawings.
Fig. 1 is a flow chart of a TBM tunnel surrounding rock morphology acquisition method according to an embodiment of the present invention.
Referring to fig. 1, the method includes the steps of:
1) and (3) installing the TBM tunnel surrounding rock morphology acquisition device on a TBM steel arch assembling machine base.
2) The device moves to the starting end of the surrounding rock ring segment of which the surrounding rock appearance needs to be collected along with the steel arch assembling machine, and the circumferential positioning of the device is completed.
3) The stepping motor drives the circumferential moving device to move to the limit position of one end of the guide rail along the guide rail, and positioning of the circumferential moving device is completed.
4) The stepping motor rotates reversely, the circumferential moving device is driven to move along the guide rail at a constant speed, and the surrounding rock observation device fixed on the circumferential moving device collects surrounding rock images at a constant frequency matched with the circumferential moving speed.
5) And the circumferential moving device moves to the limit position at the other end of the guide rail, and the surrounding rock observation device stops collecting images.
6) And judging whether the shape of the surrounding rock is completely collected.
7) And if the steel arch truss assembling machine is not completely collected, the steel arch truss assembling machine advances to the next position along the tunnel. And (4) repeating the steps 4-6.
8) And if the acquisition is complete, sequentially splicing the acquired surrounding rock images together to obtain a shape circumferential expansion synthetic image of a ring of surrounding rocks.
9) And splicing the appearance circumferential expansion synthetic image of a ring of surrounding rocks into the tunnel circumferential expansion synthetic image.
10) If the TBM continues to drive, repeat steps 2-9. And if the TBM stops tunneling, obtaining a complete tunnel surrounding rock morphology circumferential expansion synthetic graph.
Fig. 2 is a schematic overall structure diagram of the TBM tunnel surrounding rock morphology acquisition device according to an embodiment of the present invention.
As shown in fig. 2, the TBM tunnel surrounding rock morphology acquisition device includes: the surrounding rock observation device 101 is used for acquiring a TBM tunnel surrounding rock image; the circumferential moving device 102 is used for ensuring circumferential movement of the surrounding rock observation device; the H-shaped guide rail 103 is used for providing a motion track for the circumferential moving device; a wire winding device 104 for driving the circumferential moving device by rolling the wire rope; a tensioning device 105 for ensuring the wire rope is tight; and the take-up reel 106 is used for tightening a power line and a data line of the surrounding rock observation device. The device can rapidly acquire the surrounding rock morphology, quantitatively evaluate the surrounding rock characteristics, provide data support for conjecture of the geology in front of the tunnel face and realization of geological forecast, and lay a foundation for realizing intelligent decision of TBM tunneling speed and support mode.
Further, in one embodiment of the present invention, the surrounding rock observation device 101 is composed of a main body frame 1, a camera 2, a lens 3, a protective cover 4, a lens protective cover 5, a plexiglas plate 6, a light source 7 and a light source mounting base 8.
Further, in one embodiment of the present invention, the body frame 1 spans the H-shaped guide rail, and the lower end of the body frame 1 is connected to the circumferential moving device. The protective cover 4 is fixed at the bolt mounting hole of the main body frame, the lens protective sleeve 5 is arranged at the upper end of the protective cover, and the organic glass plate 6 is arranged on the lens protective sleeve. The camera 2 is mounted in the protective cover, and the lens 3 is mounted on the camera. The light source mounting seat 8 is fixed at the bolt mounting hole of the main body frame, and the light source 7 is fixed in the light source mounting seat.
That is, as shown in fig. 3, the body frame 1 spans the H-shaped guide rail, and the lower end is connected to the circumferential moving device. The protection casing 4 is fixed in 9 departments of bolt mounting hole on the main part frame, and the camera is arranged in the protection casing with the camera lens in, and camera lens protective sheath 5 is installed in the protection casing upper end, and organic glass board 6 is installed on the camera lens protective sheath to guarantee that camera and camera lens are not damaged by falling rocks at the during operation. The light source mounting seat 8 is fixed at the bolt mounting hole of the main body frame, and the light source 7 is fixed in the light source mounting seat. The camera and the light source are controlled by an external data line or a power line.
In one embodiment of the present invention, the circumferential moving device 102 is composed of a connecting shaft 10, a wheel plate 11, rail wheels 12 and a wire rope connector 13, wherein 3 rail wheels are respectively arranged on two sides of the H-shaped guide rail, each rail wheel is arranged at a corresponding position of the wheel plate, and the wheel plates on two sides of the H-shaped guide rail are connected through the connecting shaft.
Further, in an embodiment of the present invention, a wire rope connector 12 is fixed to the connecting shaft 10 for fixing a wire rope wound by the wire winding device.
That is, as shown in fig. 4, the circumferential moving device 102 is composed of a connecting shaft 10, a wheel plate 11, rail wheels 12 and a wire rope connector 13, wherein 3 rail wheels are respectively arranged on two sides of the H-shaped guide rail, each rail wheel is arranged at a corresponding position of the wheel plate, and the wheel plates on two sides of the H-shaped guide rail are connected through the connecting shaft. The steel wire rope connector is fixed on the connecting shaft and used for fixing a steel wire rope rolled by the wire winding device. When the device works, the wire coiling device rolls the steel wire rope, so that the circumferential moving device is pulled to do circular motion along the H-shaped guide rail.
In one embodiment of the invention, an H-shaped guide rail 103 is welded on a TBM steel arch assembling machine base 14 through a square pipe, and lateral bearing wheels 15 are arranged on two sides of the base, wherein the H-shaped guide rail is arc-shaped, the section of the guide rail is H-shaped, so that the guide rail wheels move on the H-shaped guide rail, guide wheels 16 are arranged on the outer side of the H-shaped guide rail to provide guidance and support for a steel wire rope, and a wire guide groove 18 is formed on one side of the inner side of the H-shaped guide rail to provide guidance for a power wire and a data wire.
That is, as shown in fig. 5-6, the H-shaped guide rail is welded on the base 14 of the TBM steel arch erector through a square pipe, and is mounted with lateral bearing wheels 15 on both sides. The base assembled by the steel arch frame drives the H-shaped guide rail to move on the TBM main beam 17. The H-shaped guide rail is arc-shaped, the section of the guide rail is H-shaped, and the guide rail wheel of the circumferential moving device can move on the H-shaped guide rail. The outer side of the H-shaped guide rail is provided with a guide wheel 16 for providing guidance and support for the steel wire rope, and one side of the inner side of the H-shaped guide rail is provided with a wire guide groove 18 for providing guidance for a power wire and a data wire.
In one embodiment of the present invention, the winding device 104 is composed of a winding reel 19, a reel 20, a coupling 21, and a stepping motor 22. The winding reel is a hollow cylinder, a spiral line groove is formed in the surface of the winding reel, so that a wire can be wound conveniently, through holes are formed in the two ends of the line groove, a steel wire rope can be fixed in the through holes, and when the winding reel rotates, the wire is wound up at one end and is wound off at the other end, so that the length of the external steel wire rope is basically unchanged. The structure of the winding device is shown in fig. 7, and the operation principle of the winding device is shown in fig. 8.
The working principle of the present invention is explained below according to a specific embodiment thereof, as shown in fig. 1 to 8.
1) Moving the TBM steel arch assembling machine to enable the H-shaped guide rail to move to a specified position, starting the wire winding device, driving the circumferential moving device to move to an extreme position at one end of the H-shaped guide rail through the steel wire rope, and completing resetting of the circumferential moving device;
2) turning on a light source, starting a camera, and driving a circumferential moving device to do circular motion along an H-shaped guide rail by forward rotation of a winding device;
3) the circumferential moving device moves to the limit position of the other end of the H-shaped guide rail, the wire coiling device and the camera are closed, the TBM steel arch assembling machine is moved again, and the H-shaped guide rail moves to the next specified position;
4) starting the camera, reversely rotating the winding device and driving the circumferential moving device to do circular motion along the H-shaped guide rail;
5) repeating the steps 3 and 4 until the surrounding rock image of one ring is completely collected;
6) sequentially splicing the surrounding rock images acquired by the primary circumferential motion to obtain a surrounding rock appearance circumferential expansion synthetic image;
7) sequentially splicing the surrounding rock appearance circumferential expansion synthetic graphs to obtain an appearance circumferential expansion synthetic graph of a ring of surrounding rocks;
8) splicing the newly acquired shape circumferential expansion synthetic image of a ring of surrounding rocks into a tunnel surrounding rock shape circumferential expansion synthetic image;
9) and (5) repeating the steps 1-8 until the TBM tunneling is completed.
According to the TBM tunnel surrounding rock morphology acquisition device provided by the embodiment of the invention, the morphology information of the TBM surrounding rock in the construction section can be acquired in time along with the advance of the TBM, so that the complete tunnel surrounding rock morphology is obtained by using an image splicing technology, the surrounding rock characteristics in the image are quantitatively evaluated, the geology in front of the tunnel face is presumed, the data support is provided for geological forecast, and the intelligent decision on the TBM tunneling speed and the support mode is finally realized.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (8)
1. The TBM tunnel surrounding rock morphology acquisition method is characterized in that a ring of surrounding rock is divided into multiple sections for shooting, surrounding rock morphology images are rapidly acquired by matching image acquisition frequency and circumferential movement speed, and complete tunnel surrounding rock morphology is acquired by using an image splicing technology, and the method comprises the following steps:
1) installing a TBM tunnel surrounding rock morphology acquisition device on a TBM steel arch assembling machine base;
2) the device moves to the starting end of a surrounding rock ring segment needing to collect the surrounding rock appearance along with the steel arch assembling machine to complete axial positioning;
3) the stepping motor drives the circumferential moving device to move to the limit position of one end of the guide rail along the guide rail to complete the positioning of the circumferential moving device;
4) the stepping motor rotates reversely, the circumferential moving device is driven to move to the limit position of the other end of the guide rail along the guide rail at a constant speed, and the surrounding rock observation device fixed on the circumferential moving device collects surrounding rock images at a frequency matched with the circumferential moving speed.
5) The steel arch assembling machine advances to the next position along the tunnel, and the step 4 is repeated until the surrounding rock appearance of a ring is collected;
6) splicing the images acquired by one-time circumferential motion into one image through image processing, and sequentially splicing the synthesized circumferential surrounding rock morphology images together to obtain a morphology circumferential expansion synthetic image of a ring of surrounding rocks;
7) and finally, sequentially splicing the surrounding rock appearance circumferential expansion synthetic graphs of each ring to obtain the surrounding rock appearance circumferential expansion synthetic graph of the whole tunnel.
2. The TBM tunnel surrounding rock morphology acquisition method of claim 1, wherein the guide rail is arc-shaped, and the circumferential movement device can move circumferentially along the guide rail, so that the surrounding rock observation device can acquire complete surrounding rock morphology.
3. The TBM tunnel surrounding rock morphology acquisition method according to claim 1, wherein the circumferential movement speed of the circumferential moving device can be adjusted by changing an input signal of a stepping motor, the acquisition frequency of the surrounding rock observation device can be adjusted by changing a control signal of the surrounding rock observation device, and the required image acquisition speed can be obtained by adjusting the circumferential movement speed of the circumferential moving device to match the acquisition frequency of the corresponding surrounding rock observation device.
4. The TBM tunnel surrounding rock morphology acquisition method as claimed in claim 1, wherein the device can calculate and record tunnel axial position information of each surrounding rock image by combining TBM position information and steel arch assembly machine base position information; the tunnel circumferential position information of each image can be calculated and recorded by combining the guide rail limit position and the movement speed of the stepping motor.
5. The TBM tunnel surrounding rock morphology acquisition method as claimed in claim 1, wherein the whole surrounding rock morphology acquisition process is controlled by a computer.
6. The utility model provides a TBM tunnel country rock appearance collection system which characterized in that, the device includes:
the surrounding rock observation device is used for acquiring a TBM tunnel surrounding rock morphology image;
the circumferential moving device is used for ensuring circumferential movement of the surrounding rock observation device;
the H-shaped guide rail provides a circumferential motion track for the circumferential moving device;
the wire coiling device provides drive for the circumferential moving device through a steel wire rope in a rolling mode;
the tensioning device is used for ensuring the steel wire rope to be tight;
and the take-up reel is used for tightening a power line and a data line of the surrounding rock observation device.
7. The TBM tunnel surrounding rock morphology acquisition device according to claim 6, wherein the circumferential movement device is composed of a connecting shaft, a wheel plate, guide rail wheels and a steel wire rope connector, wherein three guide rail wheels are respectively arranged on two sides of the H-shaped guide rail, and the three guide rail wheels are arranged on the wheel plate in a triangular shape, so that the circumferential movement device can be limited on the H-shaped guide rail and the smoothness of the movement of the device can be ensured; the wheel plates on two sides of the H-shaped guide rail are connected through the connecting shaft; the steel wire rope connector is fixed on the connecting shaft and used for fixing a steel wire rope rolled by the winding device and driving the circumferential moving device to move.
8. The TBM tunnel surrounding rock morphology acquisition device according to claim 6, wherein the winding device comprises a winding drum, a coupler and a stepping motor, wherein the winding drum is a hollow cylinder, a spiral slot is formed in the surface of the winding drum so as to facilitate winding, through holes are formed in two ends of the slot so as to fix the steel wire rope, and when the winding drum rotates, one end of the winding drum is wound up, and the other end of the winding drum is wound off, so that the length of the external steel wire rope is basically unchanged.
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| CN111751394B (en) * | 2020-04-17 | 2021-08-27 | 山东大学 | Lithology identification method and system based on image and XRF mineral inversion |
| US20220075377A1 (en) * | 2020-09-04 | 2022-03-10 | Beijing Research Institute Of Uranium Geology | Automatic scanning system for tunnel walls constructed by open-type tbm |
| CN113532517A (en) * | 2021-06-28 | 2021-10-22 | 同济大学 | Tunnel working face stability real-time fine evaluation device and method |
| CN113532517B (en) * | 2021-06-28 | 2022-07-22 | 同济大学 | Tunnel working face stability real-time fine evaluation device and method |
| CN114320316A (en) * | 2022-01-14 | 2022-04-12 | 重庆邮电大学 | Shield tunneling machine construction early warning method and device |
| CN116824163A (en) * | 2023-05-31 | 2023-09-29 | 南京坤拓土木工程科技有限公司 | Quantitative extraction method for local instantaneous morphological characteristics of tunnel face |
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Application publication date: 20200114 |