CN112525093B - System for establishing tunnel three-dimensional model based on double-shield TBM (Tunnel boring machine) process - Google Patents
System for establishing tunnel three-dimensional model based on double-shield TBM (Tunnel boring machine) process Download PDFInfo
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- CN112525093B CN112525093B CN202011305150.5A CN202011305150A CN112525093B CN 112525093 B CN112525093 B CN 112525093B CN 202011305150 A CN202011305150 A CN 202011305150A CN 112525093 B CN112525093 B CN 112525093B
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- G—PHYSICS
- 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
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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- G—PHYSICS
- 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
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
Abstract
The invention discloses a system for establishing a tunnel three-dimensional model based on a double-shield TBM (tunnel boring machine) process, which at least comprises an upper computer and a scanner, wherein the upper computer consists of a wireless communication module, a positioning module, a data acquisition, processing and display module and a data storage module, the upper computer is in signal transmission with the scanner through a lower computer connected with the upper computer through wireless communication, and can also observe the local position of a tunnel monitored by the scanner in detail in a mode of controlling the running state of the scanner, wherein the center of the upper computer is the origin of a reference coordinate system, the coordinate of the upper computer is calibrated through the coordinate of a laser direction instrument arranged on a pipe piece in a laser guide system in the tunnel, so that the coordinate of a ground monitoring control network is introduced, the center of the scanner is the origin of a temporary coordinate system, and the profile measurement data of the tunnel surrounding rock section is expressed by polar coordinates, in addition, the scanner and the upper computer are installed in a modularized mode, and different modularized measuring devices in the scanner and the upper computer can be replaced according to needs.
Description
The invention relates to a double-shield TBM (tunnel boring machine) process based divisional application of a tunnel surrounding rock scanning and observation system, wherein the application number is 201811091211.5, the application date is 09 and 19 in 2018, the application type is the invention, and the application name is based on a double-shield TBM process.
Technical Field
The invention relates to the technical field of double shield TBM (tunnel boring machine), in particular to a system for establishing a tunnel three-dimensional model based on a double shield TBM (tunnel boring machine) process.
Background
The double shield tunneling machine construction is essentially a tunneling technology for excavating tunnels by a non-drilling and blasting method, is suitable for long tunnel construction of hard rock tunnel sections with various unfavorable geological conditions, is one type of tunneling machine, and is characterized in that the excavation and lining of tunnels can be synchronously carried out, the tunneling mode has two modes (a double shield mode and a single shield mode), the stratum with soft geology can be conveniently crushed, the advantages of high tunneling efficiency, good tunneling quality, economy, safety, environmental protection and the like can be seen from the construction characteristics of the double shield tunneling machine, the cross section profile of the surrounding rocks of the tunnels needs to be processed in the double shield tunneling machine construction process, but the prior art has the defects of difficult contact interface processing, less signal attenuation and measurement parameters, incapability of observing and acquiring the morphological characteristics of the just excavated surrounding rocks in real time, and lack of the three-dimensional model building function of the inner contour of the tunnels, to this end, we propose a system for building a three-dimensional model of a tunnel.
Disclosure of Invention
The invention aims to provide a system for establishing a tunnel three-dimensional model based on a double-shield TBM (tunnel boring machine) process, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a system for establishing a tunnel three-dimensional model based on a double-shield TBM process comprises a plurality of scanners and an upper computer, wherein the upper computer is positioned at the shield axis of an auxiliary propulsion oil cylinder, the scanners are arranged at observation holes of a shield at the section of the auxiliary propulsion oil cylinder, the center of each scanner is a temporary coordinate system original point, the upper computer and the scanners can be positioned in different tunnel sections, the scanners are in modular design and mainly comprise a surrounding rock profile scanning module, a surrounding rock profile observation module, a wireless communication module and a control module, hardware comprises a distance meter, a side inclinometer, a camera, a light source, an electronic stretching and rotating platform, a battery, a microprocessor, a signal conditioning and converting circuit, the upper computer comprises a wireless communication module, a positioning module, a data acquisition, processing, a display module and a data storage module, and the scanners are in signal transmission through wireless communication between the lower computer and the upper computer, the lower computer is packaged in the scanner and mainly comprises a microprocessor and the like (a control module).
Preferably, the scanner has a self-diagnosis function, when a problem is generated, problem alarm information and diagnosis information can be reported to an upper computer through a lower computer, further processing and solving are facilitated, meanwhile, the microprocessor completes a series of processes of data acquisition, data sending, instruction receiving and the like of the upper computer, the whole scanner is powered by a high-performance high-temperature lithium battery, the scanner is suitable for severe underground environments, a series of work of automatic starting measurement, finishing measurement, starting data transmission, stopping data transmission, instruction receiving and the like of the upper computer can be achieved, the distance meter and the inclinometer can respectively obtain distance and angle signals with the center of the electronic telescopic and rotating platform as a temporary coordinate origin, the appearance of surrounding rocks in a certain range can be shot and observed in real time through the camera and the light source, and the electronic telescopic and rotating platform can achieve continuous switching in different working directions, The observation hole is extended out and retracted, so that the working positions of the distance measuring instrument and the inclinometer can be switched, the surrounding rock in a certain range can be observed, the running state of the electronic telescopic and rotary platform is controlled by the upper computer, the running range of the electronic telescopic and rotary platform is in the tangent range of the shield passing through the observation hole, and the measuring range is determined by the position of the shield where the observation hole is located.
Preferably, the wireless communication module is responsible for receiving scanning data of the scanner and transmitting the scanning data to the data acquisition and processing module, the processing part can comprise compiling of signals, establishment of two-dimensional profile of tunnel section, establishment of three-dimensional profile of actual excavation face of tunnel, real-time imaging of surrounding rock morphology, splicing of three-dimensional rock morphology image of actual excavation face of tunnel and the like, the positioning module is mainly used for carrying out angle and distance positioning on the scanner at the observation hole on the shield tunneling machine, the distance positioning is mainly realized through a distance meter, the angle is an included angle between a connecting line of an upper computer and the scanner and the horizontal plane, the angle is realized through visible laser, the data acquisition module acquires signal data acquired by the scanner through the wireless communication module, the distance and angle conversion is realized through the processing module, a two-dimensional profile map of tunnel section and a three-dimensional model of actual excavation face of tunnel are generated, and the display module displays and outputs the two-dimensional and three-dimensional models, meanwhile, tunnel surrounding rock appearance images collected by the camera can be displayed, and the tunnel surrounding rock appearance images shot by the plurality of observation holes can be spliced through the processing module, so that a complete tunnel surrounding rock appearance three-dimensional image is formed.
Preferably, the upper computer is arranged at the O point of the axis position of the shield, a series of small-diameter observation holes A, B, C, D, E, F, G and the like are drilled on the shield, a base and a track are quickly installed at each observation hole, the scanner is convenient to quickly install and dismantle, the blocking of an auxiliary propulsion oil cylinder can be avoided in two installation directions, the scanner at each observation hole can scan and observe surrounding rocks within a certain range, for example, the observation range of the scanner at the A point is an A '-A' area, the cross-sectional profile of the shield and the tunnel can be approximately seen as circles with the radiuses of R and R respectively, the lower image limit points of the two circles are internally tangent, the centers of the circles are O and O ', the maximum observation ranges of the scanners at the A and B observation holes are A' -A 'and B' -B respectively, the distances from the measurement points A 'and A' to the observation hole A are l1 and l2 respectively, the included angles with the horizontal are respectively beta 1 and beta 2, the distances from the measuring points B 'and B' to the observation hole B are respectively l3 and l4, the included angles with the horizontal are respectively beta 3 and beta 4, the included angle between OA and the horizontal is alpha, the included angle between OB and the horizontal is beta, when the measuring points A 'and B' are coincided, the length of AB can be determined according to the known quantity, namely the maximum distance between the observation holes AB, the scanner at the observation hole A measures the coordinates of the point A 'on the tunnel excavation surface as (l, delta), the coordinates are temporary coordinate system data, the origin is the scanning midpoint at the position A, the upper computer is positioned at the point O of the shield axis and is the origin of a reference coordinate system, and O' is the origin of a tunnel coordinate system, according to the output requirement, the coordinates (l, delta) of the point A 'can be respectively converted into coordinates with O and O' as original points through a geometric relation and a triangular relation, and a two-dimensional profile and a three-dimensional model of the section of the tunnel can also be directly drawn without conversion.
Preferably, except the sheltering that may have the supplementary propulsion cylinder in transmission path, there is basically no other barrier, signal attenuation is less in the transmission course, wireless signal transmission mainly directly links to each other through the wireless communication module in host computer and the lower computer, realizes angle, distance, image signal's transmission etc., and transmission mode satisfies the requirement of service environment (temperature, humidity, dust, vibration etc.), all supports standard communication protocol, has guaranteed stability, portability and the development of system, and wireless communication technology is one in RFID, NFC, bluetooth, zigBee, wiFi or UWB.
Compared with the prior art, the invention has the following beneficial effects:
in the invention, the observation of the contour and the rock morphology of the surrounding rock of the tunnel is an important work for monitoring the stability development of the surrounding rock in the tunnel construction process, and is an important means for identifying lithology, monitoring the deformation of the surrounding rock, selecting a duct piece with proper strength, calculating the excavation amount and the like, and particularly has important functions for monitoring the deformation of the surrounding rock and predicting the rock burst disaster in the tunnel construction of areas with complex geological environment, strong structure activity, large buried depth and high ground stress, a plurality of scanners are arranged at the observation holes of the rear shield auxiliary propulsion oil cylinder, a temporary coordinate system is adopted to scan the contour and the rock morphology of the tunnel, then the collected data is processed and unified, the problem that the contour and the rock morphology of the surrounding rock of the tunnel are difficult to observe due to the shielding and obstruction of the shields in the construction process of the double shield tunneling machine is solved, and the measurement can be carried out under the condition that the gap between the shields and the surrounding rock of the tunnel is extremely small, the requirement of working space is low, a series of observation holes are arranged on the same section of the shield, and the scanner and a scanner quick base are arranged, so that the scanner is quickly assembled and disassembled, the installation is simple and easy, direct measurement is realized by using the observation holes, no attenuation is generated in the signal transmission process, the data is accurate, the precision is high, people can complete the scanning of the profile of the section of the tunnel and the acquisition of the feature image of surrounding rock within the single stop time of the rear shield, the tunneling work is not required to be stopped, the construction period and the working efficiency of the tunnel are not influenced, the range to be measured of each section of the tunnel is jointly scanned and spliced by a group of scanners, the working time of a single scanner is short, the efficiency is high, the scanners can measure a series of section data of the tunnel along with the intermittent propulsion of the rear shield, the assembling and disassembling workload of the scanners is reduced, the operation is simple and easy, in addition, the scanners and an upper computer are arranged in a modularized way, and different modularized measuring devices in the interior can be replaced according to the needs, to implement more functions.
Drawings
FIG. 1 is a schematic diagram of the overall design of a system for building a three-dimensional model of a tunnel according to the present invention;
FIG. 2 is a schematic diagram of a system for building a three-dimensional model of a tunnel according to the present invention;
FIG. 3 is a schematic view of an inspection hole and a scanner base according to the present invention;
FIG. 4 is a diagram of the hardware configuration of the scanner of the present invention;
FIG. 5 is a schematic view of a scanner according to the present invention;
FIG. 6 is a schematic view of a measuring point measuring range and a measuring point distance determining method of a scanner according to the present invention;
FIG. 7 is a schematic diagram of a measuring principle of an actual excavation profile of surrounding rock according to the invention;
FIG. 8 is a schematic diagram of the components and functions of the upper computer of the present invention;
fig. 9 is a schematic diagram of the working process of the tunnel surrounding rock scanning system of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-9, a system for building a three-dimensional model of a tunnel comprises a plurality of scanners and an upper computer, wherein the upper computer is located at the axis of a shield at the position of an auxiliary propulsion cylinder, the scanners are installed at each observation hole of the shield at the cross section of the auxiliary propulsion cylinder, observation holes are drilled on the rear shield according to needs, and a quick installation base and a rail are installed, the scanners can be directly and quickly installed on the base in place under the condition that the auxiliary propulsion cylinder does not influence the installation, the scanners can be installed in place through the rail when the auxiliary propulsion cylinder influences the installation, the sizes of the base and the rail do not influence the normal work of the auxiliary propulsion cylinder, the center of the scanner is a temporary coordinate system, the upper computer and the scanners can be located in different tunnel cross sections, the scanners adopt a modular design and a modular design, and can inherit and utilize the existing hardware and software research results to the utmost extent, thereby reducing the research risk, avoiding repeated research on the same level, shortening the research period, saving the research cost, adopting an open module structure, facilitating the function expansion, facilitating the realization of network interconnection, information intercommunication and function interoperation, meeting the requirements of people on realizing the best benefit and quality under the pursuit of various small batch requirements, mainly comprising a surrounding rock profile scanning module, a surrounding rock morphology observation module, a wireless communication module and a control module, wherein the hardware comprises a distance meter, a inclinometer, a camera, a light source, an electronic telescopic and rotary platform, a battery, a microprocessor, a signal conditioning and converting circuit, an upper computer comprises a wireless communication module, a positioning module, a data acquisition, processing, a display module and a data storage module, the scanner carries out signal transmission through wireless communication between the lower computer and the upper computer, and the lower computer is packaged in the scanner, the system mainly comprises a microprocessor and the like (a control module), wherein the center of an upper computer is a reference coordinate system origin, the coordinates of the upper computer are calibrated through the coordinates of a laser direction instrument arranged on a pipe piece in a laser guide system in a tunnel, so that the coordinates of a ground monitoring control network are introduced, the center of a scanner is a temporary coordinate system origin, the measurement data of the cross section profile of the surrounding rock of the tunnel is expressed by polar coordinates, the observation of the profile and the rock morphology characteristics of the surrounding rock of the tunnel is the important work for monitoring the stability development of the surrounding rock in the tunnel construction process, the important means for identifying lithology, monitoring the deformation of the surrounding rock, selecting a pipe piece with proper strength, calculating the excavation square amount and the like are provided, particularly, the system has important functions on monitoring the deformation of the surrounding rock and predicting the rock burst disaster in the tunnel construction in the areas with complex geological environment, strong construction activity, large burial depth and high ground stress, a plurality of scanners are arranged at the observation hole of a rear shield auxiliary propulsion cylinder, the temporary coordinate system is adopted to scan the tunnel profile and the rock appearance characteristics, then the collected data is processed and unified, the problem that the tunnel surrounding rock profile and the rock appearance are difficult to observe due to shielding and obstruction of a shield in the construction process of the double-shield tunneling machine is solved, the measurement can be carried out under the condition that the gap between the shield and the tunnel surrounding rock is extremely small, the requirement on working space is low, a series of observation holes are arranged on the same section of the shield and are quickly assembled and disassembled with a scanner quick base, the scanner is quickly and easily installed, direct measurement is realized by utilizing the observation holes, no attenuation exists in the signal transmission process, the data is accurate and the precision is high, people can complete the scanning of the tunnel section profile and the surrounding rock appearance characteristic image collection within the single stop time of the rear shield, the tunneling work is not required to stop, the tunnel construction period and the working efficiency are not influenced, the range to be measured of each tunnel section is jointly scanned and spliced by a group of scanners, the single scanner operating time is short, and is efficient, and the scanner can measure a series of tunnel section data along with the intermittent type formula of back shield impels, reduces scanner dismouting work load, and simple easy operation, scanner and host computer adopt the modularization installation in addition, can change the inside different modularization measuring device as required to realize more functions.
The scanner has a self-diagnosis function, when the scanner generates problems, the scanner can report problem alarm information and diagnosis information to an upper computer through a lower computer, further processing and solving are convenient, meanwhile, a microprocessor finishes a series of processes of data acquisition, data transmission sending and instruction receiving of the upper computer, the whole scanner is powered by a high-performance high-temperature lithium battery, the scanner is suitable for severe underground environment, a series of work of automatic starting measurement, ending measurement, starting data transmission, stopping data transmission, instruction receiving of the upper computer and the like can be realized, a range finder and a inclinometer can respectively obtain distance and angle signals with the center of an electronic telescopic and rotary platform as a temporary coordinate origin, the appearance of surrounding rocks within a certain range can be shot and observed in real time through a camera and a light source, and the electronic telescopic and rotary platform can realize continuous switching, and accurate positioning of different working directions, The observation holes are extended out and retracted back, so that the working positions of the distance measuring instrument and the inclinometer can be converted, the surrounding rock in a certain range can be observed, the running state of the electronic telescopic and rotary platform is controlled by the upper computer, the running range of the electronic telescopic and rotary platform is in the tangent range of the shield passing through the observation holes, and the measuring range is determined by the position of the shield where the observation holes are located.
The wireless communication module is responsible for receiving scanning data of the scanner and transmitting the scanning data to the data acquisition and processing module, the processing part can comprise compiling of signals, tunnel section two-dimensional outline establishment, tunnel actual excavation surface three-dimensional outline establishment, surrounding rock appearance real-time imaging, tunnel actual excavation surface three-dimensional rock appearance image splicing and the like, the positioning module is mainly used for carrying out angle and distance positioning on the scanner at an observation hole on the shield tunneling machine, the distance positioning is mainly realized through a distance meter, the angle is an included angle between a connecting line of an upper computer and the scanner and the horizontal plane and is realized through visible laser, the data acquisition module acquires signal data acquired by the scanner through the wireless communication module, distance and angle conversion is realized through the processing module to generate a tunnel section two-dimensional outline map and a tunnel actual excavation surface three-dimensional model, and the display module is used for displaying and outputting the two-dimensional model, meanwhile, tunnel surrounding rock appearance images collected by the camera can be displayed, and the tunnel surrounding rock appearance images shot by the plurality of observation holes can be spliced through the processing module, so that a complete tunnel surrounding rock appearance three-dimensional image is formed.
The upper computer is arranged at the position of an axis O of the shield, a series of small-diameter observation holes A, B, C, D, E, F, G and the like are drilled on the shield, a quick mounting base and a track are arranged at each observation hole, the scanner is convenient to mount and dismount quickly, two mounting directions can avoid the blocking of an auxiliary propulsion oil cylinder, the scanner at each observation hole can scan and observe surrounding rocks within a certain range, if the observation range of the scanner at the position A is an A ' -A ' area, the shield and the cross section profile of a tunnel can be approximately seen as circles with the radiuses of R and R respectively, the lower image limit points of the two circles are internally tangent, the centers of the circles are O and O ', the maximum ranges observed by the scanners at the positions A and B are A ' -A ' and B ' -B ', the distances from the measuring points A ' and A ' to the observation hole A are l1 and l2 respectively, and the horizontal included angles are beta 1 and beta 2 respectively, distances from the measuring points B 'and B' to the observation hole B are l3 and l4 respectively, included angles with the horizontal are beta 3 and beta 4 respectively, included angles between OA and the horizontal are alpha, included angles between OB and the horizontal are beta, when the measuring points A 'and B' coincide, the length of AB can be determined according to the known quantity, namely the maximum distance between the observation holes AB, the coordinates of a point A 'on the tunnel excavation surface measured by a scanner at the observation hole A are (l, delta), the coordinate is temporary coordinate system data, the origin is a scanning midpoint at the position A, an upper computer is positioned at a point O point of a shield axis and serves as the origin of a reference coordinate system, O' serves as the origin of a tunnel coordinate system, and the coordinates (l, delta) of the point A 'can be converted into coordinates with the origin of O and O' respectively according to output requirements through a geometric relationship and a triangular relationship, or a two-dimensional profile and a three-dimensional model of the tunnel section can be directly drawn without conversion.
Except the sheltering that there may be supplementary propulsion cylinder in transmission path, there is not other barrier basically, signal attenuation is less in the transmission course, wireless signal transmission mainly directly links to each other through the wireless communication module in host computer and the lower computer, realize angle, distance, image signal's transmission etc., transmission mode satisfies the requirement of service environment (temperature, humidity, dust, vibration etc.), all support standard communication protocol, system's stability, portability and development have been guaranteed, and wireless communication technique is one kind in RFID, NFC, bluetooth, zigBee, wiFi or UWB.
When in use, firstly, the observation holes are drilled at the upper quadrant point of the shield, then the adjacent observation holes are sequentially drilled according to the measurement range of the observation holes and the distance between the adjacent observation holes in combination with actual requirements, then scanners are arranged at the positions of the observation holes, the positions of the scanners are positioned and monitored in real time by utilizing a positioning module of an upper computer to obtain the distance and angle data of the scanners relative to a reference coordinate origin, the distance and angle data are displayed and stored, then the scanners are started through the upper computer and a lower computer, an electronic telescopic and rotary platform is controlled to lead a distance measuring instrument and a camera to extend out of the shield, the contour and the feature of the surrounding rock in the measurement range are scanned when rotating within a certain angle, the distance between the measured surrounding rock and the scanners is measured by the distance measuring instrument, and the included angle between the connecting line of the measured surrounding rock and the center of the scanners and the horizontal angle is measured by an inclinometer, the obtained distance and angle data signals are based on a temporary coordinate origin, the appearance characteristics of the surrounding rock are shot and imaged in real time by an extended high-definition camera, a light source provides good shooting light, the data measured at each observation hole are processed by a microprocessor and then transmitted to an upper computer together with the observation hole serial number through wireless communication, as the clearance between the surface of the surrounding rock and the shell of the shield is small, the measurement range of a scanner at each observation hole is limited, and the clearance is gradually reduced from the downward path of an upper image limit point of the shield, the arrangement of the observation holes is gradually denser and denser, and after the distance and angle signals collected by a distance meter and an inclinometer are transmitted to the upper computer, the temporary coordinate system data are processed and converted into reference coordinate system data (also converted into tunnel coordinate system data or not converted according to requirements) through a distance and angle conversion module, splicing the distance and angle data measured at each observation hole to obtain a two-dimensional image of the cross section profile of the tunnel surrounding rock, transmitting the image signals of the rock morphology of the tunnel surrounding rock collected by a camera to an upper computer, obtaining the rock morphology image at each observation hole and the spliced circumferential image of the rock morphology of the tunnel surrounding rock by a rock morphology real-time image processing and splicing module, displaying the rock morphology image in real time by a display module, advancing the front shield and the rear shield in a crossed and intermittent manner in the continuous tunneling process of the double-shield tunneling machine, wherein the single advancing process of the rear shield is the width of a ring of pipe pieces, the time for single advancing is short, the single stopping time is relatively long, the system can complete the scanning of the cross section profile of the tunnel and the collection of the characteristic image of the rock morphology of the surrounding rock within the single stopping time, and can simultaneously observe the rear shield advancing according to the need, or changing the length of the single propelling process of the rear shield to meet the distance between two adjacent scanned surrounding rock sections, or arranging a plurality of rows of observation holes with different intervals on the rear shield to meet the observation requirement, wherein the intervals of the surrounding rock sections can be set according to the requirements of geological conditions, monitoring levels and the like, splicing a plurality of surrounding rock section profiles and rock appearance images obtained at different axial line positions of the tunnel to obtain tunnel surrounding rock three-dimensional profile imaging and rock appearance images, displaying the two-dimensional and three-dimensional imaging of the surrounding rock profiles and the rock appearance images in real time by a display module, switching or simultaneously displaying the profiles and the rock appearance images in real time according to the requirement, additionally, installing a scanner at the section of the main propelling cylinder in the same method, scanning and observing the actual excavating size of a certain section in the tunnel calculated by a cutter head, the excavating size observed by the scanning system at the main propelling cylinder and the ratio of the excavating size observed by the scanning system at the auxiliary propelling cylinder The upper computer can control the brightness and the observation angle of the light source in each scanner, so that the purpose of important detailed observation of local positions is achieved, and the obtained data is stored together with the time for subsequent work.
The related modules involved in the system are all hardware system modules or functional modules combining computer software programs or protocols with hardware in the prior art, and the computer software programs or the protocols involved in the functional modules are all known in the technology of persons skilled in the art, and are not improvements of the system; the improvement of the system is the interaction relation or the connection relation among all the modules, namely the integral structure of the system is improved, so as to solve the corresponding technical problems to be solved by the system.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
It should be noted that the above-mentioned embodiments are exemplary, and that those skilled in the art, having benefit of the present disclosure, may devise various arrangements that are within the scope of the present disclosure and that fall within the scope of the invention. It should be understood by those skilled in the art that the present specification and figures are illustrative only and are not limiting upon the claims. The scope of the invention is defined by the claims and their equivalents.
Claims (10)
1. A system for establishing a tunnel three-dimensional model based on a double-shield TBM process comprises a plurality of scanners and an upper computer, wherein the upper computer consists of a wireless communication module, a positioning module, a data acquisition module, a processing module, a display module and a data storage module, and is characterized in that software modules and hardware of the scanners comprise a surrounding rock contour scanning module, a surrounding rock appearance observation module, a wireless communication module and a control module, the hardware comprises a distance meter, a lateral inclinometer, a camera, a light source, an electronic telescopic and rotary platform, a battery, a microprocessor and a signal conditioning and conversion circuit,
the upper computer is in signal transmission with the scanners through a lower computer in wireless communication connection, the running states of the electronic telescopic and rotary platforms are controlled by the upper computer, the upper computer controls the brightness and the observation angle of a light source in each scanner, and the purpose of local position key detailed observation is achieved, wherein,
the center of the upper computer is a reference coordinate system origin, coordinates of the upper computer are calibrated through coordinates of a laser direction instrument arranged on a pipe piece in a laser guide system in the tunnel, so that coordinates of a ground monitoring control network are introduced, the center of the scanner is a temporary coordinate system origin, and profile measurement data of a tunnel surrounding rock section are expressed by polar coordinates;
the scanner is arranged at each observation hole of a shield at the section of the auxiliary propulsion oil cylinder, the observation holes are drilled on the rear shield according to requirements, and the rapid mounting base and the rail are arranged, so that the scanner can be directly and rapidly mounted on the base in place under the condition that the auxiliary propulsion oil cylinder does not influence the mounting.
2. The system for building the three-dimensional model of the tunnel based on the double-shield TBM process is characterized in that the upper computer is located at a shield axis assisting in pushing the position of the cylinder, wherein the wireless communication module is responsible for receiving scanning data of the scanner and transmitting the scanning data to the data acquisition module and the processing module, and the processing module comprises signal compiling, tunnel section two-dimensional contour building, tunnel actual excavation surface three-dimensional contour building, surrounding rock morphology real-time imaging and tunnel actual excavation surface three-dimensional rock morphology image splicing.
3. The system for establishing the three-dimensional model of the tunnel based on the double-shield TBM process is characterized in that the positioning module is mainly used for positioning the angle and the distance of a scanner at an observation hole on a shield tunneling machine, the distance positioning is mainly realized by a distance meter, the angle is the included angle between the connecting line of an upper computer and the scanner and the horizontal plane, and the angle is realized by visible laser;
the data acquisition module acquires signal data acquired by the scanner through the wireless communication module, and the distance and angle conversion is realized through the processing module to generate a two-dimensional profile of a tunnel section and a three-dimensional model of an actual tunnel excavation surface.
4. The system for establishing the three-dimensional model of the tunnel based on the double-shield TBM process is characterized in that the display module is used for displaying and outputting the two-dimensional model and the three-dimensional model and displaying a rock appearance image of the surrounding rock of the tunnel, which is acquired by a camera;
the processing module can splice the tunnel surrounding rock appearance images shot by the plurality of observation holes, so that a complete tunnel surrounding rock appearance three-dimensional image is formed.
5. The system for establishing the three-dimensional model of the tunnel based on the double-shield TBM process is characterized in that the upper computer is arranged at the O point of the axial position of the shield, a series of small-diameter observation holes A, B, C, D, E, F, G are drilled in the shield, a quick mounting base and a rail are arranged at each observation hole, the quick mounting and dismounting of the scanner are facilitated, and the scanner at each observation hole can scan and observe the surrounding rocks within a certain range.
6. The system for establishing the three-dimensional model of the tunnel based on the double-shield TBM process is characterized in that the scanner is in a modular design and comprises a surrounding rock profile scanning module, a surrounding rock topography observation module, a wireless communication module and a control module, and hardware comprises a distance meter, an inclinometer, a camera, a light source, an electronic stretching and rotating platform, a battery, a microprocessor, a signal conditioning and converting circuit; the scanner has a self-diagnosis function, can report problem alarm information and diagnosis information to an upper computer through a lower computer when a problem is generated, and is convenient to further process and solve.
7. The system for establishing the three-dimensional model of the tunnel based on the double-shield TBM process is characterized in that the microprocessor finishes data acquisition, data transmission and instruction receiving of an upper computer, the whole scanner is powered by a high-performance high-temperature lithium battery and can adapt to a severe underground environment, and therefore automatic starting of measurement, ending of measurement, starting of data transmission, stopping of data transmission and instruction receiving of the upper computer are achieved.
8. The system for building the three-dimensional model of the tunnel based on the double-shield TBM process is characterized in that the distance meter and the inclinometer can respectively acquire distance and angle signals with the center of the electronic telescopic and rotary platform as a temporary coordinate origin, the appearance of the surrounding rock in a certain range can be shot and observed in real time through a camera and a light source, the electronic telescopic and rotary platform can realize continuous switching, extending and retracting of observation holes in different working directions, and the conversion of the working positions of the distance meter and the inclinometer is facilitated, so that the surrounding rock in the certain range can be observed;
the operation range of the electronic telescopic and rotary platform is in the tangent range of the shield at the observation hole, and the measurement range is determined by the position of the shield at the observation hole.
9. The system for establishing the tunnel three-dimensional model based on the double-shield TBM process is characterized in that other obstacles are not generated basically except for the fact that an auxiliary propulsion oil cylinder can be shielded in a transmission path, so that the scanner is installed in two installation directions formed by the double shields to avoid the blockage of the auxiliary propulsion oil cylinder, signal attenuation is small in the transmission process, wireless signal transmission is mainly directly connected through wireless communication modules in an upper computer and a lower computer to achieve transmission of angle, distance and image signals, the transmission mode meets the requirements of a use environment, standard communication protocols are supported, the stability, the portability and the development of the system are guaranteed, and the wireless communication technology is one of RFID, NFC, Bluetooth, ZigBee, WiFi or UWB.
10. The system for building the three-dimensional tunnel model based on the double-shield TBM process is characterized in that the scanner is installed at the observation hole of the rear shield auxiliary propulsion cylinder and scans the tunnel outline and the rock appearance characteristics by adopting a temporary coordinate system, wherein each tunnel section range to be measured is jointly scanned and spliced by a group of scanners, so that the scanners can measure a series of tunnel section data along with the intermittent propulsion of the rear shield.
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| CN201811091211.5A CN109186480B (en) | 2018-09-19 | 2018-09-19 | Tunnel surrounding rock scanning and observation system based on double-shield TBM (Tunnel boring machine) process |
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| CN112525093A (en) | 2021-03-19 |
| CN109186480A (en) | 2019-01-11 |
| CN109186480B (en) | 2020-11-10 |
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