CN114485391A - Shield muck over-discharge prevention early warning method based on three-dimensional laser scanning technology - Google Patents
Shield muck over-discharge prevention early warning method based on three-dimensional laser scanning technology Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000005516 engineering process Methods 0.000 title claims abstract description 12
- 230000002265 prevention Effects 0.000 title claims abstract description 8
- 239000002689 soil Substances 0.000 claims abstract description 65
- 230000005641 tunneling Effects 0.000 claims abstract description 50
- 239000002893 slag Substances 0.000 claims description 42
- 238000004364 calculation method Methods 0.000 claims description 10
- 238000009412 basement excavation Methods 0.000 claims description 8
- 101100377706 Escherichia phage T5 A2.2 gene Proteins 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000009825 accumulation Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 6
- 238000005303 weighing Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 229910000278 bentonite Inorganic materials 0.000 description 1
- 239000000440 bentonite Substances 0.000 description 1
- SVPXDRXYRYOSEX-UHFFFAOYSA-N bentoquatam Chemical compound O.O=[Si]=O.O=[Al]O[Al]=O SVPXDRXYRYOSEX-UHFFFAOYSA-N 0.000 description 1
- 238000005056 compaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
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- G01B11/00—Measuring arrangements characterised by the use of optical techniques
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- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
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Abstract
The invention discloses a shield muck over-discharge prevention early warning method based on a three-dimensional laser scanning technology, which comprises the following steps: scanning a horizontal conveyor belt of the shield machine with no load on site by using a three-dimensional laser scanner to obtain point cloud data of the conveyor belt; scanning the muck on a horizontal conveyor belt of the on-site shield tunneling machine through a three-dimensional laser scanner in the super-emission early warning period to obtain point cloud data of the surface of the muck; calculating the actual discharged muck volume of the shield machine in the super-discharge early warning period according to the scanning frequency of the three-dimensional laser scanner, the movement speed of a horizontal conveyor belt of the shield machine, the point cloud data of the conveyor belt and the point cloud data of the muck surface scanned each time in the super-discharge early warning period; and judging whether the shield machine is over-discharged within the over-discharge early warning period according to whether the actual discharged muck volume of the shield machine exceeds the theoretical discharged muck volume range. The invention can monitor the residue soil discharge volume in real time, avoid the influence on construction safety caused by serious over discharge and ensure the safe and efficient tunneling of the shield.
Description
Technical Field
The invention belongs to the technical field of shield tunnel construction, and relates to a shield muck over-drainage prevention early warning method based on a three-dimensional laser scanning technology.
Background
The shield muck superdrainage easily causes the pressure of an earth bin to be reduced, and further causes the stratum to generate larger settlement and even instability, thereby causing the shield construction safety risk. At present, no better method exists for shield muck over-discharge early warning, and most of the shield muck over-discharge early warning methods adopt a weighing system arranged at the bottom of a conveyor belt machine or a muck vehicle so as to calculate the muck discharge amount. In the shield tunneling process, modifiers such as water, bentonite and the like are injected into the front of the cutter head and the soil bin by taking the improvement of the slag soil as a target, and the soil discharge amount is measured by the quality and has larger error under the influence of underground water in the front of the stratum of the excavation surface. In addition, the dregs fall onto the conveyer belt and the dregs car impacts the weighing system on the base, so the loss of the weighing system is very large. The effect of monitoring the discharged muck by adopting the weighing system is often poor, and meanwhile, the muck weighing method is difficult to effectively apply to the field due to the fact that the instrument is easy to damage and the instrument is frequently replaced. As the three-dimensional laser scanning technology and the computer technology are rapidly developed, the three-dimensional laser scanning has the advantages of non-contact measurement, high efficiency, high accuracy and the like, so that the three-dimensional laser scanning technology is applied to the measurement of the volume of the slag soil. Patent "CN201922463356. X" proposes scanning the muck on the conveyor belt by using a three-dimensional laser scanning technology to measure the volume of the muck, but the patent only calculates the volume of the discharged muck and cannot judge whether the shield is overexcited according to the flow of the discharged muck.
Disclosure of Invention
The invention provides a shield muck over-discharge prevention early warning method based on a three-dimensional laser scanning technology, which is used for carrying out early warning on shield muck over-excavation conditions at different levels and is beneficial to guiding field construction.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a shield muck over-discharge prevention early warning method based on a three-dimensional laser scanning technology comprises the following steps:
step 1, scanning a horizontal conveyor belt of a shield machine with no load on site through a three-dimensional laser scanner to obtain point cloud data of the conveyor belt in a no-load state;
step 2, scanning the muck on the horizontal conveyor belt of the on-site shield tunneling machine through a three-dimensional laser scanner in the super-emission early warning period to obtain point cloud data of the muck surface;
step 3, calculating the actual discharged residue volume V of the shield machine in the super-discharge early warning period according to the scanning frequency of the three-dimensional laser scanner, the movement speed of the horizontal conveyor belt of the shield machine, the point cloud data of the conveyor belt and the point cloud data of the residue surface scanned each time in the super-discharge early warning perioda；
Step 4, according to the actual discharged slag volume V of the shield machineaWhether it exceeds the volume range of the slag discharged theoretically [ Q ]min,Qmax]Judging whether the shield machine is over-drainage within the over-drainage early warning time interval delta t; and calculating the volume range of the theoretically discharged residue soil according to the equipment parameters of the shield tunneling machine.
Further, the specific calculation method in step 3 is as follows:
step A2.1, obtaining a conveyor belt contour curve f vertical to the movement direction of the conveyor belt according to the point cloud data of the scanning conveyor belt1(x,y,z)；
Step A2.2, establishing a profile curve f of the section of the muck, which corresponds to each scanning and is vertical to the moving direction of the conveyor belt, according to the point cloud data of the surface of the muck scanned each time2(x,y,z)；
Step A2.3, according to curve f1(x, y, z) and curve f2(x, y, z) and scanning period, and calculating the area of the section of the residue soil scanned each time
Wherein the upper and lower limits of the integral are respectively curves f2(x,y,z)-f1(x, y, z) a maximum value and a minimum value in the x-axis direction;
step A2.4, calculating the movement displacement s of the conveyor belt in the scanning period of the three-dimensional laser scanneri＝v/f；
Step A2.5, calculating the volume of the residue soil actually discharged by the shield tunneling machine in the excessive discharge early warning time period delta t
Wherein m is a three-dimensional laser scannerAnd scanning the times of the residue soil in the super-discharge early warning time interval delta t, wherein m is delta t f.
Further, the specific calculation method in step 3 is as follows:
step B2.1, according to the point cloud data of the scanning conveyor belt, establishing a conveyor belt contour curve f vertical to the movement direction of the conveyor belt1(x, y, z) and obtaining the curved surface F of the conveyor belt in the period of the early warning of the super-row based on the same contour of the conveyor belt1(x,y,z)；
Step B2.2, establishing a curved surface F of the surface of the residue soil in the super-emission early warning period according to the point cloud data of all the surfaces of the residue soil in the super-emission early warning period2(x,y,z)；
Step B2.3, according to the curved surface F1(x, y, z) and a curved surface F2(x, y, z) calculating the actual discharged muck volume of the shield tunneling machine in the super-discharge early warning period
Wherein x ∈ [ x ]min,xmax]，y∈[vt0,vt1]，xminAnd xmaxRespectively, x coordinates of two sides of the conveyor belt, v is the moving speed of the conveyor belt, t0And t1Respectively the start and stop time of the super-emission early warning time period; .
Further, step 3, two different methods are adopted to calculate the actual discharged muck volume of the shield tunneling machine in the early warning period of the excessive discharge1Va、2VaThen taking the average value
The volume of the finally actually discharged slag soil used as the shield machine in the early warning period of the excessive discharge is as follows:
the first method for calculating the actual discharged muck volume of the shield tunneling machine in the super-discharge early warning period comprises the following steps:
step A2.1, according to the point cloud data of the scanning conveyor belt, establishing a conveyor belt outline curve f vertical to the movement direction of the conveyor belt1(x,y,z)；
Step A2.2, establishing the corresponding and vertical scanning according to the point cloud data of the surface of the residue soil of each scanningProfile curve f of the slag section in the direction of movement of the conveyor belt2(x,y,z)；
Step A2.3, according to curve f1(x, y, z) and curve f2(x, y, z) and scanning period, and calculating the area of the section of the residue soil scanned each time
Wherein the upper and lower limits of the integral are respectively curves f2(x,y,z)-f1(x, y, z) a maximum value and a minimum value in the x-axis direction;
step A2.4, calculating the movement displacement s of the conveyor belt in the scanning period of the three-dimensional laser scanneri＝v/f；
Step A2.5, calculating the volume of the residue soil actually discharged by the shield tunneling machine in the excessive discharge early warning time period delta t
Wherein m is the number of times that the three-dimensional laser scanner scans the slag soil in the super-drainage early warning time interval delta t, and m is delta t f;
the second method for calculating the actual discharged muck volume of the shield tunneling machine in the super-discharge early warning period comprises the following steps:
step B2.1, according to the point cloud data of the scanning conveyor belt, establishing a conveyor belt contour curve f vertical to the movement direction of the conveyor belt1(x, y, z) and obtaining the curved surface F of the conveyor belt in the period of the early warning of the super-row based on the same contour of the conveyor belt1(x,y,z)；
Step B2.2, establishing a curved surface F of the surface of the residue soil in the super-emission early warning period according to the point cloud data of all the surfaces of the residue soil in the super-emission early warning period2(x,y,z)；
Step B2.3, according to the curved surface F1(x, y, z) and a curved surface F2(x, y, z) calculating the actual discharged muck volume of the shield tunneling machine in the super-discharge early warning period
Wherein x ∈ [ x ]min,xmax]，y∈[vt0,vt1]，xminAnd xmaxRespectively, x coordinate on two sides of the conveyor belt, v is conveyingSpeed of movement of the belt, t0And t1Respectively the start-stop time of the super-emission early warning time interval.
Further, all curves are obtained based on coordinate fitting of the point cloud coordinates in the following coordinate system: and establishing a coordinate system by taking the direction of the muck accumulation on the conveyor belt as a z-axis, the direction of the movement of the conveyor belt as a y-axis and the direction vertical to a yOz plane as an x-axis.
Further, in the step 4, the calculation method of the volume range of the theoretically discharged residue soil is as follows:
(1) calculating the soil discharge amount of one turn of the screw conveyer
Wherein eta is the unearthed efficiency of the screw machine D2Is the external diameter of the screw thread of a screw machine, D1Is the shaft diameter of the screw, and p is the pitch of the rotating fins;
(2) calculating theoretical maximum soil output Q of shield tunneling machinemaxAnd minimum soil discharge QminTo obtain the volume range [ Q ] of the residue soil discharged theoreticallymin,Qmax]：
Qmax＝K1Qw
Qmin＝K2Qw
Qw＝πD2VΔt/4
In the formula, K1Is the loose coefficient of muck in a natural state, K2Is the loosening coefficient after the slag soil is compacted, QwThe soil discharge amount of the screw conveyor in the super discharge early warning time period delta t is shown as D, the opening control diameter of the shield tunneling machine is shown as V, and the tunneling speed of the shield tunneling machine is shown as V.
Further, the judging method in step 4 is as follows:
if Va∈[Qmin,Qmax]If the volume of the slag soil actually discharged by the shield machine in the over-discharge early warning time interval delta t is in a proper soil discharging state, judging that the over-discharge of the shield machine does not occur, and keeping the current tunneling parameters to continue tunneling;
if Va∈(Qmax,Qmax+ epsilon), epsilon is the ideal fluctuation value of the slag soil volume, which indicates that the shield machine is in the state of exceeding the standardIf the volume of the slag actually discharged in the discharge early warning time period delta t is larger than the theoretical discharge slag volume range, the shield machine is judged to have slight overexcavation, and the slag discharge amount can be adjusted by adjusting the tunneling parameters until Va∈[Qmin,Qmax]；
If Va∈(Qmax+ epsilon and + infinity), which indicates that the volume of the slag actually discharged by the shield machine in the extra discharge early warning time period delta t is far larger than the volume range of the slag theoretically discharged, the shield machine is judged to have serious extra excavation and needs to be stopped for inspection.
Further, the three-dimensional laser scanner is fixed right above the conveyor belt, and the height of the three-dimensional laser scanner is required to be higher than the section line of the conveyor belt on the vertical surface in the motion direction, and the emitted linear laser covers the section line of the conveyor belt.
Further, the three-dimensional laser scanner transmits the scanned point cloud data in real time through an Ethernet or USB interface.
Compared with the prior art, the invention has the beneficial effects that:
the invention adopts the three-dimensional laser scanner to monitor the muck discharge volume in real time and compare the muck discharge volume with a theoretical value, gives out early warning signals under different over-excavation conditions, is beneficial to field personnel to take corresponding measures according to the early warning signals, avoids serious over-discharge from generating, influences the construction safety, and ensures that the shield can safely and efficiently tunnel. Has higher feasibility, economy and popularization value.
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FIG. 1 is a schematic flow chart of a method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of establishing a coordinate system in the method according to the embodiment of the present invention.
Detailed Description
The following describes embodiments of the present invention in detail, which are developed based on the technical solutions of the present invention, and give detailed implementation manners and specific operation procedures to further explain the technical solutions of the present invention.
Referring to fig. 1 and 2, the embodiment provides a shield muck over-discharge prevention early warning method based on a three-dimensional laser scanning technology, which includes the following steps:
step 1, scanning a horizontal conveyor belt of the shield machine with no load on site through a three-dimensional laser scanner to obtain point cloud data of the conveyor belt in a no-load state.
The three-dimensional laser scanner is fixed at a position 1.2 meters above the horizontal conveyor belt, linear laser emitted by the three-dimensional laser scanner can just cover the cross section of the conveyor belt perpendicular to the moving direction of the conveyor belt, and the boundary of the emitted linear laser is just matched with the boundary of the cross section of the conveyor belt perpendicular to the moving direction of the conveyor belt.
And 2, scanning the muck on the horizontal conveyor belt of the on-site shield tunneling machine through the three-dimensional laser scanner in the super-emission early warning period to obtain point cloud data of the muck surface.
In this embodiment, the three-dimensional laser scanner transmits the scanned point cloud data to the computer terminal in real time through the ethernet or the USB interface for the next processing.
After the computer receives the original point cloud data from the three-dimensional laser scanner, the noise sources include: the three-dimensional laser scanner shakes along with the vibration of the shield machine conveyor belt, laser rays emitted by the three-dimensional laser scanner are irradiated on the water surface to be scattered, the three-dimensional laser scanner is dark in working environment, noise points generated by dust and the like, and therefore the method firstly utilizes programming or existing point cloud data processing software to perform denoising processing on point cloud data;
and then, reading the processed point cloud data by utilizing python or other related programming software, and expressing the point cloud data in an established coordinate system to further reconstruct a three-dimensional model of the muck, so that a contour curve and a curved surface of the conveyor belt are fitted according to the point cloud data of the conveyor belt, and a section contour curve and a curved surface of the muck surface corresponding to each scanning are fitted according to the point cloud data of the muck surface scanned each time.
The coordinate system establishing method in the embodiment includes: and establishing a coordinate system by taking the direction of the muck accumulation on the conveyor belt as a z-axis, the direction of the movement of the conveyor belt as a y-axis and the direction vertical to a yOz plane as an x-axis.
Step 3, calculating the actual discharged residue volume V of the shield machine in the super-discharge early warning period according to the scanning frequency of the three-dimensional laser scanner, the movement speed of the horizontal conveyor belt of the shield machine, the point cloud data of the conveyor belt and the point cloud data of the residue surface scanned each time in the super-discharge early warning perioda。
In the embodiment, in order to improve the calculation accuracy, two different methods are adopted to calculate the actual discharged muck volume of the shield tunneling machine in the super-discharge early warning period1Va、2VaThen taking the average value
The volume of the slag soil finally and actually discharged by the shield machine in the early warning period of the excessive discharge is used.
First calculation shield constructs machine and actually discharges dregs volume in excessive row early warning period1VaThe method comprises the following steps:
step A2.1, obtaining a conveyor belt contour curve f vertical to the movement direction of the conveyor belt according to the point cloud data of the scanning conveyor belt1(x,y,z)；
Step A2.2, establishing a profile curve f of the section of the muck, which corresponds to each scanning and is vertical to the moving direction of the conveyor belt, according to the point cloud data of the surface of the muck scanned each time2(x,y,z)；
Step A2.3, according to curve f1(x, y, z) and curve f2(x, y, z) and scanning period, and calculating the area of the section of the residue soil scanned each time
Wherein the upper and lower limits of the integral are respectively curves f2(x,y,z)-f1(x, y, z) a maximum value and a minimum value in the x-axis direction;
step A2.4, calculating the movement displacement s of the conveyor belt in the scanning period of the three-dimensional laser scanneri＝v/f；
Step A2.5, calculating the volume of the residue soil actually discharged by the shield tunneling machine in the excessive discharge early warning time period delta t
Wherein m is the number of times that the three-dimensional laser scanner scans the dregs in the super-drainage early warning time interval delta t, and m is delta t f.
Second calculation shield constructs the actual discharged dregs volume of machine in excessive row early warning period2VaThe method comprises the following steps:
step B2.1, according to the point cloud data of the scanning conveyor belt, establishing a conveyor belt contour curve f vertical to the movement direction of the conveyor belt1(x, y, z) and obtaining the curved surface F of the conveyor belt in the period of the early warning of the super-row based on the same contour of the conveyor belt1(x,y,z)；
Step B2.2, establishing a curved surface F of the surface of the residue soil in the super-emission early warning period according to the point cloud data of all the surfaces of the residue soil in the super-emission early warning period2(x,y,z)；
Step B2.3, according to the curved surface F1(x, y, z) and a curved surface F2(x, y, z) calculating the actual discharged muck volume of the shield tunneling machine in the super-discharge early warning period
Wherein x ∈ [ x ]min,xmax]，y∈[vt0,vt1]，xminAnd xmaxRespectively, x coordinates of two sides of the conveyor belt, v is the moving speed of the conveyor belt, t0And t1Respectively the start-stop time of the super-emission early warning time interval.
Step 4, according to the actual discharged slag volume V of the shield machineaWhether it exceeds the volume range of the slag discharged theoretically [ Q ]min,Qmax]And judging whether the shield machine is over-drainage within the over-drainage early warning time interval delta t.
The theoretically discharged slag soil volume range is calculated according to the equipment parameters of the shield tunneling machine by the following method:
(1) calculating the soil discharge amount of one turn of the screw conveyer
Wherein eta is the unearthed efficiency of the screw machine D2Is the external diameter of the screw thread of a screw machine, D1Is the shaft diameter of the screw, and p is the pitch of the rotating fins; screw machineThe unearthing efficiency is related to the tunneling speed, the rotating speed of the screw machine, the pressure of the soil bin and the like.
(2) Calculating theoretical maximum soil output Q of shield tunneling machinemaxAnd minimum soil discharge QminTo obtain the volume range [ Q ] of the residue soil discharged theoreticallymin,Qmax]：
Qmax＝K1Qw
Qmin＝K2Qw
Qw＝πD2VΔt/4
In the formula, K1Is the loose coefficient of muck in a natural state, K2Is the loosening coefficient after the slag soil is compacted, QwThe soil discharge amount of the screw conveyor in the super-discharge early warning time period delta t is shown, D is the opening control diameter of the shield tunneling machine, and V is the tunneling speed of the shield tunneling machine.
Coefficient of looseness K in the natural state1And the coefficient of loosening after compaction K2The calculation formula is as follows:
K1＝V2/V1
K2＝V3/V1
in the formula: v1Refers to the volume of the muck in the natural state, V2Means volume of the excavated residue, V3The volume of the slag after being compacted is referred to.
Specifically, the method for judging whether the shield tunneling machine overrows within the overrow early warning time period Δ t in the step 4 is as follows:
if Va∈[Qmin,Qmax]If the volume of the residue soil actually discharged by the shield machine in the early warning period delta t of the excessive discharge belongs to a proper soil discharge state, judging that the excessive discharge of the shield machine does not occur, recording as a working condition, displaying a green signal to represent a normal tunneling signal, and keeping the current tunneling parameters to continue tunneling;
if Va∈(Qmax,QmaxAnd epsilon), wherein epsilon is an ideal fluctuation value of the slag soil volume, which indicates that the actual discharged slag soil volume of the shield machine in the over-discharge early warning time period delta t is far larger than the theoretical discharged slag soil volume range, the shield machine is judged to have slight over-excavation and is marked as working condition two and is displayedShowing an orange signal; under the working condition, the slag discharge amount can be adjusted by adjusting the tunneling parameters until Va∈[Qmin,Qmax]So as to keep the corresponding improved parameters to ensure that the shield can be safely tunneled;
if Va∈(Qmax+ epsilon and + ∞) indicating that the volume of the slag actually discharged by the shield machine in the early warning period of excessive discharge delta t is larger than the volume range of the slag theoretically discharged, judging that the shield machine has serious excessive excavation, marking as working condition three and displaying a red signal; the working condition has potential safety hazard and needs to be stopped for inspection.
It should be noted that, in the construction process of the shield machine, the muck is filled in the whole screw machine to be output, and the calculation is carried out according to the field condition, so that the condition less than Qmin can not occur.
The above embodiments are preferred embodiments of the present application, and those skilled in the art can make various changes or modifications without departing from the general concept of the present application, and such changes or modifications should fall within the scope of the claims of the present application.
Claims (9)
1. A shield muck over-discharge prevention early warning method based on a three-dimensional laser scanning technology is characterized by comprising the following steps:
step 1, scanning a horizontal conveyor belt of a shield machine with no load on site through a three-dimensional laser scanner to obtain point cloud data of the conveyor belt in a no-load state;
step 2, scanning the muck on the horizontal conveyor belt of the on-site shield tunneling machine through a three-dimensional laser scanner in the super-emission early warning period to obtain point cloud data of the muck surface;
step 3, calculating the actual discharged residue volume V of the shield machine in the super-discharge early warning period according to the scanning frequency of the three-dimensional laser scanner, the movement speed of the horizontal conveyor belt of the shield machine, the point cloud data of the conveyor belt and the point cloud data of the residue surface scanned each time in the super-discharge early warning perioda；
Step 4, according to the actual discharged slag volume V of the shield machineaWhether the volume of the slag exceeds the volume range of the slag discharged theoreticallyEnclose [ Q ]min,Qmax]Judging whether the shield machine is over-drainage within the over-drainage early warning time interval delta t; and calculating the volume range of the theoretically discharged residue soil according to the equipment parameters of the shield tunneling machine.
2. The method according to claim 1, wherein the specific calculation method of step 3 is:
step A2.1, obtaining a conveyor belt contour curve f vertical to the movement direction of the conveyor belt according to the point cloud data of the scanning conveyor belt1(x,y,z)；
Step A2.2, establishing a profile curve f of the section of the muck, which corresponds to each scanning and is vertical to the moving direction of the conveyor belt, according to the point cloud data of the surface of the muck scanned each time2(x,y,z)；
Step A2.3, according to curve f1(x, y, z) and curve f2(x, y, z) and scanning period, and calculating the area of the section of the residue soil scanned each time
Wherein the upper and lower limits of the integral are respectively curves f2(x,y,z)-f1(x, y, z) a maximum value and a minimum value in the x-axis direction;
step A2.4, calculating the movement displacement s of the conveyor belt in the scanning period of the three-dimensional laser scanneri＝v/f；
Step A2.5, calculating the volume of the residue soil actually discharged by the shield tunneling machine in the excessive discharge early warning time period delta t
Wherein m is the number of times that the three-dimensional laser scanner scans the dregs in the super-drainage early warning time interval delta t, and m is delta t f.
3. The method according to claim 1, wherein the specific calculation method of step 3 is:
step B2.1, according to the point cloud data of the scanning conveyor belt, establishing a conveyor belt contour curve f vertical to the movement direction of the conveyor belt1(x, y, z) and based on a conveyor belt pulleyObtaining the curved surface F of the conveyor belt in the super-emission early warning period by the same profile1(x,y,z)；
Step B2.2, establishing a curved surface F of the surface of the residue soil in the super-emission early warning period according to the point cloud data of all the surfaces of the residue soil in the super-emission early warning period2(x,y,z)；
Step B2.3, according to the curved surface F1(x, y, z) and a curved surface F2(x, y, z) calculating the volume of actually discharged muck of the shield tunneling machine in the early-warning period of over-discharge
Wherein x ∈ [ x ]min,xmax]，y∈[vt0,vt1]，xminAnd xmaxRespectively, x coordinates of two sides of the conveyor belt, v is the moving speed of the conveyor belt, t0And t1Respectively the start-stop time of the super-emission early warning time interval.
4. The method according to claim 1, wherein step 3 adopts two different methods to calculate the actual discharged slag volume of the shield tunneling machine in the early warning period of the excessive discharge1Va、2VaThen taking the average value
The volume of the finally actually discharged slag soil used as the shield machine in the early warning period of the excessive discharge is as follows:
the first method for calculating the actual discharged muck volume of the shield tunneling machine in the super-discharge early warning period comprises the following steps:
step A2.1, according to the point cloud data of the scanning conveyor belt, establishing a conveyor belt outline curve f vertical to the movement direction of the conveyor belt1(x,y,z)；
Step A2.2, establishing a profile curve f of the section of the muck, which corresponds to each scanning and is vertical to the moving direction of the conveyor belt, according to the point cloud data of the surface of the muck scanned each time2(x,y,z)；
Step A2.3, according to curve f1(x, y, z) and curve f2(x, y, z) and scanning period, and calculating the area of the section of the residue soil scanned each time
Wherein the upper and lower limits of the integral are respectively curves f2(x,y,z)-f1(x, y, z) a maximum value and a minimum value in the x-axis direction;
step A2.4, calculating the movement displacement s of the conveyor belt in the scanning period of the three-dimensional laser scanneri＝v/f；
Step A2.5, calculating the volume of the residue soil actually discharged by the shield tunneling machine in the excessive discharge early warning time period delta t
Wherein m is the number of times that the three-dimensional laser scanner scans the slag soil in the super-drainage early warning time interval delta t, and m is delta t f;
the second method for calculating the actual discharged muck volume of the shield tunneling machine in the super-discharge early warning period comprises the following steps:
step B2.1, according to the point cloud data of the scanning conveyor belt, establishing a conveyor belt contour curve f vertical to the movement direction of the conveyor belt1(x, y, z) and obtaining the curved surface F of the conveyor belt in the period of the early warning of the super-row based on the same contour of the conveyor belt1(x,y,z)；
Step B2.2, establishing a curved surface F of the surface of the residue soil in the super-emission early warning period according to the point cloud data of all the surfaces of the residue soil in the super-emission early warning period2(x,y,z)；
Step B2.3, according to the curved surface F1(x, y, z) and a curved surface F2(x, y, z) calculating the actual discharged muck volume of the shield tunneling machine in the super-discharge early warning period
Wherein x ∈ [ x ]min,xmax]，y∈[vt0,vt1]，xminAnd xmaxRespectively, x coordinates of two sides of the conveyor belt, v is the moving speed of the conveyor belt, t0And t1Respectively the start-stop time of the super-emission early warning time interval.
5. The method according to claim 2, 3 or 4, wherein all curves are obtained based on coordinate fitting of point cloud coordinates in the following coordinate system: and establishing a coordinate system by taking the direction of the muck accumulation on the conveyor belt as a z-axis, the direction of the movement of the conveyor belt as a y-axis and the direction vertical to a yOz plane as an x-axis.
6. The method according to claim 1, wherein the theoretical discharged slag volume range in the step 4 is calculated by the following method:
(1) calculating the soil discharge amount of one turn of the screw conveyer
Wherein eta is the unearthed efficiency of the screw machine D2Is the external diameter of the screw thread of a screw machine, D1Is the shaft diameter of the screw, and p is the pitch of the rotating fins;
(2) calculating theoretical maximum soil output Q of shield tunneling machinemaxAnd minimum soil discharge QminTo obtain the volume range [ Q ] of the residue soil discharged theoreticallymin,Qmax]：
Qmax＝K1Qw
Qmin＝K2Qw
Qw＝πD2VΔt/4
In the formula, K1Is the loose coefficient of muck in a natural state, K2Is the loosening coefficient after the slag soil is compacted, QwThe soil discharge amount of the screw conveyor in the super-discharge early warning time period delta t is shown, D is the opening control diameter of the shield tunneling machine, and V is the tunneling speed of the shield tunneling machine.
7. The method according to claim 1, wherein the judging method in step 4 is as follows:
if Va∈[Qmin,Qmax]If the volume of the slag soil actually discharged by the shield machine in the over-discharge early warning time interval delta t is in a proper soil discharging state, judging that the over-discharge of the shield machine does not occur, and keeping the current tunneling parameters to continue tunneling;
if Va∈(Qmax,QmaxAnd epsilon), wherein epsilon is an ideal fluctuation value of the slag volume, which indicates that the actual discharged slag volume of the shield machine in the early warning period delta t of the over-discharge is larger than the theoretical discharged slag volume range, the shield machine is judged to have slight over-excavation, and the slag discharge amount can be adjusted by adjusting the tunneling parameters until Va∈[Qmin,Qmax]；
If Va∈(Qmax+ epsilon and + infinity), which indicates that the volume of the slag actually discharged by the shield machine in the extra discharge early warning time period delta t is far larger than the volume range of the slag theoretically discharged, the shield machine is judged to have serious extra excavation and needs to be stopped for inspection.
8. The method of claim 1, wherein the three-dimensional laser scanner is mounted directly above the conveyor belt at a height that requires the emitted linear laser light to cover and not exceed a cut-off line segment of the conveyor belt in a plane perpendicular to the direction of motion.
9. The method of claim 1, further comprising transmitting the scanned point cloud data in real time by the three-dimensional laser scanner through an ethernet or USB interface.
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