CN114487344A - Real-time judgment method for improved state of muck on horizontal conveyor belt of shield tunneling machine - Google Patents
Real-time judgment method for improved state of muck on horizontal conveyor belt of shield tunneling machine Download PDFInfo
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Abstract
The invention discloses a real-time judgment method for the improved state of muck on a horizontal conveyor belt of a shield tunneling machine, which comprises the following steps: performing slump tests and accumulation experiments on the differently improved mucks by using the on-site mucks and the modifying agent as experimental materials to obtain the stationary state secant angle value range of the mucks in a proper improvement state; scanning the muck on a horizontal conveyor belt of the on-site shield tunneling machine through a three-dimensional laser scanner to obtain point cloud data of the muck surface, establishing a muck surface curve on the horizontal conveyor belt of the shield tunneling machine, and determining a secant angle of the muck on the horizontal conveyor belt of the shield tunneling machine; and judging the improved state of the muck on the horizontal conveyor belt of the shield tunneling machine in real time according to the secant angle theta of the muck on the horizontal conveyor belt of the shield tunneling machine and the secant angle range of the muck in the static state under the appropriate improved state. The method can reduce the consumption of manpower and financial resources caused by the need of measuring the muck slump in the shield tunneling process, and avoid the hysteresis for judging the improved state of the muck.
Description
Technical Field
The invention belongs to the technical field of shield tunnel construction, and particularly relates to a method for judging the improved state of muck on a horizontal conveyor belt of a shield machine in real time based on a three-dimensional laser scanning technology.
Background
In the shield tunnel construction process, shield muck reaches a proper improvement state, which is an important guarantee for shield safe and efficient tunneling. Improper improvement of the muck is likely to cause the following hazards: when the improved muck is too thin and has strong fluidity, the spiral conveyor is easy to gush, so that the pressure of the soil bin suddenly changes, the pressure of the tunnel face cannot be supported, large settlement occurs, and the front of the shield can be seriously collapsed in a severe time; when the improved dregs are poor in mobility, the dregs are not beneficial to removal, the dregs with strong adhesion are easy to stick on the cutter head, and the abrasion of the cutter head is increased.
At present, an indoor slump test is mainly adopted for judging the improvement condition of the muck on the conveying belt, the improvement condition of the muck is judged by measuring the slump value, relevant personnel are required to take off the muck on the conveying belt of the shield tunneling machine to perform the slump test, and certain hysteresis exists in the determination of the muck on the conveying belt.
Disclosure of Invention
The invention provides a method for real-time determination of improved state of muck on a horizontal conveyor belt of a shield tunneling machine based on a three-dimensional laser scanning technology, which can reduce the consumption of manpower and financial resources caused by the need of measuring the slump of the muck in the shield tunneling process and avoid the hysteresis quality of the improved state of the muck.
In order to achieve the technical purpose, the invention adopts the following technical scheme:
a real-time judgment method for the improved state of the muck on a horizontal conveyor belt of a shield tunneling machine comprises the following steps:
step 1, using on-site muck and modifying agent as experimental materials, performing slump tests on the muck after different modifications, evaluating whether the modified state of each muck is proper or not according to the slump value, and performing accumulation tests on the muck in each proper modified state, namely simulating the muck to fall from the height of a shield screw machine from a shield machine conveyor belt so as to obtain the stationary state secant angle value range [ w ] of the muck in a proper modified statemin,wmax]；
Step 2, scanning the muck on the horizontal conveyor belt of the on-site shield tunneling machine through a three-dimensional laser scanner, wherein the scanning direction is vertical to the moving direction of the conveyor belt; the method comprises the steps of obtaining point cloud data of the surface of the muck through each scanning, correspondingly establishing a muck surface curve on a horizontal conveyor belt of the shield tunneling machine, and determining a secant angle theta of the muck on the horizontal conveyor belt of the shield tunneling machine in a direction perpendicular to the movement direction of the conveyor belt according to the muck surface curve;
step 3, according to the secant angle theta of the muck on the horizontal conveyor belt of the shield tunneling machine and the secant angle value range [ w ] of the muck in the static state under the appropriate improvement statemin,wmax]And judging the improved state of the muck on the horizontal conveying belt of the shield tunneling machine in real time.
Further, the judging method in step 3 is as follows:
if λ θ ∈ [ w ]min,wmax]Judging that the improved state of the muck on the horizontal conveyor belt of the shield machine is proper; wherein, λ is the angle transformation coefficient of the static and dynamic secant;
if λ θ > wmaxIf the flowability of the muck on the horizontal conveyor belt of the shield machine is poor, adjusting the water injection amount and the foam injection ratio to increase the flowability of the muck;
if λ θ < wminIf the flowability of the slag soil on the horizontal conveyor belt of the shield machine is too strong or the slag soil is too loose, the water injection amount and the foam injection ratio need to be adjusted, so that the flowability of the slag soil is reduced.
Further, the transformation coefficient lambda of the static and dynamic secant angles is obtained by measuring the ratio of the muck secant angles to the muck secant angles on the horizontal conveying belt of the shield tunneling machine through muck under the same improved state in an indoor experiment.
Further, a three-dimensional laser scanner is adopted to emit linear laser, point cloud data of the surface of the slag soil is obtained by sending and receiving laser pulses, the point cloud data is subjected to denoising processing by utilizing programming or existing point cloud data processing software, then three-dimensional model reconstruction is carried out on the surface of the slag soil, then a curve of the surface of the slag soil perpendicular to the moving direction of the conveyor belt is obtained, and then a secant angle is determined according to the curve of the surface of the slag soil.
Further, the three-dimensional laser scanner transmits the scanned point cloud data in real time through an Ethernet or USB interface.
Further, the method for determining the secant angle comprises the following steps:
(1) establishing a coordinate system by taking the direction of muck accumulation on the conveyor belt as a z-axis, the direction of movement of the conveyor belt as a y-axis and the direction vertical to a yOz plane as an x-axis;
(2) all point cloud data obtained by scanning the surface of the muck along the x-axis direction by using the three-dimensional laser scanner are represented by using the established coordinate system, and then a muck surface curve f is fitted1(x,y,z)；
(3) Calculating the surface curve f of the dregs1(x, y, z), two points A having the largest z-axis value1(x1,y1,z1)、A2(x2,y2,z2) And the minimum two intersection points B of the z-axis value1(x3,y3,z3)、B2(x4,y4,y4) (ii) a Wherein x is1≤x2，x3＜x4；
(4) According to four points A1,A2,A3,A4Calculating the secant angle theta of the muck on the horizontal conveyor belt of the shield tunneling machine according to the following formula:
compared with the prior art, the invention has the following advantages:
1. the accuracy of the residue soil state judgment on the horizontal conveying belt of the shield tunneling machine is improved. In the prior art, the condition of improving the muck on the horizontal conveying belt of the shield tunneling machine is judged by basically taking the muck on site, and slump tests are carried out, so that the results have certain errors due to different operation steps and operation modes of tests carried out by different people; meanwhile, an error is generated in the reading of the slump value, and a certain influence is generated on the judgment result. The method and the device perform non-contact measurement on the surface of the muck through the three-dimensional laser scanner technology, perform three-dimensional model reconstruction on the surface of the muck according to the point cloud data of the obtained surface of the muck, and judge the state of the muck through computer calculation, so that the judgment result is more accurate.
2. According to the method, the improved muck state on the horizontal conveying belt of the shield machine is judged by researching the muck accumulation state after field improvement and calculating the moving muck secant angle theta on the horizontal conveying belt of the shield machine, so that the complexity and the time consumption of field soil sampling tests are avoided.
3. The three-dimensional laser scanning technology is adopted to judge the improved state of the muck on the horizontal conveying belt of the shield tunneling machine, so that the configuration of field manpower is favorably reduced, the loss of the field manpower and material resources is reduced, the development of shield construction towards less humanization and intelligentization is favorably promoted, and the personal safety of constructors is practically ensured.
4. Adopt three-dimensional laser scanning technique to judge the muck improvement state on the shield constructs quick-witted horizontal conveyor belt, handle the powerful calculation function of make full use of computer through the computer to data, the more quick judgement muck improvement state directly provides reference for shield driver's next step operation, embodies more and controls in the work progress, is favorable to increasing its ageing.
Drawings
FIG. 1 is a flow chart of a method according to an embodiment of the present invention;
FIG. 2 is a secant angle definition diagram of a muck dump;
fig. 3 is a profile line diagram of a cross section of muck on a horizontal conveyor belt of a shield tunneling machine in a coordinate system according to an embodiment of the 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 to 3, a method for real-time determination of an improved state of muck on a horizontal conveyor belt of a shield tunneling machine based on a three-dimensional laser scanning technology includes the following steps:
step 1, performing slump test and accumulation test on the muck in different improvement states by using field muck and modifier as experimental materials to obtain the static state of the muck in a proper improvement stateAngle range of state secant [ w ]min,wmax]。
The method comprises the steps of utilizing field muck and a modifier as experimental materials, carrying out slump tests on the muck under different improvement states, judging the improvement state of the muck according to the slump value and the surface of the muck, dropping the improved muck from a height H by simulating the distance from a shield screw to a shield conveyor belt, measuring a secant angle under the state of muck accumulation rest, and further obtaining a stationary state secant angle range [ w ] of the muck under the appropriate improvement statemin,wmax]Therefore, the method is used as a judgment basis for the improved state of the muck on the horizontal conveying belt of the shield machine.
In a specific experimental example, the height H can be set to be 1 meter, and the slump constant is determined to be [15cm, 20cm ] according to the slump constant and the surface characteristics of the slag soil, so that the improvement is a proper improvement, and the secant angle in a static state is in the range of [19.6 degrees, 28 degrees ].
The secant angle in the static state of the muck pile in the step is the same as the secant angle determination method in the subsequent step 2, namely: and taking the average value of the cutting line angles of the residue soil at two ends of the same section on the residue soil section perpendicular to the moving direction of the conveyor belt, and taking the values of the cutting line angles.
Step 2, scanning the muck on the horizontal conveyor belt of the on-site shield tunneling machine through a three-dimensional laser scanner, wherein the scanning direction is vertical to the moving direction of the conveyor belt; the method comprises the steps of obtaining point cloud data of the surface of the muck through scanning each time, correspondingly establishing a muck surface curve on a horizontal conveyor belt of the shield tunneling machine, and determining a secant angle theta of the muck on the horizontal conveyor belt of the shield tunneling machine in a direction perpendicular to the movement direction of the conveyor belt according to the muck surface curve (the average value of the cutting line angles of the muck at two ends under the same section is taken and the value of the lower secant angle is taken);
the method comprises the steps of adopting a three-dimensional laser scanner to emit linear laser, obtaining point cloud data of the surface of the muck by sending and receiving laser pulses, and then sending the point cloud data which are transmitted and scanned in real time to a computer end through an Ethernet or a USB interface for further 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, further performing three-dimensional model reconstruction on the surface of the residue soil, obtaining a residue soil surface curve vertical to the movement direction of the conveyor belt, and further determining a secant angle according to the residue soil surface curve. The method for determining the secant angle comprises the following steps:
(1) establishing a coordinate system by taking the direction of muck accumulation on the conveyor belt as a z-axis, the direction of movement of the conveyor belt as a y-axis and the direction vertical to a yOz plane as an x-axis;
(2) all point cloud data obtained by scanning the surface of the muck along the x-axis direction by using the three-dimensional laser scanner are represented by using the established coordinate system, and then a muck surface curve f is fitted1(x,y,z)；
(3) Calculating the surface curve f of the dregs1Two points A with the largest z-axis value in (x, y, z)1(x1,y1,z1)、A2(x2,y2,z2) And the minimum two intersection points B of the z-axis value1(x3,y3,z3)、B2(x4,y4,y4) (ii) a Wherein x is1≤x2，x3＜x4If x1＝x2Then point A1,A2The same point;
(4) according to four points A1,A2,A3,A4Calculating the secant angle theta of the muck on the horizontal conveyor belt of the shield tunneling machine according to the following formula:
step 3, according toThe secant angle theta of the muck on the horizontal conveyor belt of the shield machine and the secant angle value range [ w ] of the muck in the static state under the appropriate improvement statemin,wmax]And judging the improved state of the muck on the horizontal conveying belt of the shield tunneling machine in real time.
If λ θ ∈ [ w ]min,wmax]Judging that the improvement state of the muck on the horizontal conveyor belt of the shield machine is proper, recording as a working condition I, and keeping the current improvement parameters of the muck to continue tunneling;
the lambda in the invention is a static and dynamic secant angle transformation coefficient, and is obtained by measuring the ratio of the muck secant angle to the muck secant angle on the horizontal conveying belt of the shield tunneling machine through muck under the same improved state in an indoor experiment. In this experimental example, the angle transformation coefficient λ of the static and dynamic secant of sandy soil was 2.
If λ θ > wmaxAnd the accumulation angle of the muck under the current condition can be reflected to a certain extent, which indicates that the fluidity of the muck on the horizontal conveyor belt of the shield tunneling machine is poor and is marked as working condition two. At the moment, the water injection amount and the foam injection ratio need to be adjusted to increase the flowability of the muck, and the adjustment is continuously monitored until the secant angle theta of the muck on the horizontal conveyor belt of the shield tunneling machine meets lambda theta epsilon (w is equal to wmin,wmax) And then continuing tunneling.
If λ θ < wminAnd if the accumulation angle of the muck under the current condition is smaller, the fact that the fluidity of the muck is too strong or the muck is too loose under the current condition is indicated, and the result is recorded as working condition three. At the moment, the water injection amount and the foam injection ratio need to be adjusted, the flowability of the slag soil is reduced to meet the requirement, the slag soil after being adjusted and improved is continuously monitored until the secant angle lambda theta of the slag soil reaches the secant angle interval [ w theta ] of the slag soil under the appropriate improved statemin,wmax]And when the appropriate improvement state is achieved, keeping the corresponding improvement parameters to continue tunneling.
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 (6)
1. A real-time judgment method for improved state of muck on a horizontal conveyor belt of a shield tunneling machine is characterized by comprising the following steps:
step 1, using field muck and modifier as experimental materials, performing slump tests on the muck after different improvements, evaluating whether the improvement state of each muck is proper or not according to the slump value, and performing accumulation experiments on the muck in each proper improvement state, namely simulating the muck to fall from the shield screw machine to the shield machine conveyor belt so as to obtain the stationary state secant angle value range [ w ] of the muck in the proper improvement statemin,wmax]；
Step 2, scanning the muck on the horizontal conveyor belt of the on-site shield tunneling machine through a three-dimensional laser scanner, wherein the scanning direction is vertical to the moving direction of the conveyor belt; scanning each time to obtain point cloud data of the muck surface, correspondingly establishing a muck surface curve on a horizontal conveying belt of the shield tunneling machine, and determining a secant angle theta of the muck on the horizontal conveying belt of the shield tunneling machine in a direction perpendicular to the moving direction of the conveying belt according to the muck surface curve;
step 3, according to the secant angle theta of the muck on the horizontal conveyor belt of the shield tunneling machine and the secant angle value range [ w ] of the muck in the static state under the appropriate improvement statemin,wmax]And judging the improved state of the muck on the horizontal conveying belt of the shield tunneling machine in real time.
2. The method according to claim 1, wherein the judging method in step 3 is:
if λ θ ∈ [ w ]min,wmax]Judging that the improvement state of the muck on the horizontal conveyor belt of the shield machine is proper; wherein, λ is the angle transformation coefficient of the static and dynamic secant;
if λ θ > wmaxIf the flowability of the muck on the horizontal conveyor belt of the shield machine is poor, adjusting the water injection amount and the foam injection ratio to increase the flowability of the muck;
if λ θ < wminJudging that the fluidity of the muck on the horizontal conveyor belt of the shield tunneling machine is too strong or the muck is too loose,the water injection amount and the foam injection ratio need to be adjusted, so that the flowability of the slag soil is reduced.
3. The method according to claim 2, wherein the transformation coefficient λ of the static secant angle and the dynamic secant angle is obtained by measuring the ratio of the muck secant angle to the muck secant angle on the horizontal conveyor belt of the shield tunneling machine in an indoor experiment with muck under the same improved state.
4. The method as claimed in claim 1, wherein a three-dimensional laser scanner is used to emit linear laser, the point cloud data of the surface of the dregs is obtained by sending and receiving laser pulses, the point cloud data is denoised by programming or existing point cloud data processing software, and then a three-dimensional model is reconstructed on the surface of the dregs, so as to obtain a curve of the surface of the dregs perpendicular to the moving direction of the conveyor belt, and further determine the cutting line angle according to the curve of the surface of the dregs.
5. 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.
6. The method of claim 1, wherein the secant angle is determined by:
(1) establishing a coordinate system by taking the direction of muck accumulation on the conveyor belt as a z-axis, the direction of movement of the conveyor belt as a y-axis and the direction vertical to a yOz plane as an x-axis;
(2) all point cloud data obtained by scanning the surface of the muck along the x-axis direction by using the three-dimensional laser scanner are represented by using the established coordinate system, and then a muck surface curve f is fitted1(x,y,z)；
(3) Calculating the surface curve f of the dregs1(x, y, z), two points A having the largest z-axis value1(x1,y1,z1)、A2(x2,y2,z2) And the minimum two intersection points B of the z-axis value1(x3,y3,z3)、B2(x4,y4,y4) (ii) a Wherein x is1≤x2，x3＜x4；
(4) According to four points A1,A2,A3,A4Calculating the secant angle theta of the muck on the horizontal conveyor belt of the shield tunneling machine according to the following formula:
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