阅读说明：本技术 一种隧道超欠挖检测系统及其检测方法 (Tunnel overbreak and underexcavation detection system and detection method thereof ) 是由 汪俊 王洲涛 龚小溪 李大伟 于 2020-05-14 设计创作，主要内容包括：本发明公开了一种隧道超欠挖检测系统及其检测方法,涉及隧道超欠挖检测技术领域,解决了传统的隧道超欠挖检测以人工测量为主,费时费力的问题。包括小车底盘,小车底盘上设有工控机；工控机分别连通于里程计、倾斜传感器、扫描仪,用于采集并传输里程计、倾斜传感器、扫描仪的数据；扫描仪在行进过程中检测当前位置的隧道断面轮廓,并且与设计断面轮廓进行对比,检测超欠挖状态；里程计用于记录小车底盘的行驶距离,根据行驶距离计算扫描仪的行驶里程和运行时间的关系；倾斜传感器用于获取小车前进过程中任意时刻的姿态。达到了方便、快速的自动化处理数据、分析数据,检测超欠挖状态,操作简单,便于携带的效果。(The invention discloses a tunnel under-run excavation detection system and a tunnel under-run excavation detection method, relates to the technical field of tunnel under-run excavation detection, and solves the problems that the traditional tunnel under-run excavation detection is mainly based on manual measurement and wastes time and labor. The device comprises a trolley chassis, wherein an industrial personal computer is arranged on the trolley chassis; the industrial personal computer is respectively communicated with the odometer, the inclination sensor and the scanner and is used for acquiring and transmitting data of the odometer, the inclination sensor and the scanner; the scanner detects the profile of the tunnel section at the current position in the traveling process, compares the profile with the designed profile of the tunnel section and detects the overbreak and underexcavation state; the odometer is used for recording the running distance of the chassis of the trolley and calculating the relation between the running distance of the scanner and the running time according to the running distance; the inclination sensor is used for acquiring the attitude of the trolley at any time in the advancing process. The effects of convenient and quick automatic data processing and analysis, detection of the overbreak state, simple operation and convenient carrying are achieved.)

1. The utility model provides a tunnel surpasses owes to dig detecting system which characterized in that: comprises a trolley chassis (4), wherein an industrial personal computer (6) is arranged on the trolley chassis (4);

the industrial personal computer (6) is respectively communicated with the odometer (10), the inclination sensor (3) and the scanner (1) and is used for acquiring and transmitting data of the odometer (10), the inclination sensor (3) and the scanner (1);

the scanner (1) detects the profile of the tunnel section at the current position in the traveling process, compares the profile with the designed profile of the tunnel section and detects the overbreak and underexcavation state;

the odometer (10) is used for recording the driving distance of the trolley chassis (4) and calculating the relation between the driving distance and the running time of the scanner (1) according to the driving distance;

the inclination sensor (3) is used for acquiring the attitude of the trolley at any time in the advancing process.

2. The system of claim 1, wherein the system further comprises: the trolley chassis (4) comprises a T-shaped cross beam for supporting the integral structure of the trolley, and the T-shaped cross beam comprises a vertical part arranged along the advancing direction of the T-shaped cross beam and a transverse part perpendicular to the advancing direction; one end of the transverse part is fixedly connected with the vertical part.

3. The system of claim 2, wherein: two ends of the vertical part are respectively connected with a running wheel (7); one end of the transverse part far away from the vertical part is connected with a running wheel (7).

4. A tunnel under-run detection system according to claim 1 or 2, characterized in that: the chassis (4) of the trolley is connected with a side wheel which can slide and a spring which drives the side wheel to slide towards the side direction of the rail.

5. A tunnel under-run detection system according to claim 1 or 2, characterized in that: the scanner (1) is a two-dimensional line laser scanner (1).

6. The system of claim 1, wherein the system further comprises: the two inclination sensors (3) are respectively used for measuring the pitch angle and the roll angle of the trolley.

7. A method for detecting excessive under-excavation by a tunnel excessive under-excavation detection system according to claim 1, wherein the data processing of the scanner (1) comprises the steps of:

firstly, a scanner (1) scans a tunnel to obtain point cloud data of the tunnel, and the point cloud data is preprocessed through an industrial personal computer (6); the specific pretreatment comprises the following steps: the point cloud data is subjected to registration, denoising, coordinate system normalization, compression and three-dimensional reconstruction processing through an industrial personal computer (6);

and then, according to the position and the posture of the scanner (1), the point cloud obtained by scanning corresponds to the real tunnel, and the preprocessed data is compared with the design value of the tunnel through the industrial personal computer (6) so as to calculate the over-under-excavation state of the current data.

8. The method for detecting tunnel under-excavation according to claim 7, wherein the position data of the scanner (1) is obtained by an odometer (10), and the processing procedure comprises:

the running of the trolley drives a rolling shaft of the odometer (10) to rotate, so that the running distance is recorded;

then, converting the advancing distance of the driving wheels (7) along the track into the advancing distance of the trolley along the central line of the track, thereby scanning the relationship between the mileage and the operation time of the trolley;

and finally, obtaining the relation between the mileage and the running time of the scanner (1) according to the relative position relation between the scanner (1) and the trolley.

9. The method for detecting the tunnel overbreak and underexcavation according to claim 8, wherein the attitude of the trolley is obtained by the tilt sensor (3) and the absolute coordinates of the scanning point are calculated, and the calculation process comprises:

firstly, calculating according to the relative position relationship between the scanner (1) and the scanning trolley to obtain the coordinate value of the scanning point in the coordinate system of the detection trolley;

and then the attitude of the trolley during measurement is calculated according to the measured inclination angle, so that the absolute coordinate of the scanning point is obtained.

10. The method for detecting the tunnel overbreak and underexcavation according to the claim 7 or 9, wherein the overbreak and underexcavation state is calculated based on the data processed by the industrial personal computer (6), wherein the calculation process of the overbreak and underexcavation square amount comprises the following steps:

s1: firstly, fitting data processed by an industrial personal computer (6) by using a RANSAC algorithm, then dividing a two-dimensional plane into a plurality of intervals according to a circumference by using a circle center after fitting, and taking an average value of distances from points to the circle center in each interval as a fitting radius;

s2: counting the fitting radius of each interval, and forming a histogram according to the counting in the reverse/clockwise direction;

s3: the volume infinitesimal of the tunnel overburdened is calculated through the histogram, and then the total overburdened square quantity is obtained through summation, wherein the formula of the calculation method is as follows:

ΔV＝ΔS×l

v＝∑ΔV

α is the unit interval angle divided by the point cloud along the circumference direction, R₁Fitting the radius for the corresponding point cloud between the divided regions; r₂Fitting a radius for the corresponding excavation surface interval; l is the unit length divided axially; delta S is a unit interval area infinitesimal; the delta V is the calculated unit interval overbreak volume; v is the total volume of the calculated tunnel excavation surface overbreak.

Technical Field

The invention relates to the technical field of tunnel over-under-excavation detection, in particular to a tunnel over-under-excavation detection system and a detection method thereof.

Background

With further increase in the level of urbanization, the urban population presents a situation of explosive growth. In order to alleviate the pressure of urban traffic environment, more and more cities choose to build urban subways as a solution.

In the process of subway tunnel construction, due to the influence of accumulation such as geology, blasting, the phenomenon is dug owing to the ease to produce. When the tunnel is subjected to the overbreak and underexcavation condition, the actual excavation contour line and the design contour line of the tunnel are different. The actually excavated irregular contour line causes the stress applied to the supporting structure by the tunnel surrounding rock to generate a local stress concentration phenomenon, so that the primary supporting structure is unstable. In actual engineering construction, the overbreak is inevitable, and the overbreak can be controlled within an acceptable range through construction technology control, equipment management and control and the like. However, under-excavation is not generally allowed. The strict control of the over-under excavation amount has important significance on smooth construction, saving of equipment manpower resources and production safety.

The traditional tunnel overbreak and underbreak detection mainly adopts manual measurement and adopts equipment such as a profiler or a total station to carry out section-by-section measurement on the whole tunnel. The method is time-consuming and labor-consuming, and the equipment required to be carried for measurement is heavy and is difficult to complete detection on time in a short window period when the subway vehicle stops running. In order to successfully finish the whole construction of the tunnel, the reliable and quick tunnel overbreak and underexcavation detection system has application value.

Disclosure of Invention

The invention aims to provide a tunnel under-excavation detection system which can conveniently and rapidly automatically process data, analyze the data and detect an under-excavation state, and is simple to operate and convenient to carry.

The technical purpose of the invention is realized by the following technical scheme:

a tunnel under-excavation detection system comprises a trolley chassis, wherein an industrial personal computer is arranged on the trolley chassis;

the industrial personal computer is respectively communicated with the odometer, the inclination sensor and the scanner and is used for acquiring and transmitting data of the odometer, the inclination sensor and the scanner;

the scanner detects the profile of the tunnel section at the current position in the traveling process, compares the profile with the designed profile of the tunnel section and detects the overbreak and underexcavation state;

the odometer is used for recording the running distance of the chassis of the trolley and calculating the relation between the running distance of the scanner and the running time according to the running distance;

the inclination sensor is used for acquiring the attitude of the trolley at any time in the advancing process.

Furthermore, the trolley chassis comprises a T-shaped cross beam for supporting the integral structure of the trolley, and the T-shaped cross beam comprises a vertical part arranged along the travelling direction of the T-shaped cross beam and a transverse part perpendicular to the travelling direction; one end of the transverse part is fixedly connected with the vertical part.

Furthermore, two ends of the vertical part are respectively connected with a running wheel; one end of the transverse part far away from the vertical part is connected with a running wheel.

Furthermore, the chassis of the trolley is connected with a side wheel which can slide and a spring which drives the side wheel to slide towards the side direction of the rail.

Still further, the scanner is a two-dimensional line laser scanner.

Further, the tilt sensor includes two sensors for measuring the pitch angle and roll angle of the vehicle, respectively.

The invention also aims to provide a tunnel out-of-break detection method which can conveniently and rapidly automatically process data, analyze the data and detect out-of-break states.

The technical purpose of the invention is realized by the following technical scheme:

a tunnel under-excavation detection method comprises the following steps of scanner data processing:

firstly, a scanner scans a tunnel to obtain point cloud data of the tunnel, and the point cloud data is preprocessed through an industrial personal computer; the specific pretreatment comprises the following steps: carrying out registration, denoising, coordinate system normalization, compression and three-dimensional reconstruction processing on the point cloud data through an industrial personal computer;

and then, according to the position and the posture of the scanner, the point cloud obtained by scanning corresponds to the real tunnel, and the preprocessed data is compared with the design value of the tunnel through the industrial personal computer so as to calculate the overbreak and underexcavation state of the current data.

Furthermore, the position data of the scanner is acquired by the odometer, and the processing procedure comprises:

the running of the trolley drives a rolling shaft of the odometer to rotate, so that the running distance is recorded; and then, converting the advancing distance of the running wheels along the track into the advancing distance of the trolley along the central line of the track, thereby scanning the relationship between the mileage and the running time of the trolley, and finally obtaining the relationship between the mileage and the running time of the scanner according to the relative position relationship between the scanner and the trolley.

Furthermore, the attitude of the trolley is obtained through the inclination sensor, and the absolute coordinates of the scanning point are calculated, wherein the calculation process comprises the following steps:

firstly, calculating according to the relative position relationship between the scanner and the scanning trolley to obtain the coordinate value of the scanning point in the coordinate system of the detection trolley; and then the attitude of the trolley during measurement is calculated according to the measured inclination angle, so that the absolute coordinate of the scanning point is obtained.

Furthermore, based on the data processed by the industrial personal computer, the overbreak and underbreak state is calculated, wherein the calculation process of the overbreak and underbreak square amount comprises the following steps:

s1: firstly, fitting data processed by an industrial personal computer by using a RANSAC algorithm, then dividing a two-dimensional plane into a plurality of intervals according to a circumference by using a circle center after fitting, and taking an average value of distances from points to the circle center in each interval as a fitting radius;

s2: counting the fitting radius of each interval, and forming a histogram according to the counter-clockwise direction;

s3: the volume infinitesimal of the tunnel overburdened is calculated through the histogram, and then the total overburdened square quantity is obtained through summation, wherein the formula of the calculation method is as follows:

ΔV＝Δs×l

V＝ΣΔV

α is the unit interval angle divided by the point cloud along the circumference direction, R₁Fitting the radius for the corresponding point cloud between the divided regions; r₂Fitting a radius for the corresponding excavation surface interval; l is the unit length divided axially; delta S is a unit interval area infinitesimal; the delta V is the calculated unit interval overbreak volume; v is the total volume of the calculated tunnel excavation surface overbreak.

In conclusion, the invention has the following beneficial effects:

1. the tunnel trolley chassis adopts a T-shaped structural frame, so that the trolley can keep stable operation in the detection process;

2. the detection equipment adopts two-dimensional line laser, and the data processing equipment adopts an industrial personal computer, so that the overall weight of the detection system is reduced, and the transportation and carrying are convenient;

3. performing non-contact measurement by adopting two-dimensional line laser, automatically processing data, analyzing the data, and detecting the overbreak and underbreak state;

4. the whole set of detection system is light in weight, convenient to carry and simple to operate, and has important significance to the construction and maintenance of subway tunnels.

Drawings

FIG. 1 is a schematic diagram of an overall structure of a tunnel under-run detection system according to an embodiment of the present invention;

FIG. 2 is a top view of the structure of FIG. 1;

FIG. 3 is a diagram illustrating the relationship between the components of the tunnel under-run detection system in an embodiment of the present invention;

fig. 4 is a detection flow chart of the tunnel under-run detection system in the embodiment of the present invention.

In the figure, 1, a scanner; 2. a trolley body; 3. a tilt sensor; 4. a trolley chassis; 5. a lithium battery pack; 6. an industrial personal computer; 7. a running wheel; 8. the double-wheel side; 9. a direct current motor; 10. an odometer; 11. the single wheel side.

Detailed Description

The following further describes the embodiments of the present invention with reference to the drawings, and the present embodiment is not to be construed as limiting the invention.

A tunnel under-run detection system is shown in figure 1 and comprises a trolley chassis 4, wherein the trolley chassis 4 comprises a trolley body 2 fixed on the trolley chassis; the trolley chassis 4 comprises a T-shaped cross beam for supporting the integral structure of the trolley, and the T-shaped cross beam comprises a vertical part arranged along the advancing direction of the T-shaped cross beam and a transverse part vertical to the advancing direction;

as shown in fig. 1 and 2, one end of the horizontal part is fixedly connected with the vertical part, the upper part of the horizontal part is fixed with the trolley body 2, and two ends of the vertical part are respectively connected with a running wheel 7 as a double-wheel side 8; the other end of the transverse part is connected with a running wheel 7 as a single wheel side 11; the T-shaped structure can be used for controlling the detection trolley to stably run on the track and distinguishing the body direction of the small scanning detection trolley. In this embodiment, when the double-wheel side 8 is on the left side of the traveling direction, the traveling direction of the cart at this time is defined as positive; the direction of the scanning trolley provides reference for the subsequent data processing. The running wheel 7 is driven to rotate by a direct current motor 9, and the direct current motor 9 is fixed at the bottom of the trolley body.

As shown in fig. 1, two side wheels capable of sliding are connected to the trolley chassis 4, the two side wheels are respectively installed at two ends of the vertical part of the T-shaped cross beam of the scanning vehicle, the side rotating shaft is connected to the trolley chassis 4 through a bearing seat, the bearing seat is connected to the trolley chassis 4 in a sliding manner, and the trolley chassis 4 is further connected with a spring for driving the bearing seat to slide towards the side direction of the rail; when the scanning trolley moves on the tunnel rail, the side wheels abut against the side faces of the rail to prevent the trolley from generating large displacement in the horizontal direction, so that the trolley is not easy to slide off the rail.

As shown in fig. 3, an industrial personal computer 6 is connected in the trolley body 2, the industrial personal computer 6 is a positive and negative 6U industrial personal computer, the industrial personal computer 6 is respectively communicated with the odometer 10, the inclination sensor 3 and the scanner 1 and is used for collecting and transmitting data of the odometer 10, the inclination sensor 3 and the scanner 1, and the industrial personal computer 6 is small in size and weight and convenient for overall transportation of equipment; the industrial personal computer 6 is also a control center, controls the starting and closing of the odometer 10, the inclination sensor 3 and the scanner 1, is responsible for data acquisition, storage and transmission, and transmits data of the scanner 1 and the data of other sensors to the industrial personal computer 6 for storage. In this embodiment, a lithium battery pack 5 for supplying power to the positioning device is further connected to the trolley body 2.

As shown in fig. 2, the two-dimensional line laser scanner 1 is selected as the scanner 1 of the measuring system, the data accuracy which can be obtained by the scanner 1 can meet the requirement of the ultra-under-excavation detecting system, the non-contact measurement is adopted, the compact design is realized, the installation space is saved, the weight is low, the power consumption is low, and the overall portability of the measuring trolley is greatly improved; the scanner 1 is arranged on a trolley body 2 of the scanning trolley through a metal support, detects the profile of the section of the tunnel at the current position in the process of traveling, compares the profile with the profile of the section designed, and detects the overbreak and underbreak state; the metal support ensures that the scanner 1 can be installed at the same position at each time, and facilitates the setting of the parameters of the whole system.

Firstly, a scanner 1 scans a tunnel to obtain point cloud data of the tunnel, and the point cloud data is preprocessed through an industrial personal computer; the specific pretreatment comprises the following steps: carrying out registration, denoising, coordinate system normalization, compression and three-dimensional reconstruction processing on the point cloud data through an industrial personal computer; and then, according to the position and the posture of the scanner, the point cloud obtained by scanning corresponds to the real tunnel, and the preprocessed data is compared with the design value of the tunnel through the industrial personal computer so as to calculate the overbreak and underexcavation state of the current data.

The odometer 10 is used for recording the driving distance of the trolley chassis 4 and calculating the relation between the driving distance of the scanner 1 and the running time according to the driving distance; the azimuth angle and the position of the scanning data are obtained through the odometer 10, the trolley moves forwards in the tunnel along the tunnel track, the position of the trolley when scanning is started is recorded, and the coordinate of the scanner 1 at any moment can be calculated by combining the relative position relation of the trolley and the scanner 1.

Specifically, the odometer 10 is connected with a running wheel 7 of the trolley, and in the running process of the trolley, the running wheel 7 drives a rolling shaft of the odometer 10 to rotate, so that the running distance is recorded. The data processing of the odometer 10 includes: the running of the trolley drives the rolling shaft of the odometer 10 to rotate, so that the running distance is recorded; then, the advancing distance of the running wheels 7 along the track is converted into the advancing distance of the trolley along the central line of the track, so that the relation between the mileage of the trolley and the running time is scanned, and finally the relation between the mileage of the scanner 1 and the running time is obtained according to the relative position relation between the scanner 1 and the trolley. In this embodiment, the relative position relationship between the line center point and the detection trolley center point is calculated from the track gauge data, and then the center line point coordinate is calculated according to the mileage and the design value, so as to further obtain the coordinate of the scanning center point of the scanner 1.

The inclination sensor 3 is used for acquiring the attitude of the trolley at any time in the advancing process, and further calculating the attitude of the scanner 1. In order to calculate the absolute coordinates of the scanning points, the relative positions between the points are restored, and it is necessary to know the coordinates of the scanning center and the posture of the scanner 1 at the time of scanning. Since the scanner 1 and the cart are connected by a rigid structure, the posture of the scanner 1 can be calculated according to the relative relationship between the cart and the scanner 1 by only knowing the posture of the cart. In the experimental stage, the total station is erected in a laboratory, and the coordinates of the center of the scanning mark relative to the center of the prism on the scanning detection trolley, namely the coordinates of the scanning mark under the coordinate system of the detection trolley, can be obtained by subtracting the coordinates of the center of the prism on the laser scanning detection trolley measured by the total station from the scanning coordinates measured by the total station.

The inclination sensors 3 comprise two sensors which are arranged in the trolley body 2 and are respectively used for measuring the pitching angle and the roll angle of the trolley. The measuring range of the tilt sensor 3 is between-8 ° and +8 °, and both the range of the slope and the super-height can be within the measuring range of the sensor. When the absolute coordinates of the scanning points are calculated, the coordinate values of the scanning points in the coordinate system of the detection trolley are calculated according to the relative position relationship between the scanner 1 and the scanning trolley. And calculating the attitude of the trolley during measurement according to the measured inclination angle so as to obtain the absolute coordinates of the scanning point, wherein the azimuth angle of the attitude of the trolley is obtained from the numerical value in a design file, and the design file is a design file of the tunnel line. The tilt sensor 3 and the odometer 10 are simultaneously controlled by the industrial personal computer 6, data of the tilt sensor 3 are transmitted to the industrial personal computer 6 firstly and combined with data of the odometer 10, time intervals of data recording are accurately determined according to time marks of the industrial personal computer 6, and then unification is carried out according to computer time and data of other sensors.

In the scanning process, the point cloud obtained by scanning can be corresponding to the real tunnel only by mastering the position and the posture of the corresponding scanner 1, the posture of the measuring trolley at any moment is obtained through the inclined sensor 3, and the posture of the scanner 1 at any moment is obtained through the relative position relation between the trolley and the scanner 1; the required azimuth and position are obtained by means of the odometer 10 and the design file.

And recording to obtain the mileage information when the scanning is started in the running process of the detection trolley in the tunnel, and combining the data recorded by the odometer 10 in the running process to obtain the mileage of the trolley at any moment. And substituting the mileage into a design file to obtain the coordinate and the azimuth angle of the trolley relative to the line center line at any moment. The absolute coordinates and the attitude of the scanner 1 at any time can be calculated by combining the inclination angle measured by the inclination sensor 3 and the relative position relationship between the trolley and the scanner 1. In the data processing process, the relative position relationship between the track central line and the trolley driving wheel can be utilized, and the design linearity is combined, so that the advancing distance of the driving wheel along the track is converted into the advancing distance of the trolley along the track central line.

As shown in fig. 4, the overexcavation data includes a maximum overexcavation amount of the tunnel, a design contour surface area of the overexcavation portion, and a maximum overexcavation depth value of the tunnel (where the maximum overexcavation depth value is a vertical distance of a deepest point of the overexcavation portion with respect to the contour surface), and after all of the overexcavation portions are identified on the cross section of the tunnel, the overexcavation volume of all of the overexcavation portions is calculated to obtain the overexcavation amount. And finally, calculating the area of the designed outline surface of all the over-cut parts to obtain the area of the designed outline surface of the over-cut parts, and calculating the quotient of the over-cut square quantity and the area of the designed outline surface to obtain a result.

The device accurately acquires point cloud data of the tunnel, and after the point cloud obtained by scanning corresponds to the real tunnel, the calculation of the area of the design profile surface corresponding to the normal tunnel is the prior art, and is not repeated herein; and based on the data after industrial computer 6 processes to this calculates the super undermining state, wherein, the calculation process of super undermining square volume includes:

s1: firstly, fitting data processed by an industrial personal computer 6 by using a RANSAC algorithm, then dividing a two-dimensional plane into a plurality of intervals according to a circumference by using a circle center after fitting, and taking an average value of distances from points to the circle center in each interval as a fitting radius;

s2: counting the fitting radius of each interval, and forming a histogram according to the counter-clockwise direction;

s3: the volume infinitesimal of the tunnel overburdened is calculated through the histogram, and then the total overburdened square quantity is obtained through summation, wherein the formula of the calculation method is as follows:

ΔV＝Δs×l

V＝ΣΔV

α is the unit interval angle divided by the point cloud along the circumference direction, R₁Fitting the radius for the corresponding point cloud between the divided regions; r₂Fitting a radius for the corresponding excavation surface interval; l is the unit length divided axially; delta S is a unit interval area infinitesimal; the delta V is the calculated unit interval overbreak volume; v is the total volume of the calculated tunnel excavation surface overbreak.

While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention.