A hard rock tunnel boring machine tunnel bottom slag identification device and method
A tunnel boring machine and identification method technology, which is applied in the field of hard rock tunnel boring machine tunnel bottom slag identification device, to achieve the effects of reducing safety hazards, efficient and intelligent slag identification, and improving construction efficiency
Active Publication Date: 2021-04-27
ZHEJIANG UNIV
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Problems solved by technology
[0005] In view of the above problems, the purpose of the present invention is to propose a hard rock tunnel boring machine tunnel bottom slag identification device and its method, to solve the identification problem of the tunnel bottom slag, to realize the acquisition of the distribution and volume characteristics of the tunnel bottom slag, for Slag cleanup provides key information
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[0027] The present invention will be described in detail below in conjunction with the accompanying drawings and embodiments.
[0028] Such as figure 1 As shown, the present invention includes a support frame 1, a tunnel wall base 2, a guide rail 3, a laser radar device 4, a binocular vision device 5, and a main beam 6; wherein, the main beam 6 is fixed on the support frame 1, and the support frame 1 is passed through a bolt It is fixedly connected with the tunnel wall base 2, and the guide rail 3 is installed on the bottom of the main beam 6. The laser radar device 4 and the binocular vision device 5 form a linear slider mechanism with the guide rail 3 respectively.
[0029] Such as Figure 4 As shown, the laser radar device 4 includes a laser radar slider 41 and a 2D laser radar 42; wherein the 2D laser radar 42 is fixed on the bottom of the laser radar slider 41 by bolt connection; the binocular vision device 5 includes a camera slider 51, an adapter frame 52. Turntable 5...
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The invention provides a hard rock tunnel boring machine tunnel bottom slag identification device and method thereof. The device includes a set of guide rails, which are arranged at the bottom of the main beam of the hard rock tunnel boring machine; a set of rotating mechanisms, which are fixed on the corresponding sliders of the guide rails through an adapter frame; a pair of industrial A camera, the pair of industrial cameras form a binocular vision system, and is installed on the rotating mechanism through a T-shaped plate; a 2D laser radar, the laser radar is fixed on the corresponding slider of the guide rail. The binocular vision system and laser radar of the device of the present invention can move along the direction of tunnel excavation through guide rails, thereby obtaining slag accumulation images and point cloud information at the bottom of the tunnel, and performing post-processing such as fusion of image information and point cloud information to realize Identification of slag accumulation at the bottom of the tunnel.
Description
technical field [0001] The invention relates to the field of intelligent assembly of steel arch frames, in particular to a hard rock tunnel boring machine tunnel bottom slag identification device and method thereof. [0002] technical background [0003] Full-face hard rock tunnel boring machine (Hard Rock-Tunnel Boring Machine, referred to as TBM) is a large-scale tunnel construction machine for tunneling in hard rock formations. It drives the cutter head to rotate through electricity or hydraulic power. It is a new type of construction machine that tightens the rock layer and excavates the rock section through the cutter on the cutter head to form a complete tunnel section. [0004] The identification of slag accumulation at the bottom of the tunnel is a key step in the intelligent operation of steel arch assembly and support. Timely and effective steel arch assembly and support is the key to ensuring the safety and quality of excavated tunnels. During TBM excavation, the s...
Claims
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IPC IPC(8): G01S17/88G01S17/86H04N13/239G06K9/00
CPCG01S17/88H04N13/239G06V20/10
Inventor 龚国芳刘婧珂沈晓俊陈玉羲周星海杨华勇
Owner ZHEJIANG UNIV