Full-automatic tunnel wet spraying state detection method based on three-dimensional laser radar

Abstract

The invention discloses a full-automatic tunnel wet spraying state detection method based on a three-dimensional laser radar. The method comprises the following steps of firstly, acquiring surface point cloud information of a tunnel under construction by using a three-dimensional laser radar, and then carrying out three-stage preprocessing on point cloud data, completing tunnel point cloud pose correction by using three times of projection; combining a random sampling consistency algorithm with a Euclidean clustering algorithm to complete extraction of tunnel surface point cloud, and filtering obstacles and ground point cloud data; compensating the point cloud data in combination with an adaptive threshold method and a segmented cubic Hermite interpolation algorithm; and finally, establishing a tunnel rock surface wet spraying state detection model, and solving a solution of the model in combination with a Gaussian-Newton iteration method. According to the method, a tunnel surface wet spraying state of the oval tunnel can be automatically detected, the to-be-wet-sprayed depth of each point on the tunnel surface is calculated, manual intervention is not needed in the whole process, and the method can be applied to state detection of tunnel wet spraying concrete and solution of the to-be-wet-sprayed depth.

Description

technical field [0001] The invention relates to the field of tunnel concrete construction, in particular to a fully automatic tunnel wet spraying state detection method based on a three-dimensional laser radar. Background technique [0002] The initial support of tunnel construction mainly includes dry spraying and wet spraying concrete technology. In wet spraying concrete technology, workers often use experience to judge whether the wet spraying is in place. Effectively detect and sense the depth of the tunnel surface to be sprayed in real time. However, the tunnel environment is harsh and complex, with poor lighting conditions and low visibility. Traditional image processing often fails to achieve the expected results. Therefore, it is necessary to re-select the sensor. Not only that, due to the construction progress of the tunnel and potential safety hazards, the time for researchers to enter and exit the tunnel is extremely short, and not only construction equipment is ...

AI Technical Summary

Problems solved by technology

The invention aims at the detection of the state of wet spraying on the tunnel surface and the calculation of the depth to be wet sprayed. On the basis of fully understanding the working principle of the wet sprayed concrete in the tunnel and the mapping relationship before and after the wet sprayed on the tunnel surface, a method that can be used for the construction Quickly detect the wet spraying status of the tunnel surface and quickly calculate the model of the depth to be wet sprayed on the tunnel surface, apply it to the tunnel under construction, and finally achieve the purpose of real-time detection of the wet spraying status of the tunnel under construction

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