A safety step distance measurement device, method, electronic device and storage medium

Abstract

The present application discloses a safety step measurement device, method, electronic device and storage medium, belonging to the technical field of tunnel construction surveying. The safety step measurement device is arranged on a waterproof board trolley, and the safety step measurement device includes a lidar, a UWB base station and an industrial control computer; the lidar is used to collect ranging point cloud data of the heading face and / or the construction step; the UWB base station is used to receive UWB signals sent by a first UWB tag; the industrial control computer is used to determine a first distance between the waterproof board trolley and the heading face and / or the construction step according to the ranging point cloud data, and is also used to determine a second distance between the waterproof board trolley and a secondary lining trolley according to the UWB signals sent by the first UWB tag, and is further used to determine the safety step of tunnel construction according to the first distance and the second distance. Among them, the safety step is the safety step of bench cut tunnel construction or full face tunnel construction. The present application can improve the convenience and accuracy of measuring the safety step.

Description

Technical Field

[0001] This application relates to the technical field of tunnel construction surveying, and particularly relates to a safety step distance measuring device, method, electronic device, and storage medium. Background Art

[0002] During the tunnel construction process, to ensure the safety of the tunnel structure and construction personnel and not affect the construction progress, the measurement of the tunnel safety step distance is crucial.

[0003] Traditionally, the method of manual measurement and recording is used, which is inefficient, has low accuracy, and cannot monitor all-weather. Currently, in related technologies, infrared ranging devices, laser ranging devices, radar ranging devices, etc. are usually used to measure the safety step distance. However, the above-mentioned ranging methods using infrared and laser single beams are easily interfered by dust in the tunnel and blocked by tunnel construction equipment, resulting in large errors in the measured tunnel safety step distance; the frequency modulation continuous wave measurement method in radar ranging has the disadvantage of short effective detection distance. In addition, the above-mentioned measurement methods require the measurement device to be fixed on the tunnel wall or the heading face, and it needs to be disassembled and assembled multiple times during the continuous forward movement of the heading face and the secondary lining trolley, with poor mobility, low accuracy, and no guarantee of personnel safety.

[0004] The above measurement methods are all for full-section tunnel construction, and there are no related devices and methods for measuring the safety step distance of bench cut method tunnels. Therefore, how to effectively measure the safety step distance of bench cut method tunnels and improve the convenience and accuracy of measuring the safety step distance is a technical problem that needs to be solved by those skilled in the art currently. Summary of the Invention

[0005] The purpose of this application is to provide a safety step distance measuring device, a safety step distance measuring method, an electronic device, and a storage medium, which can effectively measure the safety step distance of bench cut method tunnel construction and improve the convenience and accuracy of measuring the safety step distance.

[0006] To solve the above technical problems, this application provides a safety step distance measuring device. The safety step distance measuring device is arranged on a waterproof board trolley. The safety step distance measuring device includes a lidar, a UWB base station, and an industrial control computer. The laser emission direction of the lidar faces the heading face and / or the construction bench. The signal receiving direction of the UWB base station faces the secondary lining trolley, and the secondary lining trolley is provided with a first UWB tag;

[0007] The lidar is used to collect the ranging point cloud data of the heading face and / or the construction bench;

[0008] The UWB base station is used to receive the UWB signal sent by the first UWB tag;

[0009] The industrial control computer is used to determine the first distance between the waterproof board trolley and the heading face and / or the construction bench according to the ranging point cloud data, and is also used to determine the second distance between the waterproof board trolley and the secondary lining trolley according to the UWB signal sent by the first UWB tag, and is also used to determine the safe distance of tunnel construction according to the first distance and the second distance; wherein, the safe distance is the safe distance of tunnel construction by the bench method.

[0010] Optionally, the UWB base station is further configured to receive the UWB signal sent by the second UWB tag; wherein, the second UWB tag is arranged on the invert trolley.

[0011] The industrial control computer is further configured to determine the third distance between the waterproof board trolley and the invert trolley according to the UWB signal sent by the second UWB tag, and is also used to determine the invert distance according to the first distance and the third distance.

[0012] Optionally, the lidar is specifically a radar that collects ranging point cloud data of the heading face and / or the construction bench through multi-point laser scanning.

[0013] Optionally, the safe distance measuring device is installed on the waterproof board trolley through a lifting base.

[0014] Or, the safe distance measuring device is installed on the waterproof board trolley through a lifting mechanism.

[0015] Optionally, the safe distance measuring device further includes a relay, a wiper and a wiper motor.

[0016] Wherein, the relay is connected to the industrial control computer, the wiper motor is connected to the relay, the wiper is linked with the wiper motor, and the industrial control computer is further configured to control the wiper motor to drive the wiper to rotate periodically or after receiving a remote wiper action instruction through the relay.

[0017] Optionally, the industrial control computer is further configured to control the lidar to collect cruise point cloud data in the cruise mode, and if the cruise point cloud data is valid point cloud data, then use the collected cruise point cloud data as the ranging point cloud data.

[0018] Optionally, a wireless AP is installed inside the safe distance measuring device, and the industrial control computer is further configured to send the tunnel safe distance to the server through the network.

[0019] The present application also provides a safety step measurement device, which is arranged on a waterproof board trolley. The safety step measurement device includes a lidar, a UWB base station and an industrial control computer. The laser emission direction of the lidar faces the heading face, the signal reception direction of the UWB base station faces the secondary lining trolley, and a first UWB tag is arranged on the secondary lining trolley;

[0020] The lidar is used to collect the ranging point cloud data of the heading face;

[0021] The UWB base station is used to receive the UWB signal sent by the first UWB tag;

[0022] The industrial control computer is used to determine a first distance between the waterproof board trolley and the heading face according to the ranging point cloud data, and is also used to determine a second distance between the waterproof board trolley and the secondary lining trolley according to the UWB signal sent by the first UWB tag, and is further used to determine the safety step of tunnel construction according to the first distance and the second distance; wherein, the safety step is the safety step of full-face tunnel construction.

[0023] The present application also provides a safety step measurement method, which is applied to a safety step measurement device. The safety step measurement device is arranged on a waterproof board trolley. The safety step measurement device includes a lidar, a UWB base station and an industrial control computer. The laser emission direction of the lidar faces the heading face and / or the construction bench, the signal reception direction of the UWB base station faces the secondary lining trolley, and a first UWB tag is arranged on the secondary lining trolley. The safety step measurement method includes:

[0024] Collecting the ranging point cloud data of the heading face and / or the construction bench by using the lidar;

[0025] Receiving the UWB signal sent by the first UWB tag by using the UWB base station;

[0026] Determining a first distance between the waterproof board trolley and the heading face and / or the construction bench according to the ranging point cloud data;

[0027] Determining a second distance between the waterproof board trolley and the secondary lining trolley according to the UWB signal sent by the first UWB tag;

[0028] Determining the safety step of tunnel construction according to the first distance and the second distance; wherein, the safety step is the safety step of bench method tunnel construction or full-face tunnel construction.

[0029] The present application also provides a storage medium, on which a computer program is stored. When the computer program is executed, the steps executed by the above safety step measurement method are realized.

[0030] The present application also provides an electronic device, including a memory and a processor. A computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps executed by the above-mentioned safe step measurement method are realized.

[0031] The present application provides a safe step measurement device, which is arranged on a waterproof board trolley. The safe step measurement device includes a lidar, a UWB base station and an industrial control computer. The laser emission direction of the lidar faces the heading face and / or the construction step, and the signal receiving direction of the UWB base station faces the secondary lining trolley, and a first UWB tag is arranged on the secondary lining trolley; the lidar is used to collect the ranging point cloud data of the heading face and / or the construction step; the UWB base station is used to receive the UWB signal sent by the first UWB tag; the industrial control computer is used to determine the first distance between the waterproof board trolley and the heading face and / or the construction step according to the ranging point cloud data, and is also used to determine the second distance between the waterproof board trolley and the secondary lining trolley according to the UWB signal sent by the first UWB tag, and is further used to determine the safe step of tunnel construction according to the first distance and the second distance; wherein, the safe step is the safe step of bench cut tunnel construction or full face tunnel construction.

[0032] The safe step measurement device provided by the present application is arranged on a waterproof board trolley, and the safe step measurement device includes a lidar, a UWB base station and an industrial control computer. The laser emission direction of the lidar faces the heading face and / or the construction step, and the safe step measurement device can use the lidar to determine the first distance between the waterproof board trolley and the heading face and / or the construction step; the signal receiving direction of the UWB base station faces the secondary lining trolley, and a first UWB tag is arranged on the secondary lining trolley, and the safe step measurement device can use the UWB base station to determine the second distance between the waterproof board trolley and the secondary lining trolley, and then combine the first distance and the second distance to determine the safe step of tunnel construction, wherein the safe step is the safe step of bench cut tunnel construction or full face tunnel construction. The present application adopts a segmented measurement method, uses the ranging point cloud data collected by the lidar and the UWB signal collected by the UWB base station to determine the safe step of bench cut tunnel, and can improve the measurement range and measurement accuracy. The above-mentioned safe step measurement device is arranged on the waterproof board trolley, and can realize mobile measurement in the tunnel without repeated disassembly and assembly. Therefore, the present application can effectively measure the safe step of bench cut tunnel and improve the convenience and accuracy of measuring the safe step. The present application also provides a safe step measurement method, a storage medium and an electronic device at the same time, which have the above-mentioned beneficial effects and will not be elaborated here. Description of the Drawings

[0033] To more clearly illustrate the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0034] Figure 1 Schematic diagram of an application scenario of a safety step distance measurement device provided by an embodiment of the present application;

[0035] Figure 2 Flowchart of a safety step distance measurement method provided by an embodiment of the present application;

[0036] Figure 3 Schematic diagram of a tunnel safety step distance measurement system provided by an embodiment of the present application;

[0037] Figure 4 Schematic diagram of the structure of a safety step distance measurement device provided by an embodiment of the present application;

[0038] Figure 5 Schematic diagram of data flow of a safety step distance measurement device provided by an embodiment of the present application;

[0039] Figure 6 Automatic measurement flowchart of a safety step distance measurement device provided by an embodiment of the present application. Detailed implementation manners

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are some, but not all, of the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0041] Please refer to the following Figure 1 , Figure 1 Schematic diagram of an application scenario of a safety step distance measurement device provided by an embodiment of the present application. The safety step distance measurement device 100 is arranged on the waterproof board trolley 200. The safety step distance measurement device 100 includes a lidar 101, a UWB base station 102, and an industrial control computer 103. The laser emission direction of the lidar 101 faces the heading face 300 and / or the construction step 400. The signal reception direction of the UWB base station 102 faces the secondary lining trolley 500. The secondary lining trolley 500 is provided with a first UWB tag 600. The waterproof board trolley 200 is located between the secondary lining trolley 500 and the heading face 300 and / or the construction step 400.

[0042] The lidar 101 is used to collect the ranging point cloud data of the heading face 300 and / or the construction bench 400. The above-mentioned construction bench 400 can be a single bench and / or a double bench in the tunnel. The lidar 101 can also transmit the ranging point cloud data to the industrial control computer 103. The ranging point cloud data is the effective point cloud data obtained by the lidar in the cruise scanning mode and is used to determine the distance between the measured object and the lidar.

[0043] The UWB base station 102 is used to receive the UWB signal sent by the first UWB tag 600; the UWB base station 102 can also transmit the UWB signal to the industrial control computer 103.

[0044] The industrial control computer 103 is used to determine the first distance between the waterproof board trolley 200 and the heading face 300 and / or the construction bench 400 according to the ranging point cloud data, and is also used to determine the second distance between the waterproof board trolley 200 and the secondary lining trolley 500 according to the UWB signal sent by the first UWB tag 600, and is also used to determine the safe distance for tunnel construction according to the first distance and the second distance; wherein, the safe distance is the safe distance for tunnel construction by the bench method. If the lidar collects the ranging point cloud data of the heading face, the first distance is the distance between the waterproof board trolley and the heading face; if the lidar collects the ranging point cloud data of the construction bench, the first distance is the distance between the waterproof board trolley and the construction bench; if the lidar collects the ranging point cloud data of the heading face and the construction bench, the first distance includes the distance between the waterproof board trolley and the heading face, and the distance between the waterproof board trolley and the construction bench.

[0045] Specifically, in this embodiment, the relative pose of the safety distance measuring device 100 (i.e., the lidar 101 and the UWB base station 102) and the waterproof board trolley 200 can be pre-calibrated. The first distance is determined according to the relative pose between the lidar 101 and the waterproof board trolley 200 and the ranging point cloud data; the second distance, that is, the distance between the waterproof board trolley 200 and the secondary lining trolley 500, is determined according to the relative pose between the UWB base station 102 and the waterproof board trolley 200 and the UWB signal sent by the first UWB tag 600. After obtaining the first distance and the second distance, the safe distance for tunnel construction can be comprehensively determined by combining the body parameters (such as the body length) of the waterproof board trolley 200, the first distance and the second distance. The above-mentioned safe distance includes the distance between the heading face 300 and the secondary lining trolley 500, and / or the distance between the construction bench 400 and the secondary lining trolley 500.

[0046] The safety step distance measuring device provided in this embodiment is arranged on the waterproof board trolley. The safety step distance measuring device includes a lidar, a UWB base station, and an industrial control computer. The laser emission direction of the lidar faces the heading face and / or the construction step. The safety step distance measuring device can use the lidar to determine the first distance between the waterproof board trolley and the heading face and / or the construction step. The signal receiving direction of the UWB base station faces the secondary lining trolley, and a first UWB tag is arranged on the secondary lining trolley. The safety step distance measuring device can use the UWB base station to determine the second distance between the waterproof board trolley and the secondary lining trolley, and then combine the first distance and the second distance to determine the safety step distance of tunnel construction. This embodiment adopts a segmented measurement method, using the ranging point cloud data collected by the lidar and the UWB signals collected by the UWB base station to determine the tunnel safety step distance, which can improve the measurement range and measurement accuracy. The above safety step distance measuring device is arranged on the waterproof board trolley, which can realize mobile measurement in the tunnel without repeated disassembly and assembly. Therefore, this embodiment can effectively measure the safety step distance of the bench cut tunnel and improve the convenience and accuracy of measuring the safety step distance.

[0047] As a further introduction to the Figure 1 corresponding embodiment, the above safety step distance is the safety step distance for bench cut tunnel construction. At present, the measurement of the safety step distance is all for full-face tunnel construction, and there is no relevant device and method for measuring the safety step distance of bench cut tunnels. This embodiment overcomes the problem of difficult measurement of the safety step distance in bench cut tunnel construction, measures the safety step distance of bench cut tunnels, has a large ranging range, high accuracy, and good portability.

[0048] As a further introduction to the Figure 1 corresponding embodiment, the above safety step distance measuring device can also measure the invert step distance. Specifically, a second UWB tag is arranged on the invert trolley, and the signal receiving direction of the UWB base station 102 faces the invert trolley. The UWB base station can also receive the UWB signal sent by the second UWB tag and transmit the UWB signal sent by the second UWB tag to the industrial control computer. Correspondingly, the industrial control computer can determine the third distance between the waterproof board trolley and the invert trolley according to the UWB signal sent by the second UWB tag, and determine the invert step distance according to the first distance and the third distance.

[0049] Specifically, this embodiment can determine the third distance according to the relative pose between the UWB base station and the waterproof board trolley and the UWB signal sent by the second UWB tag, that is, the distance between the waterproof board trolley and the invert trolley. After obtaining the first distance and the third distance, the invert step distance can be comprehensively determined by combining the body parameters of the waterproof board trolley, the first distance, and the third distance. The above invert step distance includes the distance between the heading face and the invert trolley, and / or the distance between the construction step and the invert trolley. In addition, this embodiment can also determine the distance between the invert trolley and the secondary lining trolley according to the second distance and the third distance.

[0050] As a further introduction to Figure 1 the corresponding embodiment, the above lidar is specifically a radar that collects the ranging point cloud data of the heading face and / or the construction bench through a multi-point laser scanning method. Collecting the ranging point cloud data through a multi-point scanning method can improve the measurement accuracy of the first distance.

[0051] As a further introduction to Figure 1 the corresponding embodiment, the above safety step distance measuring device can be installed on the waterproof board trolley through a hoisting base. As another feasible implementation manner, the safety step distance measuring device can also be installed on the waterproof board trolley through a lifting mechanism.

[0052] As a further introduction to Figure 1 the corresponding embodiment, the safety step distance measuring device further includes a relay, a wiper and a wiper motor; wherein, the relay is connected to the industrial control computer, the wiper motor is connected to the relay, the wiper is linked with the wiper motor, and the industrial control computer is further used to control the wiper motor to drive the wiper to rotate at a fixed period or after receiving a remote wiper action instruction through the relay. In the above solution, the laser emission window can be regularly cleaned by the wiper to avoid the interference of dust in the tunnel on the lidar.

[0053] As a further introduction to Figure 1 the corresponding embodiment, the industrial control computer is further used to control the lidar to collect cruise point cloud data in the cruise mode. If the cruise point cloud data is valid point cloud data, the cruise point cloud data collected this time is calculated and output, and the cruise point cloud data collected this time is used as the ranging point cloud data. The cruise mode specifically refers to that the lidar performs cyclic scanning according to a certain order and time interval, and the obtained point cloud data is the cruise point cloud data. After the cruise point cloud data is judged for validity, the valid point cloud is used as the ranging point cloud for calculation and output. Specifically, the process of judging whether the cruise point cloud data is valid point cloud data includes: judging whether there is a vertical plane according to the normal vector of the cruise point cloud data. If so, it is determined that the cruise point cloud data this time is valid point cloud data. In this embodiment, after determining that the cruise point cloud data is valid point cloud data, the data collected by the lidar is used as the ranging point cloud data participating in the calculation. The scanning order of the above lidar can be determined according to the actual environment in the tunnel. For example, it can be scanned from left to right or from right to left.

[0054] As a further introduction to Figure 1For further introduction of the corresponding embodiment, a wireless AP is installed inside the above-mentioned safety step measurement device, and the tunnel network is accessed through the wireless AP. The above-mentioned industrial control computer is also used to send the tunnel safety step to the server through the network. So that the server can record the tunnel safety step at each moment and generate an alarm message when the tunnel safety step is less than the preset value.

[0055] The above embodiment provides a safety step measurement device applied to the bench cut method tunnel construction. This embodiment also provides a safety step measurement device applied to the full face method tunnel construction. The safety step measurement device is arranged on the waterproof board trolley. The safety step measurement device includes a lidar, a UWB base station and an industrial control computer. The laser emission direction of the lidar faces the heading face. The signal receiving direction of the UWB base station faces the secondary lining trolley. The secondary lining trolley is provided with a first UWB tag.

[0056] The lidar is used to collect the ranging point cloud data of the heading face.

[0057] The UWB base station is used to receive the UWB signal sent by the first UWB tag.

[0058] The industrial control computer is used to determine the first distance between the waterproof board trolley and the heading face according to the ranging point cloud data, and is also used to determine the second distance between the waterproof board trolley and the secondary lining trolley according to the UWB signal sent by the first UWB tag, and is also used to determine the safety step of the tunnel construction according to the first distance and the second distance. Wherein, the safety step is the safety step of the full face method tunnel construction.

[0059] The safety step measurement device provided in this embodiment is arranged on the waterproof board trolley. The safety step measurement device includes a lidar, a UWB base station and an industrial control computer. The laser emission direction of the lidar faces the heading face. The safety step measurement device can use the lidar to determine the first distance between the waterproof board trolley and the heading face. The signal receiving direction of the UWB base station faces the secondary lining trolley. The secondary lining trolley is provided with a first UWB tag. The safety step measurement device can use the UWB base station to determine the second distance between the waterproof board trolley and the secondary lining trolley, and then combine the first distance and the second distance to determine the safety step of the full face method tunnel construction. This embodiment adopts a segmented measurement method, and uses the ranging point cloud data collected by the lidar and the UWB signal collected by the UWB base station to determine the tunnel safety step, which can improve the measurement range and measurement accuracy. The above safety step measurement device is arranged on the waterproof board trolley, and can realize mobile measurement in the tunnel without repeated disassembly and assembly. Therefore, this embodiment can effectively measure the safety step of the full face method tunnel and improve the convenience and accuracy of measuring the safety step.

[0060] As a further introduction to the above safety step distance measuring device applied to full-face tunnel construction, the UWB base station is also used to receive the UWB signal sent by the second UWB tag; wherein, the second UWB tag is arranged on the invert trolley;

[0061] The industrial control computer is also used to determine the third distance between the waterproof board trolley and the invert trolley according to the UWB signal sent by the second UWB tag, and is also used to determine the invert step distance according to the first distance and the third distance.

[0062] As a further introduction to the above safety step distance measuring device applied to full-face tunnel construction, the lidar is specifically a radar that collects ranging point cloud data of the heading face through multi-point laser scanning.

[0063] As a further introduction to the above safety step distance measuring device applied to full-face tunnel construction, the safety step distance measuring device is installed on the waterproof board trolley through a hoisting base;

[0064] Or, the safety step distance measuring device is installed on the waterproof board trolley through a lifting mechanism.

[0065] As a further introduction to the above safety step distance measuring device applied to full-face tunnel construction, the safety step distance measuring device further includes a relay, a wiper and a wiper motor;

[0066] Wherein, the relay is connected to the industrial control computer, the wiper motor is connected to the relay, the wiper is linked with the wiper motor, and the industrial control computer is also used to control the wiper motor to drive the wiper to rotate at a fixed period or after receiving a remote wiper action instruction through the relay.

[0067] As a further introduction to the above safety step distance measuring device applied to full-face tunnel construction, the industrial control computer is also used to control the lidar to collect cruise point cloud data in cruise mode, and if the cruise point cloud data is valid point cloud data, the cruise point cloud data collected this time is used as the ranging point cloud data.

[0068] As a further introduction to the above safety step distance measuring device applied to full-face tunnel construction, a wireless AP is installed inside the safety step distance measuring device, and the industrial control computer is also used to send the tunnel safety step distance to the server through the network.

[0069] The embodiments of the two safety step distance measuring devices correspond to each other. Therefore, for the embodiments of the safety step distance measuring device applied to full-face tunnel construction, please refer to the description of the embodiments of the safety step distance measuring device applied to bench cut tunnel construction, which will not be elaborated here.

[0070] Please refer to the following Figure 2 , Figure 2 , which is a flowchart of a safety step measurement method provided by an embodiment of the present application. This method is applied to a safety step measurement device, which is arranged on a waterproof board trolley. The safety step measurement device includes a lidar, a UWB base station, and an industrial computer. The laser emission direction of the lidar faces the heading face and / or the construction step. The signal receiving direction of the UWB base station faces the secondary lining trolley, and the secondary lining trolley is provided with a first UWB tag. The safety step measurement method includes the following steps:

[0071] S201: Use the lidar to collect the ranging point cloud data of the heading face and / or the construction step;

[0072] S202: Use the UWB base station to receive the UWB signal sent by the first UWB tag;

[0073] S203: Determine the first distance between the waterproof board trolley and the heading face and / or the construction step according to the ranging point cloud data;

[0074] S204: Determine the second distance between the waterproof board trolley and the secondary lining trolley according to the UWB signal sent by the first UWB tag;

[0075] S205: Determine the safety step of tunnel construction according to the first distance and the second distance.

[0076] The above safety step is the safety step for bench cut tunnel construction or full face tunnel construction.

[0077] The safety step measurement device provided in this embodiment is arranged on a waterproof board trolley. The safety step measurement device includes a lidar, a UWB base station, and an industrial computer. The laser emission direction of the lidar faces the heading face and / or the construction step. The safety step measurement device can use the lidar to determine the first distance between the waterproof board trolley and the heading face and / or the construction step; the signal receiving direction of the UWB base station faces the secondary lining trolley, and the secondary lining trolley is provided with a first UWB tag. The safety step measurement device can use the UWB base station to determine the second distance between the waterproof board trolley and the secondary lining trolley, and then combine the first distance and the second distance to determine the safety step of tunnel construction. This embodiment adopts a segmented measurement method, using the ranging point cloud data collected by the lidar and the UWB signal collected by the UWB base station to determine the tunnel safety step, which can improve the measurement range and measurement accuracy. The above safety step measurement device is arranged on the waterproof board trolley, which can realize mobile measurement in the tunnel without repeated disassembly and installation. Therefore, this embodiment can effectively measure the safety step of bench cut tunnel or full face tunnel and improve the convenience and accuracy of measuring the safety step.

[0078] Furthermore, the device can also measure the invert step distance. Specifically, the second UWB tag is arranged on the invert trolley, and the UWB base station is also used to receive the UWB signal sent by the second UWB tag. Correspondingly, the industrial control computer can also determine the third distance between the waterproof board trolley and the invert trolley according to the UWB signal sent by the second UWB tag, and determine the invert step distance according to the first distance and the third distance.

[0079] Furthermore, the industrial control computer can control the lidar to collect the ranging point cloud data of the heading face and / or the construction bench through multi-point laser scanning.

[0080] Furthermore, the safety step distance measuring device is installed on the waterproof board trolley through a hoisting base; or, the safety step distance measuring device is installed on the waterproof board trolley through a lifting mechanism.

[0081] Furthermore, the safety step distance measuring device further includes a relay, a windshield wiper and a windshield wiper motor; wherein, the relay is connected to the industrial control computer, the windshield wiper motor is connected to the relay, the windshield wiper is linked with the windshield wiper motor, and the industrial control computer is also used to control the windshield wiper motor to drive the windshield wiper to rotate at a fixed period or after receiving a remote windshield wiper action instruction through the relay.

[0082] Furthermore, the industrial control computer can also control the lidar to collect cruise point cloud data in the cruise mode, and if the cruise point cloud data is valid point cloud data, the cruise point cloud data collected this time is used as the ranging point cloud data.

[0083] Furthermore, a wireless AP is installed inside the tunnel safety step distance measuring device, and it accesses the network inside the tunnel through the wireless AP. The above-mentioned industrial control computer can also send the tunnel safety step distance to the server through the network.

[0084] Since the embodiments in the method part correspond to the embodiments in the device part, for the embodiments in the method part, please refer to the description of the embodiments in the device part, and will not be elaborated here.

[0085] The following illustrates the process described in the above embodiments through embodiments in actual applications.

[0086] Please refer to Figure 3 , Figure 3 which is a schematic diagram of a tunnel safety step distance measuring system provided by an embodiment of the present application. This figure mainly includes a heading face 1, a two-step bench 2, a one-step bench 3, a safety step distance measuring device 4, a UWB tag 5 (i.e., the first UWB tag arranged on the secondary lining trolley in the above text), a waterproof board trolley 6, a secondary lining trolley 7 and a tunnel wall 8.

[0087] To prevent the operation process of tunnel construction equipment from causing large - area occlusion to the safety distance measurement, this embodiment adopts a segmented measurement method, that is, the safety distance measurement equipment 4 is arranged on the waterproof board trolley 6, and the distance from the waterproof board trolley to the heading face and / or each step is measured by scanning the full - section point cloud of the heading face and / or the construction step point cloud. The UWB tag 5 is arranged on the secondary lining trolley 7. Therefore, the distance between the safety distance measurement device 4 and the UWB tag 5 is the distance between the secondary lining trolley and the waterproof board trolley, and then the distance from the secondary lining trolley to the heading face and / or each step can be obtained. The above - mentioned UWB tag 5 is a low - power rechargeable UWB tag.

[0088] Please refer to Figure 4 , Figure 4 FIG. is a schematic structural diagram of a safety distance measurement device provided by an embodiment of the present application. The device includes a long - range lidar 401, an industrial control computer 402, a wireless AP 403, an adapter, a switch, and a radar junction box 404, a lifting base 405, a wiper motor 406, a mini - wiper 407, a dust - proof plate 408, a relay 409, a UWB panel 410 (i.e., the UWB base station in the above text), and a wiring port 411. The above - mentioned long - range lidar 401 obtains the distance from the waterproof board trolley to the heading face and / or each step through multi - point laser scanning, and the UWB panel 410 cooperates with the UWB tag to obtain the distance between the secondary lining trolley and the waterproof board trolley. This embodiment adopts an edge - computing method, directly deploying the industrial control computer 402 and the wireless AP 403 inside the safety distance measurement device. The collected data is processed on the equipment side and then sent to the customer - specified server through a wireless network access device. The dust - proof plate 408 can effectively reduce the internal structure from being contaminated by the dust in the tunnel. The wiper motor 406 and the mini - wiper 407 can automatically clean the dust on the window of the long - range lidar. The safety distance measurement device houses the external wiring of the long - range lidar in the radar junction box, effectively avoiding damage or dust contamination of the external wiring; the safety distance measurement device is provided with a wiring port 411, and the external wiring of the long - range lidar 401, the industrial control computer 402, the wireless AP 403, the switch 404, and the UWB panel 410 are centrally led out through the wiring port 411.

[0089] The safety distance measurement device is fixed on the waterproof board trolley through the lifting base 405. During installation, the window of the long - range lidar 401 needs to be aligned with the heading face direction, and the UWB panel is facing the direction of the secondary lining trolley. The safety distance measurement device can also be fixed on the waterproof board trolley by means of lifting.

[0090] In the embodiment of the present application, a UWB tag is arranged on the secondary lining trolley to cooperate with the safety step distance measuring device to measure the distance between the secondary lining trolley and the waterproof board trolley. The safety step distance measuring device has a large ranging range, and the farthest measuring distance is farther and the measuring accuracy is higher than that of the existing technical solutions under the full-section method / bench method tunnel construction. The safety step distance measuring device can support the power-on self-start function and the wireless network access function, and can also measure the invert step distance.

[0091] Please refer to Figure 5 , Figure 5 which is a data flow diagram of a safety step distance measuring device provided by an embodiment of the present application. The safety step distance measuring device accesses the tunnel network through a wireless AP to achieve data intercommunication with the remote server. The remote server transmits measurement instructions, measurement modes, etc. to the industrial control computer through the wireless network. Then, the industrial control computer sends a data acquisition instruction to the lidar. The lidar collects data in a specified manner and sends the scanned point cloud to the industrial control computer for processing. After processing, the data processing result is sent to the remote server through the wireless network, thus completing a data flow. Further, the wiper action control instruction of the remote server is also transmitted to the industrial control computer through the wireless network. The industrial control computer outputs the parsed control instruction to the relay, thereby driving the wiper motor to work and driving the mini wiper to move. After the wiper works, it feeds back to the industrial control computer, so that a control closed loop is formed between the industrial control computer and the relay through I / O instructions. Further, ultra-wideband ranging (TOF ranging) and data transmission are performed between the UWB base station and the UWB tag. The above lidar can be a long-distance lidar.

[0092] The lidar can be realized by adopting a multi-point laser scanning method, including two modes: automatic measurement and manual measurement. To avoid being affected by dust in tunnel construction or being largely blocked by tunnel construction equipment, the automatic measurement mode can be adopted in this embodiment, and cruise collection is performed according to the following setting logic. The process is as Figure 6 shown, Figure 6 which is an automatic measurement flow chart of a safety step distance measuring device provided by an embodiment of the present application. First, the starting parameters need to be configured, and then cruise point cloud data is collected in a cruise mode and it is judged whether the cruise point cloud data is valid. If it is valid, measurement point cloud collection is performed. After calculating and outputting the measurement result, it returns to the cruise mode; if it is invalid, the cruise point cloud data collection continues and is judged. The safety step distance measuring device can achieve all-weather long-time measurement in the automatic measurement mode, or can be measured by a remote instruction. In the above process, the lidar adopts a cruise measurement mode and automatically discriminates whether the collection is valid, improving the measurement accuracy.

[0093] The safety step distance measuring device provided by this embodiment has a large ranging scope and high measurement accuracy, can realize mobile measurement in tunnels, and does not need to be disassembled and assembled repeatedly. This embodiment adopts lidar and UWB positioning technologies, designs a tunnel safety step distance measurement scheme based on multi-point laser scanning, solves the problem of difficult measurement of the safety step distance in the bench cut tunnel, overcomes the problem of poor mobility of the device measurement, and provides technical guarantee for the safety of tunnel structures and construction personnel.

[0094] This application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps provided by the above embodiment can be realized. The storage medium may include: various media such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical discs that can store program codes.

[0095] This application also provides an electronic device, which may include a memory and a processor. When the processor calls the computer program stored in the memory, the steps provided by the above embodiment can be realized. Of course, the electronic device may also include various network interfaces, power supplies and other components.

[0096] The various embodiments in the specification are described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description in the method part. It should be noted that for those of ordinary skill in the art in this technical field, without departing from the principle of this application, several improvements and modifications can be made to this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0097] It should also be noted that in this specification, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without further limitation, the element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

Claims

1. A safety step distance measuring device, characterized in that, The safety step distance measuring device is arranged on the waterproof board trolley. The safety step distance measuring device includes a lidar, a UWB base station and an industrial control computer. The laser emission direction of the lidar faces the heading face and / or the construction bench. The signal receiving direction of the UWB base station faces the secondary lining trolley, and a first UWB tag is arranged on the secondary lining trolley; The lidar is used to collect the ranging point cloud data of the heading face and / or the construction bench. The lidar is a radar that collects the ranging point cloud data of the heading face and / or the construction bench by means of multi-point laser scanning; The UWB base station is used to receive the UWB signal sent by the first UWB tag; The industrial control computer is used to determine the first distance between the waterproof board trolley and the heading face and / or the construction bench according to the ranging point cloud data, and is also used to determine the second distance between the waterproof board trolley and the secondary lining trolley according to the UWB signal sent by the first UWB tag, and is also used to determine the safety step distance of tunnel construction according to the first distance and the second distance. Wherein, the safety step distance is the safety step distance of bench tunneling. The safety step distance includes the distance between the heading face and the secondary lining trolley, and / or the distance between the construction bench and the secondary lining trolley.

2. The safety step distance measuring device according to claim 1, characterized in that, The UWB base station is also used to receive the UWB signal sent by the second UWB tag. Wherein, the second UWB tag is arranged on the invert trolley; The industrial control computer is also used to determine the third distance between the waterproof board trolley and the invert trolley according to the UWB signal sent by the second UWB tag, and is also used to determine the invert step distance according to the first distance and the third distance.

3. The safety step distance measuring device according to claim 1, characterized in that, The safety step distance measuring device is installed on the waterproof board trolley through a lifting base; Or, the safety step distance measuring device is installed on the waterproof board trolley through a lifting mechanism.

4. The safety step distance measuring device according to claim 1, wherein The safety step distance measuring device further includes a relay, a wiper and a wiper motor; Wherein, the relay is connected to the industrial control computer, the wiper motor is connected to the relay, the wiper is linked with the wiper motor, and the industrial control computer is also used to control the wiper motor to drive the wiper to rotate at a fixed period or after receiving a remote wiper action instruction through the relay.

5. The safety step distance measuring device according to claim 1, characterized in that The industrial control computer is also used to control the lidar to collect cruise point cloud data in the cruise mode. If the cruise point cloud data is valid point cloud data, the cruise point cloud data collected this time is used as the ranging point cloud data.

6. The safety step distance measuring device according to claim 1, wherein The safety step distance measuring device is internally provided with a wireless AP and accesses the tunnel network through the wireless AP. The industrial control computer is also used to send the tunnel safety step distance to the server through the network.

7. A safety step distance measuring device, characterized in that, The safety step distance measuring device is arranged on the waterproof board trolley. The safety step distance measuring device includes a lidar, a UWB base station and an industrial control computer. The laser emission direction of the lidar faces the heading face. The signal receiving direction of the UWB base station faces the secondary lining trolley, and a first UWB tag is arranged on the secondary lining trolley; The lidar is used to collect the ranging point cloud data of the heading face; the lidar is a radar that collects the ranging point cloud data of the heading face and / or the construction bench through multi-point laser scanning; The UWB base station is used to receive the UWB signal sent by the first UWB tag; The industrial control computer is used to determine the first distance between the waterproof board trolley and the heading face according to the ranging point cloud data, and is also used to determine the second distance between the waterproof board trolley and the secondary lining trolley according to the UWB signal sent by the first UWB tag, and is also used to determine the safe distance of tunnel construction according to the first distance and the second distance; wherein, the safe distance is the safe distance of full-face tunnel construction; the safe distance includes the distance between the heading face and the secondary lining trolley, and / or the distance between the construction bench and the secondary lining trolley.

8. A method for measuring a safe step distance, characterized in that, Applied to a safe distance measuring device, the safe distance measuring device is arranged on the waterproof board trolley, the safe distance measuring device includes a lidar, a UWB base station and an industrial control computer, the laser emission direction of the lidar faces the heading face and / or the construction bench, the signal receiving direction of the UWB base station faces the secondary lining trolley, the secondary lining trolley is provided with a first UWB tag, and the safe distance measuring method includes: Using the lidar to collect the ranging point cloud data of the heading face and / or the construction bench; wherein, the lidar is a radar that collects the ranging point cloud data of the heading face and / or the construction bench through multi-point laser scanning; Using the UWB base station to receive the UWB signal sent by the first UWB tag; Determining the first distance between the waterproof board trolley and the heading face and / or the construction bench according to the ranging point cloud data; Determining the second distance between the waterproof board trolley and the secondary lining trolley according to the UWB signal sent by the first UWB tag; Determining the safe distance of tunnel construction according to the first distance and the second distance; wherein, the safe distance is the safe distance of bench method tunnel construction or full-face tunnel construction; the safe distance includes the distance between the heading face and the secondary lining trolley, and / or the distance between the construction bench and the secondary lining trolley.

9. An electronic device, characterized in that, It includes a memory and a processor, and a computer program is stored in the memory. When the processor calls the computer program in the memory, the steps of the safe distance measuring method as claimed in claim 8 are implemented.

10. A storage medium, characterized in that, Computer-executable instructions are stored in the storage medium. When the computer-executable instructions are loaded and executed by a processor, the steps of the safe distance measuring method as claimed in claim 8 are implemented.

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