Detection method of shield cutterhead deviation from axis in narrow underground space based on 3D scanning

Abstract

The present invention discloses a method for detecting the deviation of the axis of a shield cutterhead in a narrow underground space based on three-dimensional scanning, which relates to the technical field of shield machines. The key points of the technical solution are to set a scanning device by slotting on the face of the tunnel, and to complete the scanning of the entire cutterhead by the rotation of the cutterhead itself. Since the cutterhead is a circular array structure, it can be divided into a plurality of units with the same structure distributed around the axis of the cutterhead. After the scanning data is point cloud modeled, the point cloud data of all units are superimposed, and the overlap error of the point cloud data of all units can be used to determine whether the axis of the cutterhead deviates. This method can detect the degree of deviation of the axis of the cutterhead in a scenario where the cutterhead is underground and close to the face of the tunnel.

Description

Technical Field

[0001] The invention relates to the technical field of shield machines, and more specifically, to a method for detecting the deviation of a shield cutter head from an axis in a narrow underground space based on three-dimensional scanning. Background Art

[0002] As the main machinery for domestic subway construction, shield machines play an increasingly important role. Due to differences in strata, some shield machines will encounter various problems after excavating a certain distance. Generally, in order to ensure smooth construction, the shield machine will be inspected and repaired before construction and excavation. In a soft soil stratum environment, the impact of such problems on the shield machine during the excavation construction process is not obvious, but if it is a hard rock stratum, the cutter wears very quickly and must be inspected and repaired. At this time, because the shield machine is underground, it cannot be transferred out for repair. The cutterhead can only be welded and repaired according to past construction experience. However, before welding, the flatness and deviation angle of the cutterhead cannot be confirmed. The repair of a single disc is extremely lucky. It is very likely that the cutterhead of the shield machine will be uneven or even deviate from the axis during the excavation process, resulting in uneven wear of the cutterhead tool, affecting the shield construction, and even serious safety hazards and quality problems. Repeated excavation, inspection, and repair will not only affect the construction period, but also generate huge management costs.

[0003] In order to detect the degree of deviation of the cutterhead axis, Chinese patent CN107328383A provides a shield machine axis deviation monitoring method, which adopts the distance difference method for monitoring, including the following steps: Step 1, prepare the distance difference monitoring device: prepare two sets of distance difference monitoring devices with initial distance differences of X and Y respectively; Step 2, install the distance difference monitoring device: install the two sets of distance difference monitoring devices in step 1 along the main axis direction of the cutterhead; Step 3, collect the distance difference monitoring data: obtain the real-time distance difference of the two sets of distance difference monitoring devices, which are M and N respectively; Step 4, compare the monitoring data: if MX=NY, the shield machine axis has not deviated; if MX≠NY, the shield machine axis has deviated. This method uses the setting of four simple position sensors and the distance increase value of each set of distance difference monitoring devices to obtain whether the shield machine has axis deviation during operation. The monitoring method is simple and easy to operate, can save a lot of costs, and improve economic efficiency. This method requires that there must be sufficient space in front of the cutterhead to install the distance difference monitoring device. Therefore, when the cutterhead is underground and close to the tunnel face, this method cannot be used to detect the degree of deviation of the cutterhead axis. Summary of the invention

[0004] In view of the problem that the existing shield machine axis deviation monitoring method cannot be applied to narrow underground spaces, the purpose of the present invention is to provide a shield machine cutter head deviation axis detection method in a narrow underground space based on three-dimensional scanning, wherein the cutter head to be detected is a circular array structure, which comprises the following steps:

[0005] S1. Construction personnel contact the rock mass on the side of the shield machine from the gap between the cutter head and the shield machine shell, and open a first working groove on the rock mass on the side of the shield machine, wherein the first working groove is connected to the tunnel face. After entering the first working groove, the construction personnel open a second working groove on the tunnel face.

[0006] S2. The construction personnel fix the scanning device in the second working slot, and the scanning device is used to scan the cutter disc. The cutter disc is divided into multiple units with the same structure distributed around the axis of the cutter disc, and the angle between two adjacent units is set to A°. The rotation angle of the cutter disc is set to B°, and A° is a multiple of B°. After each scan by the scanning device, the cutter disc rotates B°, and the scanning device scans multiple times until the entire cutter disc is scanned.

[0007] S3. Point cloud modeling is performed based on the scanning data of the scanning device, and the point cloud data of all units of the cutter disc are superimposed. If the coordinate coincidence errors of all points after superposition are within the set range, it is determined that the axis of the cutter disc has not deviated, otherwise it is determined that the axis of the cutter disc has deviated.

[0008] The present invention is further configured as follows: the length direction of the first working groove is parallel to the axis of the shield machine, and the length direction of the second working groove is horizontal and perpendicular to the axis of the shield machine.

[0009] The present invention is further configured as follows: in S2, the scanning device is fixed in the second working slot by a tripod.

[0010] The present invention is further configured as follows: from the perspective of the cutter head close to the shield machine housing side, the first working slot is opened at the 3 o'clock direction of the cutter head.

[0011] The present invention is further configured as follows: in S2, after the construction personnel fix the scanning device in the second working slot, they exit the first working slot and the second working slot and move to the safe area. In the safe area, the construction personnel control the scanning device to scan through a control terminal connected to the scanning device signal.

[0012] The present invention is further configured such that: the control terminal and the scanning device achieve signal connection through wireless communication technology.

[0013] The present invention is further configured as follows: after the construction of the first working groove and the second working groove in S1 is completed, the construction personnel conduct a safety inspection on the first working groove and the second working groove, and the safety inspection is used to confirm whether the first working groove and the second working groove have a risk of collapse. After confirming that there is no risk of collapse of the first working groove and the second working groove, S2 is performed.

[0014] The present invention is further configured as follows: the scanning device is a handheld three-dimensional scanner.

[0015] The present invention is further configured to use a water drill to open the first working groove and the second working groove.

[0016] The present invention is further configured such that the rotation angle of the cutter disc is 15°, 30° or 60°.

[0017] In summary, the present invention has the following beneficial effects compared to the prior art: This method completes the scanning of the entire cutter disc by arranging a scanning device in a groove on the face of the tunnel and by means of the rotation of the cutter disc itself. Since the cutter disc is a circular array structure, it can be divided into a plurality of units with the same structure distributed around the axis of the cutter disc. After point cloud modeling of the scanning data, the point cloud data of all units are superimposed, and the overlap error of the point cloud data of all units can be used to determine whether the axis of the cutter disc deviates. This method can detect the degree of deviation of the axis of the cutter disc in a scenario where the cutter disc is underground and close to the face of the tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A top view of the first working groove and the second working groove in the embodiment;

[0019] Figure 2 It is a schematic diagram from the second working groove to the cutter disc in the embodiment.

[0020] In the figure: 1. rock mass; 11. first working slot; 12. second working slot; 2. shield machine; 3. scanning device; 4. tripod. DETAILED DESCRIPTION

[0021] The technical solution of the present invention will be clearly described below in conjunction with the accompanying drawings. Obviously, the described embodiments are not all embodiments of the present invention, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the invention.

[0022] It should be noted that the directions or positional relationships indicated by terms such as “center”, “up”, “down”, “horizontal”, “left”, “right”, “front”, “back”, “lateral” and “longitudinal” are based on the directions or positional relationships shown in the accompanying drawings and are only for the convenience of describing the present invention and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0023] The term "tunnel face" refers to the rock working surface that is in contact with the cutterhead of the shield machine.

[0024] Example

[0025] like Figure 1 and Figure 2 As shown, a preferred embodiment of the present invention provides a method for detecting the deviation of the shield cutter head from the axis in a narrow underground space based on three-dimensional scanning, wherein the cutter head to be detected is a circular array structure, and the method comprises the following steps:

[0026] S1. Construction personnel contact the rock mass 1 on the side of the shield machine 2 from the gap between the cutter head and the shield machine 2 shell, and open a first working groove 11 on the rock mass 1 on the side of the shield machine 2, wherein the first working groove 11 is connected to the tunnel face. After entering the first working groove 11, the construction personnel open a second working groove 12 on the tunnel face.

[0027] S2. The construction personnel fix the scanning device 3 in the second working slot 12. The scanning device 3 is used to scan the cutter disc. The cutter disc is divided into a plurality of units with the same structure distributed around the axis of the cutter disc, and the angle between two adjacent units is set to A°. The rotation angle of the cutter disc is set to B°, where A° is a multiple of B°. After each scan by the scanning device 3, the cutter disc rotates by B°. The scanning device 3 scans multiple times until the entire cutter disc is scanned, that is, the cutter disc rotates 360°.

[0028] S3. Point cloud modeling is performed based on the scanning data of the scanning device 3, and the point cloud data of all units of the cutter disc are superimposed. If the coordinate coincidence errors of all points after superposition are within the set range, it is determined that the axis of the cutter disc has not deviated. On the contrary, if the coincidence error of at least one point after superposition is outside the set range, it is determined that the axis of the cutter disc has deviated.

[0029] This method completes the scanning of the entire cutter disc by arranging a scanning device 3 in a groove on the tunnel face and using the rotation of the cutter disc itself. Since the cutter disc is a circular array structure, it can be divided into a plurality of units with the same structure distributed around the axis of the cutter disc. After the scanning data is point cloud modeled, the point cloud data of all units are superimposed, and the overlap error of the point cloud data of all units can be used to determine whether the axis of the cutter disc deviates. This method can detect the degree of deviation of the axis of the cutter disc in a scenario where the cutter disc is underground and close to the tunnel face.

[0030] Specifically, the length direction of the first working slot 11 is parallel to the axis of the shield machine 2 to facilitate approaching the tunnel face at the shortest distance; the length direction of the second working slot 12 is horizontal and perpendicular to the axis of the shield machine 2 to facilitate the installation of the scanning device 3.

[0031] Specifically, in S2 , the scanning device 3 is fixed in the second working slot 12 by the tripod 4 , so as to adjust the scanning angle of the scanning device 3 .

[0032] Specifically, from the perspective of the cutterhead close to the shield machine 2 housing side, the first working slot 11 is opened at the 3 o'clock position of the cutterhead to facilitate right-handed construction workers to construct the first working slot 11 and the second working slot 12.

[0033] Specifically, after the construction of the first working groove 11 and the second working groove 12 of S1 is completed, the construction personnel perform a safety inspection on the first working groove 11 and the second working groove 12, and the safety inspection is used to confirm whether there is a risk of collapse of the first working groove 11 and the second working groove 12. After confirming that there is no risk of collapse of the first working groove 11 and the second working groove 12, S2 is performed. Through the safety inspection, the personal safety of the construction personnel in the first working groove 11 and the second working groove 12 can be effectively guaranteed.

[0034] Specifically, in S2, after the construction personnel fix the scanning device 3 in the second working slot 12, they exit the first working slot 11 and the second working slot 12 and move to the safe area. In the safe area, the construction personnel control the scanning device 3 to scan through the control terminal connected to the scanning device 3 signal, so as to reduce the time the construction personnel stay in the first working slot 11 and the second working slot 12, and further ensure the personal safety of the construction personnel. The control terminal is not shown in the figure.

[0035] Specifically, the control terminal and the scanning device 3 are connected by signals through wireless communication technology.

[0036] Specifically, the scanning device 3 is a handheld three-dimensional scanner, which requires less space and can significantly reduce the construction workload of the first working tank and the second working tank. The handheld three-dimensional scanner used in this embodiment is a handheld laser radar three-dimensional scanner. It should be noted that as long as the size of the first working tank and the second working tank is increased, the scanning device 3 can also be a full station scanner.

[0037] Specifically, a water-grinding drill is used to open the first working groove 11 and the second working groove 12 to reduce dust during the construction of the first working groove and the second working groove and protect construction workers.

[0038] Specifically, the rotation angle of the cutter disc is 15°, 30° or 60° to adapt to the currently common cutter disc with six units.

[0039] In summary, this method completes the scanning of the entire cutter disc by arranging a scanning device 3 in a groove on the face of the tunnel and using the rotation of the cutter disc itself. Since the cutter disc is a circular array structure, it can be divided into a plurality of units with the same structure distributed around the axis of the cutter disc. After the scanning data is point cloud modeled, the point cloud data of all units are superimposed, and the overlap error of the point cloud data of all units can be used to determine whether the axis of the cutter disc deviates. This method can detect the degree of deviation of the axis of the cutter disc in a scenario where the cutter disc is underground and close to the face of the tunnel.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for detecting the deviation of shield cutterheads from the axis in a narrow underground space based on three-dimensional scanning, wherein the cutterhead to be detected is a circular array structure, and is characterized by: The steps include: S1. A construction worker contacts the rock mass (1) on the side of the shield machine (2) from the gap between the cutter head and the shield machine (2) shell, and opens a first working groove (11) on the rock mass (1) on the side of the shield machine (2), wherein the first working groove (11) is connected to the tunnel face; after entering the first working groove (11), the construction worker opens a second working groove (12) on the tunnel face; wherein the length direction of the first working groove (11) is parallel to the axis of the shield machine (2), and the length direction of the second working groove (12) is horizontal and perpendicular to the axis of the shield machine (2); S2. The construction personnel fix the scanning device (3) in the second working groove (12), wherein the scanning device (3) is used to scan the cutter disc; the cutter disc is divided into a plurality of units with the same structure distributed around the axis of the cutter disc, and the angle between two adjacent units is set to A°; the rotation angle of the cutter disc is set to B°, where A° is a multiple of B°, and the cutter disc rotates B° after each scan by the scanning device (3), and the scanning device (3) scans multiple times until the entire cutter disc is scanned; The scanning device (3) is fixed in the second working groove (12) by a tripod (4); after the construction personnel fix the scanning device (3) in the second working groove (12), they exit the first working groove (11) and the second working groove (12) and move to a safe area; in the safe area, the construction personnel control the scanning device (3) to scan through a control terminal connected to the scanning device (3) by signal; the control terminal and the scanning device (3) are connected by wireless communication technology; S3. Point cloud modeling is performed based on the scanning data of the scanning device (3), and the point cloud data of all units of the cutter disc are superimposed. If the coordinate coincidence errors of all points after superposition are within a set range, it is determined that the axis of the cutter disc has not deviated. Otherwise, it is determined that the axis of the cutter disc has deviated. In the scenario where the cutter disc is underground and in contact with the face of the tunnel, the degree of deviation of the axis of the cutter disc is detected.

2. The method for detecting the deviation of the shield cutter head from the axis in a narrow underground space based on three-dimensional scanning according to claim 1 is characterized in that: From the perspective of the cutter head close to the shield machine (2) housing side, the first working slot (11) is opened at the 3 o'clock direction of the cutter head.

3. The method for detecting the deviation of the shield cutter head from the axis in a narrow underground space based on three-dimensional scanning according to any one of claims 1-2, characterized in that: After the construction of the first working groove (11) and the second working groove (12) in S1 is completed, the construction personnel perform a safety inspection on the first working groove (11) and the second working groove (12), wherein the safety inspection is used to confirm whether there is a risk of collapse of the first working groove (11) and the second working groove (12); after confirming that there is no risk of collapse of the first working groove (11) and the second working groove (12), S2 is performed.

4. The method for detecting the deviation of the shield cutter head from the axis in a narrow underground space based on three-dimensional scanning according to any one of claims 1-2, characterized in that: The scanning device (3) is a handheld three-dimensional scanner.

5. The method for detecting the deviation of the shield cutter head from the axis in a narrow underground space based on three-dimensional scanning according to any one of claims 1-2, characterized in that: A water-grinding drill is used to open a first working groove (11) and a second working groove (12).

6. The method for detecting the deviation of the shield cutter head from the axis in a narrow underground space based on three-dimensional scanning according to any one of claims 1-2, characterized in that: The knife disc can rotate at an angle of 15°, 30° or 60°.

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