Shield soft and hard stratum interface identification method and system based on muck change characteristics

Abstract

The invention provides a shield soft and hard stratum interface identification method and system based on muck change characteristics, and the method comprises the steps: processing an image at a slag outlet, obtaining the shape and volume of rock slag, and obtaining the property of a hard rock stratum based on the shape and volume of the rock slag; the shield muck is scanned in real time, the scanning surface of the surrounding environment is determined through the distance measurement value and the angle value, a shield muck reconstruction model based on laser point cloud scanning is formed, and the muck volume is obtained based on the shield muck reconstruction model; calculating a hard rock area proportion in the soft and hard interface according to the rock slag volume and the muck volume; obtaining a vibration signal when a shield hob enters a hard rock stratum from a soft stratum in the tunneling process of the shield tunneling machine in the composite stratum, and obtaining a change interface position of the soft and hard stratum according to the vibration signal; and drawing a shield excavation face soft and hard stratum interface sketch based on the hard rock area proportion in the soft and hard interface and the change interface position of the soft and hard stratum, and identifying the shield excavation face soft and hard stratum interface.

Description

Technical Field

[0001] The invention belongs to the technical field of shield excavation face identification, and in particular relates to a shield soft and hard stratum interface identification method and system based on slag change characteristics. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid economic development and the continuous expansion of urban scale, the construction of three-dimensional urban transportation has become the main trend of passenger transportation development, and the construction of urban basic transportation has developed from ground construction to high-altitude construction and deep underground construction. The shield method has become the mainstream construction method for underground engineering with its advantages such as high degree of mechanization, safety, efficiency, environmental friendliness and little interference with the ground. In view of the complex and diverse stratigraphic characteristics of various urban areas, the safe crossing of shield tunneling faces great challenges. Accurate perception of the geological conditions in front of the tunnel excavation face is an important prerequisite for ensuring the safe excavation of the shield. Before the shield construction, the mileage of the bad geological section and the occurrence characteristics of the bad geological body should be clarified, risk analysis and early warning should be carried out, and targeted control measures should be formulated, otherwise it is very easy to cause serious safety accidents such as sudden water and sand, ground collapse, and instability of the excavation face.

[0004] However, in actual construction, the early stage is often a combination of drilling and geophysical exploration, but drilling is mainly point-based exploration, which makes it difficult to obtain continuous and effective geological information; and during the actual construction of the shield, the excavation surface in front of the shield is kept under pressure, and the situation of the excavation surface in front cannot be directly observed. Therefore, how to quickly identify the excavation surface in front becomes a key problem for safe shield excavation. Summary of the invention

[0005] In order to overcome the above-mentioned deficiencies of the prior art, the present invention provides a shield soft and hard stratum interface identification method and system based on the slag change characteristics, which can quickly identify the excavation face ahead.

[0006] To achieve the above objectives, one or more embodiments of the present invention provide the following technical solutions:

[0007] In the first aspect, a shield soft and hard stratum interface identification method based on the characteristics of soil change is disclosed, including:

[0008] Process the image at the slag outlet to obtain the shape and volume of the slag, and obtain the properties of the hard rock layer based on the shape and volume of the slag;

[0009] Scan the shield slag in real time, determine the scanning surface of the surrounding environment through distance measurement and angle value, form a shield slag reconstruction model based on laser point cloud scanning, and obtain the slag volume based on the shield slag reconstruction model;

[0010] The proportion of hard rock area in the soft-hard interface is calculated based on the volume of rock slag and soil slag;

[0011] Obtain the vibration signal of the shield cutter when it enters the hard rock formation from the soft formation during the tunneling process of the shield tunneling machine in the composite formation, and obtain the position of the interface between the soft and hard formations based on it;

[0012] Based on the proportion of hard rock areas in the soft-hard interface and the changing interface position of the soft and hard strata, a sketch of the soft and hard strata interface of the shield excavation face is drawn to identify the soft and hard strata interface of the shield excavation face.

[0013] As a further technical solution, before processing the image at the slag outlet, a high-definition image at the slag outlet is first obtained, and video frames are extracted at a frequency of one frame per set frame. Images taken with a dirty lens and mosaic images and redundant images caused by video freezes are eliminated to obtain valid images.

[0014] As a further technical solution, when extracting video frames at a frequency of one frame per set frame, the specific frame frequency can be adjusted according to the advancement speed of the shield machine.

[0015] As a further technical solution, the image at the slag outlet is processed, specifically including: binarizing the processed effective image, marking the rock slag area of ​​the image using a watershed algorithm, and performing equivalent calculation of the rock slag using an equivalent ellipsoid algorithm to obtain the rock slag volume and maximum radius, and judging the surrounding rock type based on the shape, volume and grading parameters of the rock slag generated during the excavation process.

[0016] As a further technical solution, it also includes the step of constructing a relevant historical database: based on the fact that the shape, volume and grading parameters of the rock slag produced by different types of rocks under the action of the shield cutter vary, indoor experiments are used to construct a relevant historical database, and the surrounding rock type is judged based on the shape, volume and grading parameters of the rock slag produced during the excavation process.

[0017] As a further technical solution, when obtaining the slag volume based on the shield slag reconstruction model, a laser scanning radar is installed above the shield slag conveyor belt to perform real-time scanning of the shield slag.

[0018] As a further technical solution, when obtaining the changing interface position of soft and hard strata, specifically: when entering the hard rock strata from the soft strata, the shield cutter will generate vibration under the same excavation parameters due to the change in the stratum properties. The vibration sensor arranged on the cutter receives and records the rotation direction of the shield cutterhead at the time of data collection, so as to determine the spatial position of each signal acquisition system, and obtain the changing interface position of the soft and hard strata accordingly.

[0019] Second, a shield excavation face soft and hard stratum interface recognition system based on soil slag change characteristics is disclosed, including:

[0020] The hard rock formation property acquisition module is configured to: process the image at the slag outlet to obtain the shape and volume of the slag, and obtain the property of the hard rock formation based on the shape and volume of the slag;

[0021] The slag volume acquisition module is configured to: perform real-time scanning of shield slag, determine the scanning surface of the surrounding environment through distance measurement values ​​and angle values, form a shield slag reconstruction model based on laser point cloud scanning, and obtain the slag volume based on the shield slag reconstruction model;

[0022] The proportion of hard rock area in the soft-hard interface is calculated based on the volume of rock slag and soil slag;

[0023] The change interface position acquisition module is configured to: obtain the change interface position of the soft and hard strata based on the vibration signal of the shield cutter when the shield cutter enters the hard rock strata from the soft strata during the tunneling process of the shield tunneling machine in the composite strata;

[0024] The module for identifying the soft and hard strata interface of the excavation face is configured to draw a sketch of the soft and hard strata interface of the shield excavation face based on the proportion of the hard rock area in the soft and hard interface and the changing interface position of the soft and hard strata, so as to identify the soft and hard strata interface of the shield excavation face.

[0025] One or more of the above technical solutions have the following beneficial effects:

[0026] The excavation face identification method proposed in the technical solution of the present invention can identify the excavation face in front in real time and continuously as the shield tunneling progresses, and the observation is more continuous compared to the drilling method. Anti-electromagnetic interference: Compared with the electromagnetic method, the method proposed in the present invention does not rely purely on the use of electromagnetic waves, and can minimize the impact of electromagnetic interference of the shield.

[0027] The method proposed in the technical solution of the present invention integrates the identification of slag and the vibration identification of the front roller cutter, and combines the geological survey data to draw the position and properties of the interface between the soft and hard strata of the excavation surface in more detail.

[0028] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0030] Figure 1 The implementation process of the method proposed in the embodiment of the present invention;

[0031] Figure 2This is a schematic diagram of the mounting position of the equipment mentioned in the embodiment of the present invention in the shield machine;

[0032] Figure 3 A schematic diagram of composite strata on the shield excavation face is drawn for an embodiment of the present invention. DETAILED DESCRIPTION

[0033] It should be noted that the following detailed descriptions are exemplary and are intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0034] It should be noted that the terms used herein are for describing specific embodiments only and are not intended to be limiting of exemplary embodiments according to the present invention.

[0035] In the absence of conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other.

[0036] Embodiment 1

[0037] This embodiment discloses a shield soft and hard stratum interface identification method based on slag change characteristics, including:

[0038] Step (1) using three-dimensional laser scanning to perform real-time scanning and construct a point cloud model, thereby calculating the particle size distribution ratio of the slag;

[0039] Step (2) determining the formation change interface by using the vibration sound of the cutter disc when the cutter disc enters the hard rock formation from the soft formation;

[0040] Step (3) integrates the above information to identify the stratum distribution of the shield excavation face.

[0041] The shield composite stratum excavation face identification method proposed in the present invention has good identification continuity and strong anti-interference ability. Compared with the traditional method, it can achieve more detailed exploration of the shield excavation face without directly observing the excavation face.

[0042] In one implementation example, step (1) identifying hard formation properties:

[0043] 1) Obtaining muck images:

[0044] A shield slag monitoring module 2 is installed above the shield slag conveyor belt 1 behind the shield machine. The shield slag monitoring module 2 includes a high-definition camera, which takes high-speed video of the shield slag to obtain high-definition images at the slag outlet, and extracts video frames at a frequency of one every 30 frames. The specific frame frequency can be adjusted according to the slag discharge speed of the shield machine's screw conveyor. If the slag discharge speed is fast, the frame rate is increased, otherwise it is reduced. Images taken with damaged lenses and mosaic bad images and redundant images caused by video freezes are eliminated.

[0045] 2) Identification of hard stratum properties

[0046] The above-mentioned effective images are binarized, the watershed algorithm is used to mark the rock slag area of ​​the image, and the equivalent ellipsoid algorithm is used to perform equivalent calculation on the rock slag to obtain the rock slag volume and maximum radius, which can be used for the surrounding rock type determination in the following text.

[0047] It should be noted that the watershed algorithm is a common image calibration processing algorithm and a commonly used image calibration algorithm in the art, and will not be specifically introduced here.

[0048] Equivalent ellipsoid algorithm: The rock slag is equivalent to an ellipsoid, and the pixel values ​​of the major axis and the minor axis are calibrated as a p and b p The actual size is converted by formula (1), and the equivalent volume of slag is obtained according to the ellipsoid calculation formula.

[0049]

[0050] Among them: x is the actual size, x p is the pixel value of the size, l is the actual size of the image, l p is the pixel size of the image

[0051] The shape, volume and gradation parameters of the slag produced by different types of rocks under the action of the shield cutter vary. Therefore, using indoor experiments, a historical database related to the above content can be constructed, and the surrounding rock type can be judged based on the shape, volume and gradation parameters of the slag produced during the excavation process.

[0052] In one implementation example, step (2) identifies the volume of the slag.

[0053] The laser scanning radar in the shield slag monitoring model 2 is installed above the shield slag conveyor belt 1 behind the shield to perform real-time scanning of the shield slag. The scanning surface of the surrounding environment is determined by the distance measurement value and the angle value. The cross-sectional area is S1, and a shield slag reconstruction model based on laser point cloud scanning is formed. Combined with the shield belt design, the scanning surface area S2 when the belt conveyor is unloaded, combined with the instantaneous speed information v collected by the speed sensor at that time i , the current volume of slag V can be obtained, and the calculation formula is shown in formula (1). The total volume of slag can be obtained by accumulation. The hard rock area ratio in the soft-hard interface can be calculated by combining the slag volume obtained in the previous step 1. The hard rock area ratio = slag volume ÷ total slag volume provides a reference for the subsequent geological drawing of the soft and hard stratum interface, and serves as a correction data value to improve the accuracy of the sketch.

[0054] V=(S1-S2)×v i ×(t i -t i-1) (1)

[0055] Where: V refers to the volume of slag at the current moment, S1 is the scanning area of ​​shield slag, S2 is the scanning area of ​​belt conveyor when it is unloaded, v i is the instantaneous speed, (t i -t i-1 ) is the size of the moment

[0056] LiDAR is a two-dimensional photoelectric measurement system. One dimension is the laser ranging system, which uses laser to measure the distance between the LiDAR and the surrounding environment. The other dimension is the angle control system, which controls the angle between the measuring laser and the surrounding environment by controlling the motor.

[0057] In one implementation example, step (3) identifies the interface between the soft and hard strata on the shield excavation surface.

[0058] During the tunneling process of the shield tunneling machine in composite strata, when the shield cutter enters the hard rock stratum from the soft stratum, the stratum properties change, and the shield cutter will generate vibration under the same tunneling parameters. The vibration sensor 3 arranged on the cutter receives the vibration and records the rotation direction of the shield cutterhead at the time of data collection, so as to determine the spatial position of each signal collection system and obtain the changing interface position of the soft and hard strata.

[0059] In one implementation example, step (4) draws a sketch of the interface between soft and hard strata on the shield excavation surface.

[0060] According to the actual excavation size of the shield and the geological survey data of the project, combined with the information obtained in the above steps 1-3, such as the hard rock type, the hard rock area ratio of the soft-hard interface, and the position of the interface between the soft and hard strata, the following is drawn: Figure 3 The sketch of the interface between soft and hard strata on the shield excavation face is shown, with the properties of the hard rock strata marked, providing a reference for setting shield tunneling parameters.

[0061] like Figure 2 As shown, the embodiment of the present invention involves a shield slag conveyor belt 1, a shield slag monitoring module 2, including a laser scanning radar and a high-definition camera, and a roller cutter vibration detector 3.

[0062] like Figure 3 As shown, the various parts are respectively the shield excavation face software interface 4 and the hard rock part 5 of the soft-hard interface.

[0063] Embodiment 2

[0064] The purpose of this embodiment is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the program.

[0065] Embodiment 3

[0066] The purpose of this embodiment is to provide a computer-readable storage medium.

[0067] A computer-readable storage medium stores a computer program, which executes the steps of the above method when executed by a processor.

[0068] Embodiment 4

[0069] The purpose of this embodiment is to provide a shield soft and hard stratum interface identification system based on the characteristics of soil changes, including:

[0070] The hard rock formation property acquisition module is configured to: process the image at the slag outlet to obtain the shape and volume of the slag, and obtain the property of the hard rock formation based on the shape and volume of the slag;

[0071] The slag volume acquisition module is configured to: perform real-time scanning of shield slag, determine the scanning surface of the surrounding environment through distance measurement values ​​and angle values, form a shield slag reconstruction model based on laser point cloud scanning, and obtain the slag volume based on the shield slag reconstruction model;

[0072] The proportion of hard rock area in the soft-hard interface is calculated based on the volume of rock slag and soil slag;

[0073] The change interface position acquisition module is configured to: obtain the change interface position of the soft and hard strata based on the vibration signal of the shield cutter when the shield cutter enters the hard rock strata from the soft strata during the tunneling process of the shield tunneling machine in the composite strata;

[0074] The module for identifying the soft and hard strata interface of the excavation face is configured to draw a sketch of the soft and hard strata interface of the shield excavation face based on the proportion of the hard rock area in the soft and hard interface and the changing interface position of the soft and hard strata, so as to identify the soft and hard strata interface of the shield excavation face.

[0075] The steps involved in the apparatuses of the above embodiments 2, 3 and 4 correspond to the method embodiment 1, and the specific implementation methods can refer to the relevant description part of embodiment 1. The term "computer-readable storage medium" should be understood as a single medium or multiple media including one or more instruction sets; it should also be understood to include any medium that can store, encode or carry an instruction set for execution by a processor and enable the processor to execute any method in the present invention.

[0076] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0077] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the scope of protection of the present invention.

Claims

1. Shield soft and hard stratum interface identification method based on soil variation characteristics, Its characteristics are: include: Process the image at the slag outlet to obtain the shape and volume of the slag, and obtain the properties of the hard rock layer based on the shape and volume of the slag; Scan the shield slag in real time, determine the scanning surface of the surrounding environment through distance measurement and angle value, form a shield slag reconstruction model based on laser point cloud scanning, and obtain the slag volume based on the shield slag reconstruction model; The proportion of hard rock area in the soft-hard interface is calculated based on the volume of rock slag and soil slag; Obtain the vibration signal of the shield cutter when it enters the hard rock formation from the soft formation during the tunneling process of the shield tunneling machine in the composite formation, and obtain the position of the interface between the soft and hard formations based on it; Based on the proportion of hard rock areas in the soft-hard interface and the changing interface position of the soft and hard strata, a sketch of the soft and hard strata interface of the shield excavation face is drawn to identify the soft and hard strata interface of the shield excavation face.

2. The shield machine soft and hard stratum interface identification method based on the slag change characteristics as claimed in claim 1, Its characteristics are: Before processing the image at the slag outlet, a high-definition image at the slag outlet is first obtained, and video frames are extracted at a frequency of one frame per set frame. Images taken with a dirty lens and mosaic images and redundant images caused by video freezes are eliminated to obtain valid images.

3. The shield soft and hard stratum interface identification method based on soil variation characteristics as claimed in claim 1, Its characteristics are: When video frames are extracted at a frequency of one frame per set frame, the specific frame frequency can be adjusted according to the advancement speed of the shield machine.

4. The method for identifying the interface between soft and hard strata of a shield machine based on the variation characteristics of slag soil as claimed in claim 1, Its characteristics are: The image at the slag outlet is processed, specifically including: binarizing the processed effective image, marking the rock slag area of ​​the image using the watershed algorithm, and performing equivalent calculation of the rock slag using the equivalent ellipsoid algorithm to calculate the rock slag volume and maximum radius, and judging the surrounding rock type based on the shape, volume and grading parameters of the rock slag generated during the excavation process.

5. The method for identifying the interface between soft and hard strata of a shield machine based on the variation characteristics of slag soil as claimed in claim 1, Its characteristics are: It also includes the step of constructing a relevant historical database: based on the fact that the shape, volume and grading parameters of the rock slag produced by different types of rocks under the action of the shield cutter vary, indoor experiments are used to construct a relevant historical database, and the surrounding rock type is judged based on the shape, volume and grading parameters of the rock slag produced during the excavation process.

6. The method for identifying the interface between soft and hard strata of a shield machine based on the characteristics of soil variation according to claim 1, Its characteristics are: When obtaining the slag volume based on the shield slag reconstruction model, a laser scanning radar is installed above the shield slag conveyor belt to perform real-time scanning of the shield slag.

7. The method for identifying the interface between soft and hard strata of a shield machine based on the variation characteristics of slag soil as claimed in claim 1, Its characteristics are: When obtaining the changing interface position of soft and hard strata, specifically: when entering hard rock strata from soft strata, due to the change in stratum properties, the shield cutter will vibrate under the same excavation parameters. The vibration sensor arranged on the cutter receives and records the rotation direction of the shield cutterhead at the time of data collection, so as to determine the spatial position of each signal acquisition system, and obtain the changing interface position of soft and hard strata accordingly.

8. Shield soft and hard stratum interface identification system based on soil change characteristics, Its characteristics are: include: The hard rock formation property acquisition module is configured to: process the image at the slag outlet to obtain the shape and volume of the slag, and obtain the property of the hard rock formation based on the shape and volume of the slag; The slag volume acquisition module is configured to: perform real-time scanning of shield slag, determine the scanning surface of the surrounding environment through distance measurement values ​​and angle values, form a shield slag reconstruction model based on laser point cloud scanning, and obtain the slag volume based on the shield slag reconstruction model; The proportion of hard rock area in the soft-hard interface is calculated based on the volume of rock slag and soil slag; The change interface position acquisition module is configured to: obtain the change interface position of the soft and hard strata based on the vibration signal of the shield cutter when the shield cutter enters the hard rock strata from the soft strata during the tunneling process of the shield tunneling machine in the composite strata; The module for identifying the soft and hard strata interface of the excavation face is configured to draw a sketch of the soft and hard strata interface of the shield excavation face based on the proportion of the hard rock area in the soft and hard interface and the changing interface position of the soft and hard strata, so as to identify the soft and hard strata interface of the shield excavation face.

9. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the program, the steps of the method described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, It is characterized in that When the program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are performed.

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