Shield tunnel ovality detection method and device based on laser ranging

Abstract

The invention belongs to the technical field of shield tunnel construction quality detection, and provides a shield tunnel ovality detection method and device based on laser ranging, and the method comprises the steps: starting an automatic walking device, and enabling the automatic walking device to move to a point position with minimum sight shielding of a laser range finder; the electric slide rail accurately controls the electric base and the bidirectional laser range finder to move to the central position of the inner surface of the assembled pipe ring in the tunnel; the bidirectional laser range finder emits a ranging light beam; the electric base rotates at an interval angle and records distance measurement data; performing fitting calculation on the ellipse of the shield tunnel pipe ring by using a geometric algorithm and a triangulation principle in combination with distance measurement data and known coordinate data so as to obtain the ellipticity of the inner surface of the shield tunnel pipe ring; and a calculation result is accurately transmitted to a monitoring center in real time by the wireless communication module, so that instant analysis is facilitated. The invention provides a brand-new and efficient solution for detecting the ovality of the pipe ring in the shield tunnel construction period, and the detection efficiency and accuracy are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of shield tunnel construction quality detection, and in particular to a shield tunnel ellipticity detection method and device based on laser ranging technology. Background Art

[0002] The shield method is a commonly used construction method for urban tunnel construction. The quality of its pipe ring assembly is directly related to the safety and service life of the shield tunnel. As one of the key indicators to measure the quality of shield tunnel assembly, accurate measurement of ovality is crucial to ensure the quality of shield tunnel assembly.

[0003] In the prior art, shield tunnel ellipticity measurement methods mainly rely on manual use of tape measures or total stations. However, the traditional shield tunnel ellipticity measurement methods have the following shortcomings: (1) Low efficiency: Manual measurement is time-consuming and labor-intensive, especially in long-distance tunnel construction, and the efficiency is extremely low; (2) Limited accuracy: Manual measurement is affected by human factors, and the measurement accuracy is unstable, making it difficult to meet high-precision requirements. In addition, in the prior art, when performing ellipticity measurement, there is a lack of accuracy analysis of the collected measurement point data, and the accuracy of the ellipticity calculation cannot be guaranteed.

[0004] To this end, the present invention provides a shield tunnel ellipticity detection method and device based on laser ranging. Summary of the invention

[0005] To make up for the deficiencies of the prior art and solve at least one technical problem raised in the background technology.

[0006] The technical solution adopted by the present invention to solve the technical problem is: a shield tunnel ellipticity detection method based on laser ranging, comprising the following steps: S1, start the device to move the automatic travel device to the minimum point of the bidirectional laser rangefinder line of sight obstruction area; S2, using the electric slide rail to drive the electric base and the bidirectional laser rangefinder to move to the central symmetrical position of the inner surface of any assembled pipe ring of the shield tunnel; S3, a bidirectional laser rangefinder emits a ranging beam; S4, the electric base rotates 360° according to the set interval and records the two-way laser ranging data at the same time; S5, using geometric algorithms and triangulation principles to process the bidirectional laser ranging data and the known position coordinate data, calculate the coordinates of the measuring points, and use the ellipticity fitting algorithm to fit and calculate the elliptical shape of the inner surface of the shield tunnel ring according to the calculated measuring point coordinates; The acquisition of the elliptical shape of the inner surface of the shield tunnel ring includes: The obtained bidirectional laser ranging data is processed and analyzed by using geometric algorithms and triangulation principles, and n groups of measuring point coordinates are calculated and tested; According to the coordinates of n groups of measuring points, the least square method is used to fit and obtain the elliptical shape of the inner surface of the shield tunnel ring; S6, calculating the ellipticity of the inner surface of the shield tunnel ring according to the elliptical shape of the inner surface of the shield tunnel ring; Specifically, according to the center coordinates of the ellipse on the inner surface of the shield tunnel ring, the ellipticity of the inner surface of the shield tunnel ring is obtained by the ellipticity calculation formula; S7, transmits the calculation results to the remote monitoring center in real time through wireless communication.

[0007] As a further technical solution of the present invention, the process of calculating and obtaining the coordinates of n groups of measuring points is as follows: A1, distance measurement by laser s 1. Installation radius of bidirectional laser rangefinder r The center coordinates of the measuring point and its angle with the horizontal direction α , use the formula to calculate the center to point of the two-way laser rangefinder ( x 1 i , y 1 i ) horizontal distance x ' 1 i and vertical distance y ' 1 i ; Specifically: x ' 1 i = ( s 1+ r )× cosα ; y ' 1 i = ( s 1+ r )× sinα ; A2, known horizontal distance x ' 1 i and vertical distance y ' 1 i , the coordinates of the measuring points are calculated by the formula, specifically: x 1 i =x 1- x ' 1i ; y 1 i =y 1+ y ' 1 i ; A3, distance measurement by laser s 2. Installation radius of bidirectional laser rangefinder r The center coordinates of the measuring point and its angle with the horizontal direction α , use the formula to calculate the center to point of the two-way laser rangefinder ( x 1 j , y 1 j ) horizontal distance x ' 1 j and vertical distance y ' 1 j , specifically: x ' 1 j =( s 2+ r )× cosα ; y ' 1 j =( s 2+ r )× sinα ; A4, known horizontal distance x ' 1 j and vertical distance y ' 1 j , the coordinates of the measuring points are calculated by the formula, specifically: x 1 j =x 1+ x ' 1 j ; y 1 j =y 1-( s 2+ r )× sinα ; A5, switch to the next measuring point and repeat the calculation steps A1-A4 to obtain the coordinates of the remaining n-1 groups of measuring points.

[0008] As a further technical solution of the present invention, the process of obtaining the elliptical shape of the inner surface of the shield tunnel ring is specifically as follows: B1, sort out the obtained measuring point coordinate data ( x i , y i ); B2, define the equation of the ellipse: ,in,( h , k ) is the center of the ellipse, a and b are the major and minor semi-axis of the ellipse respectively; B3, establish the parameterized ellipse equation and rewrite the ellipse equation as: x = h + a cos θ y = k + b sin θ B4, construct the objective function, which is usually the sum of the squares of the total distances from all points to the ellipse. The objective function can be expressed as: ; B5, select the gradient descent optimization algorithm to minimize the objective function; B6, plot the fitted ellipse and the original data points in the same coordinate system to show the fitting effect; According to the solved ellipse center, major semi-axis and minor semi-axis, the elliptical shape of the inner surface of the shield tunnel ring is obtained.

[0009] As a further technical solution of the present invention, the specific process of calculating the ellipticity of the inner surface of the shield tunnel ring is as follows: Get the center coordinates of the circle on the inner surface of the shield tunnel ring through the formula: l i ={( x i - x j ) 2 +( y i - y j ) 2} 1 / 2 Calculate the length of any straight line passing through the center coordinates of the circle on the inner surface of the shield tunnel ring L i ,in,( x i , y i )as well as( xj , y j ) are two coordinate points on the elliptical contour of the inner surface of the shield tunnel ring, and the two coordinate points are symmetrical based on the center of the elliptical contour of the inner surface of the shield tunnel ring; Extract the maximum length of the straight line passing through the center coordinates of the ellipse on the inner surface of the shield tunnel ring and record it L d ; Extract the minimum length of the straight line passing through the circular center coordinates of the inner surface of the shield tunnel ring and record it as L x ; Calculate the ellipticity using the formula: Calculate the ovality of the inner surface of the tunnel ring LY d .

[0010] As a further technical solution of the present invention, the process of detecting n groups of measuring point coordinates includes: All measuring points are integrated to obtain adjacent measuring point groups, the angles of the adjacent measuring point groups are obtained, the angles of the adjacent measuring point groups are analyzed with the standard angles, and abnormal measuring point groups are screened out from the adjacent measuring point groups according to the analysis results. The abnormal measuring point groups are processed and analyzed to obtain the uniform value of the measuring points, and compared with the uniform threshold of the measuring points to determine the uniformity of the distribution of the measuring points. If the uniform value of the measuring points is greater than the uniform threshold of the measuring points, an uneven signal of the measuring points is generated; Based on the uneven signal of the measuring point, the continuity analysis of the abnormal measuring point group is performed to obtain the abnormal continuity value, and the abnormal continuity value is compared with the abnormal continuity threshold to determine the continuity of the abnormal measuring point group. If the abnormal continuity value is less than or equal to the abnormal continuity threshold, a continuous signal is generated; Based on the continuous signal, the angle deviation analysis is performed on the abnormal measuring point group to obtain the optimized feasible value. According to the optimized feasible value, it is determined whether the acquisition optimization of the measuring point coordinates of the abnormal measuring point group can be performed. If so, an optimizable signal is generated, and based on the optimizable signal, the acquisition optimization of the measuring point coordinates is performed.

[0011] As a further technical solution of the present invention, the method for obtaining the average value of the measuring point is: Integrate adjacent measuring points into adjacent measuring point groups; Get the angle between adjacent measuring point groups; Perform difference processing on the included angle of the adjacent measuring point group and the standard included angle, and take the absolute value of the difference to obtain the included angle difference; If the angle difference is greater than the angle difference threshold, the adjacent measuring point group is marked as an abnormal measuring point group; Count the number of abnormal measuring point groups and compare them with the total number of adjacent measuring point groups to obtain the numerical abnormal value; Obtain the angle difference corresponding to the abnormal measuring point group, perform difference processing on the angle difference and the angle difference threshold to obtain the angle relative deviation of the abnormal measuring point group, sum and average the angle relative deviations of all abnormal measuring point groups to obtain the angle relative deviation mean, perform ratio processing on the angle relative deviation mean and the angle difference threshold to obtain the degree of abnormality; The number of abnormal values ​​and the degree of abnormal values ​​are summed to obtain the average value of the measuring point.

[0012] As a further technical solution of the present invention, the abnormal continuous value is obtained by: Based on any abnormal measurement point group; The abnormal measuring point group is compared with other abnormal measuring point groups respectively. If there are measuring points with the same number as other abnormal measuring point groups in the abnormal measuring point group, they are integrated into an abnormal measuring point group pair; After traversing all abnormal measurement point groups, the number of abnormal measurement point group pairs is counted and the ratio is processed with the total number of abnormal measurement point groups to obtain a continuous performance value; The abnormal measuring point groups between the abnormal measuring point group pairs are marked as interval measuring point groups, the number of interval measuring point groups and the number of intervals between the abnormal measuring point group pairs are counted, and the number of interval measuring point groups and the number of intervals between the abnormal measuring point group pairs are processed by ratio, so as to obtain the number mean of the interval measuring point groups; The mean number of interval measurement point groups is processed by ratio with the total number of abnormal measurement point groups to obtain the interval performance value; The continuous performance value and the interval performance value are summed to obtain the abnormal continuous value.

[0013] As a further technical solution of the present invention, the method for obtaining the optimization feasible value is: Based on any abnormal measurement point pair; Count the number of abnormal measuring point groups contained in the abnormal measuring point pair, and multiply them by the standard angle to obtain the theoretical angle of the abnormal measuring point pair; The angles corresponding to the abnormal measuring point groups contained in the abnormal measuring point group pairs are summed to obtain the actual angles of the abnormal measuring point group pairs; The theoretical angle of the abnormal measuring point pair is processed with the actual angle of the abnormal measuring point pair, and the absolute value of the difference is taken to obtain the angle deviation of the abnormal measuring point pair; If the angle deviation of the abnormal measuring point pair is less than or equal to the angle deviation threshold of the abnormal measuring point pair, the abnormal measuring point pair is marked as an optimizeable pair; The angle deviation threshold of the abnormal measuring point pair is obtained by multiplying the number of abnormal measuring point groups contained in the abnormal measuring point pair by the angle difference threshold; The number of optimizable pairs in the abnormal measuring point pairs is counted and compared with the total number of abnormal measuring point groups to obtain the optimized feasible value.

[0014] As a further technical solution of the present invention, the process of collecting and optimizing the measuring point coordinates is as follows: The actual angle of the abnormal measuring point pair is obtained, and the ratio is processed with the number of abnormal measuring point groups included in the abnormal measuring point pair to obtain the optimized angle of the abnormal measuring point group included in the abnormal measuring point pair. According to the optimized angle of the abnormal measuring point group, the coordinates of the abnormal measuring point group included in the abnormal measuring point pair are re-optimized and collected.

[0015] A shield tunnel ellipticity detection device based on laser ranging, comprising: a curved beam with chains built into it; The automatic running device is set on the curved beam and equipped with a PLC controller; The electric slide rail is fixedly connected to the automatic running device; An electric base, rotatably connected to the electric slide rail; A two-way laser rangefinder, fixedly mounted on an electric base; A curved beam, wherein a chain is built into the curved beam; An automatic running device is slidably arranged on the arc-shaped beam, and a PLC controller is arranged on the automatic running device; The automatic running device is fixedly connected to the electric slide rail, the electric slide rail is rotatably connected to the electric base, and a bidirectional laser rangefinder is fixedly arranged on the electric base.

[0016] The beneficial effects of the present invention are as follows: 1. The acquired bidirectional laser ranging data are processed and analyzed by using geometric algorithms and triangulation principles, and n groups of measuring point coordinates are calculated. According to the n groups of measuring point coordinates, the least squares method is used for fitting to obtain the elliptical shape of the inner surface of the tunnel pipe ring. According to the center coordinates of the elliptical shape of the inner surface of the tunnel pipe ring, the ellipticity of the inner surface of the tunnel pipe ring is calculated. Compared with the traditional detection method, the present invention only requires a laser rangefinder and related processing algorithms to be implemented, which can solve the limitations of the existing detection technology in the field of pipe ring ellipticity detection during shield tunnel construction, and thus provide a more efficient and accurate pipe ring ellipticity detection solution during shield tunnel construction.

[0017] 2. All measuring points are integrated to obtain adjacent measuring point groups, the angles of the adjacent measuring point groups are obtained, the angles of the adjacent measuring point groups are analyzed with the standard angles, and abnormal measuring point groups are screened out in the adjacent measuring point groups according to the analysis results, and the abnormal measuring point groups are processed and analyzed to obtain the uniform value of the measuring points, and compared with the uniform threshold of the measuring points to judge the uniformity of the distribution of the measuring points. If the uniform value of the measuring points is greater than the uniform threshold of the measuring points, a non-uniform signal of the measuring points is generated. The present invention performs uniform analysis on the acquisition of measuring point coordinates, which is conducive to judging whether the acquired measuring point coordinates are uniform, facilitating the subsequent optimization analysis of the measuring point coordinates, and improving the accuracy of tunnel ellipticity detection.

[0018] 3. Based on the uneven signal of the measuring point, the abnormal measuring point group is analyzed for continuity to obtain the abnormal continuity value, the abnormal continuity value is compared with the abnormal continuity threshold, and the continuity of the abnormal measuring point group is determined. If the abnormal continuity value is greater than the abnormal continuity threshold, a continuous signal is generated. Based on the continuous signal, the angle deviation analysis is performed on the abnormal measuring point group to obtain an optimized feasible value. According to the optimized feasible value, it is determined whether the acquisition of the measuring point coordinates of the abnormal measuring point group can be optimized. If so, an optimizable signal is generated. Based on the optimizable signal, the measuring point coordinates are optimized and acquired. The present invention analyzes the continuity of the measuring point coordinates when the measuring point coordinates are uneven, and analyzes whether the measuring point coordinates are optimized and acquired when the continuity of the measuring point coordinates is strong, thereby realizing the optimized acquisition and identification of the measuring point coordinates. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 It is a flowchart of the steps of a shield tunnel ellipticity detection method based on laser ranging according to an embodiment of the present invention; Figure 2 It is a flowchart of the steps of ellipticity calculation in a shield tunnel ellipticity detection method based on laser ranging according to an embodiment of the present invention; Figure 3 It is a schematic diagram of a model for calculating ellipticity in a shield tunnel ellipticity detection method based on laser ranging according to an embodiment of the present invention; Figure 4 It is a flowchart of the steps of optimizing the detection of measuring point coordinates in a shield tunnel ellipticity detection method based on laser ranging according to an embodiment of the present invention; Figure 5 It is a three-dimensional schematic diagram of a shield tunnel ellipticity detection device based on laser ranging according to an embodiment of the present invention; Figure 6 It is an enlarged view of point A in the three-dimensional schematic diagram of a shield tunnel ellipticity detection device based on laser ranging described in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0022] Example 1 like Figure 1 As shown, a tunnel construction detection method based on bidirectional laser ranging according to an embodiment of the present invention includes: S1, start the device to move the automatic travel device to the minimum point of the bidirectional laser rangefinder line of sight obstruction area; S2, using the electric slide rail to drive the electric base and the bidirectional laser rangefinder to move to the central symmetrical position of the inner surface of any assembled pipe ring of the shield tunnel; S3, a bidirectional laser rangefinder emits a ranging beam; S4, the electric base rotates 360° according to the set interval and records the two-way laser ranging data at the same time; S5, using geometric algorithms and triangulation principles to process the bidirectional laser ranging data and the known position coordinate data, calculate the coordinates of the measuring points, and use the ellipticity fitting algorithm to fit and calculate the elliptical shape of the inner surface of the shield tunnel ring according to the calculated measuring point coordinates; The acquisition of the elliptical shape of the inner surface of the shield tunnel ring includes: The obtained bidirectional laser ranging data is processed and analyzed by using geometric algorithms and triangulation principles, and n groups of measuring point coordinates are calculated and tested; According to the coordinates of n groups of measuring points, the least square method is used to fit and obtain the elliptical shape of the inner surface of the shield tunnel ring; S6, calculating the ellipticity of the inner surface of the shield tunnel ring according to the elliptical shape of the inner surface of the shield tunnel ring; Specifically, according to the center coordinates of the ellipse on the inner surface of the shield tunnel ring, the ellipticity of the inner surface of the shield tunnel ring is obtained by the ellipticity calculation formula; S7, transmits the calculation results to the remote monitoring center in real time through wireless communication.

[0023] Example 2 like Figure 2 - Figure 3 As shown, based on Example 1, a tunnel construction detection method based on bidirectional laser ranging according to an embodiment of the present invention includes: Step 1: Use geometric algorithms and triangulation principles to process and analyze the acquired bidirectional laser ranging data, and calculate n groups of measuring point coordinates; Among them, the two-way laser ranging data includes the two-way laser measurement distance s 1 and s2; The known location data includes the installation center coordinates of the two-way laser rangefinder ( x 1, y 1) Installation radius of bidirectional laser rangefinder r As well as the center coordinates of the measuring point and its angle with the horizontal direction α ; like Figure 3 As shown ( Figure 3 Specifically, the calculation process of n groups of measuring point coordinates is as follows: A1, distance measurement by laser s 1. Installation radius of bidirectional laser rangefinder r The angle between the center of the measuring point and the horizontal α , use formulas (1) and (2) to calculate the distance from the center of the bidirectional laser rangefinder to point ( x 1 i , y 1 i ) horizontal distance x ' 1 i and vertical distance y ' 1 i ; Formula (1) and Formula (2) are specifically: x ' 1 i = ( s 1+ r )× cosα (1); y ' 1 i = ( s 1+ r )× sinα (2); A2, known horizontal distance x ' 1 i and vertical distance y ' 1 i , the coordinates of the measuring points are calculated by formulas (3) and (4). Formulas (3) and (4) are specifically: x 1 i =x 1- x ' 1 i (3); y 1 i =y 1+ y' 1 i (4); A3, distance measurement by laser s 2. Installation radius of bidirectional laser rangefinder r The coordinates of the center of the measuring point and its angle with the horizontal α , use formulas (5) and (6) to calculate the distance from the center of the bidirectional laser rangefinder to point ( x 1 j , y 1 j ) horizontal distance x ' 1 j and vertical distance y ' 1 j , formula (5) and formula (6) are specifically: x ' 1 j =( s 2+ r )× cosα (5); y ' 1 j =( s 2+ r )× sinα (6); A4, known horizontal distance x ' 1 j and vertical distance y ' 1 j , the coordinates are calculated by formulas (7) and (8); formulas (7) and (8) are specifically: x 1 j =x 1+ x ' 1 j (7); y 1 j =y 1-( s 2+ r )× sinα (8); A5, switch to the next measuring point and repeat the above calculation steps A1-A4 to obtain the coordinates of the remaining n-1 groups of measuring points; Step 2: According to the coordinates of n groups of measuring points, the least square method is used to fit and obtain the elliptical shape of the inner surface of the tunnel ring; Specifically include: B1, sort out the obtained measuring point coordinate data ( x i , y i ); B2, define the equation of the ellipse: ,in,( h , k ) is the center of the ellipse, a and b are the major and minor semi-axis of the ellipse respectively; B3, establish the parameterized ellipse equation and rewrite the ellipse equation as: x = h + a cos θ y = k + b sin θ B4, construct the objective function, which is usually the sum of the squares of the total distances from all points to the ellipse. The objective function can be expressed as: ; B5, select the gradient descent optimization algorithm to minimize the objective function; B6, plot the fitted ellipse and the original data points in the same coordinate system to show the fitting effect; According to the solved ellipse center, major semi-axis and minor semi-axis, the ellipse shape of the inner surface of the shield tunnel ring is obtained; Step 3: Calculate the ellipticity of the inner surface of the shield tunnel ring according to the center coordinates of the circle on the inner surface of the tunnel ring; Specifically, the center coordinates of the circle on the inner surface of the tunnel ring are obtained by the formula: l i ={( x i - x j ) 2 +( y i - y j ) 2} 1 / 2 Calculate the length of any straight line passing through the center coordinates of the circle on the inner surface of the tunnel ring L i ,in,( x i , y i )as well as( x j , y j) are two coordinate points on the circular contour of the inner surface of the tunnel ring and the two coordinate points are symmetrical about the circular center of the inner surface of the tunnel ring; Extract the maximum length of the straight line passing through the circular center coordinates of the inner surface of the tunnel ring and mark it L d ; Extract the minimum length of the straight line passing through the circular center coordinates of the inner surface of the tunnel ring and mark it as L x ; Calculate the ellipticity using the formula: Calculate the ovality of the inner surface of the tunnel ring LY d , and sent to the data center; The technical solution of the embodiment of the present invention is: using geometric algorithms and triangulation principles to process and analyze the acquired bidirectional laser ranging data, calculating n groups of measuring point coordinates, fitting based on the n groups of measuring point coordinates using the least squares method to obtain the circle of the inner surface of the tunnel pipe ring, and calculating the ellipticity of the inner surface of the tunnel pipe ring based on the center coordinates of the circle of the inner surface of the tunnel pipe ring. Compared with traditional detection methods, the present invention only requires a laser rangefinder and related processing algorithms to be implemented, which can solve the limitations of existing detection technologies in the field of pipe ring ellipticity detection during shield tunnel construction, and thus provide a more efficient and accurate solution for pipe ring ellipticity detection during shield tunnel construction.

[0024] Example 3 like Figure 4 As shown, based on embodiments 1 and 2, a tunnel construction detection method based on bidirectional laser ranging according to an embodiment of the present invention includes: Step 1: Integrate all measuring points to obtain adjacent measuring point groups, obtain the angles of the adjacent measuring point groups, analyze the angles of the adjacent measuring point groups and the standard angles, select abnormal measuring point groups from the adjacent measuring point groups according to the analysis results, process and analyze the abnormal measuring point groups, obtain the measuring point uniformity value, and compare it with the measuring point uniformity threshold to determine the distribution uniformity of the measuring points. If the measuring point uniformity value is greater than the measuring point uniformity threshold, a measuring point non-uniformity signal is generated; Specifically, adjacent measuring points are integrated into an adjacent measuring point group; Exemplarily, the measuring points are numbered in adjacent order, including: the first measuring point, the second measuring point ... the i-th measuring point; the first measuring point and the second measuring point are integrated into an adjacent measuring point group, the second measuring point and the third measuring point are integrated into an adjacent measuring point group ... the i-1-th measuring point and the i-th measuring point are integrated into an adjacent measuring point group; Draw a circle on the inner surface of the tunnel pipe ring in a two-dimensional rectangular coordinate system, and mark the measuring point on the elliptical contour of the inner surface of the tunnel pipe ring according to the measuring point coordinates, connect the measuring point marked with the center point of the ellipse on the inner surface of the tunnel pipe ring by straight lines, obtain the measuring point connecting line, obtain the angle formed between the corresponding measuring point connecting lines of two measuring points included in the adjacent measuring point group, and obtain the angle of the adjacent measuring point group; Perform difference processing on the included angle of the adjacent measuring point group and the standard included angle, and take the absolute value of the difference to obtain the included angle difference; The standard angle is a setting interval, and the setting interval can be 1°, 10° or 15°; comparing the angle difference with an angle difference threshold; If the angle difference is greater than the angle difference threshold, the adjacent measuring point group is marked as an abnormal measuring point group; If the angle difference is less than or equal to the angle difference threshold, the adjacent measuring point group is marked as a normal measuring point group; Count the number of abnormal measuring point groups and compare them with the total number of adjacent measuring point groups to obtain the numerical abnormal value; Obtain the angle difference corresponding to the abnormal measuring point group, perform difference processing on the angle difference and the angle difference threshold to obtain the angle relative deviation of the abnormal measuring point group, sum and average the angle relative deviations of all abnormal measuring point groups to obtain the angle relative deviation mean, perform ratio processing on the angle relative deviation mean and the angle difference threshold to obtain the degree of abnormality; Sum the number of abnormal values ​​and the degree of abnormal values ​​to obtain the average value of the measuring point; It should be noted that the meaning of the measurement point uniformity is: to process and analyze the angles between adjacent measurement points, and to judge whether the distribution of the measurement points is uniform by analyzing the number of adjacent measurement point groups with large deviations between the angles and the standard angles and the degree of large deviations; Compare the measured point average value with the measured point average threshold; If the measurement point uniformity value is greater than the measurement point uniformity threshold, it means that the measurement points are unevenly distributed, and a measurement point unevenness signal is generated; If the measurement point uniformity value is less than the measurement point uniformity threshold, it means that the measurement points are evenly distributed; no operation is performed; The technical solution of the embodiment of the present invention is: all measuring points are integrated to obtain adjacent measuring point groups, the angle angle of the adjacent measuring point groups is obtained, the angle angle of the adjacent measuring point groups is analyzed with the standard angle angle, and abnormal measuring point groups are screened in the adjacent measuring point groups according to the analysis results, and the abnormal measuring point groups are processed and analyzed to obtain the uniform value of the measuring points, and compared with the uniform threshold of the measuring points to judge the distribution uniformity of the measuring points. If the uniform value of the measuring points is greater than the uniform threshold of the measuring points, a non-uniform signal of the measuring points is generated. The present invention performs uniform analysis on the acquisition of measuring point coordinates, which is conducive to judging whether the acquired measuring point coordinates are uniform, facilitating the subsequent optimization analysis of the measuring point coordinates, and improving the accuracy of tunnel ellipticity detection.

[0025] Example 4 like Figure 4 As shown, based on Example 3, a tunnel construction detection method based on bidirectional laser ranging according to an embodiment of the present invention includes: Step 2: Based on the uneven signal of the measuring point, the abnormal measuring point group is analyzed for continuity, and the abnormal continuity value is obtained. The abnormal continuity value is compared with the abnormal continuity threshold to determine the continuity of the abnormal measuring point group. If the abnormal continuity value is less than or equal to the abnormal continuity threshold, a continuous signal is generated. Specifically, among all abnormal measurement point groups, based on any abnormal measurement point group; The abnormal measuring point group is compared with other abnormal measuring point groups respectively. If there are measuring points with the same number as other abnormal measuring point groups in the abnormal measuring point group, they are integrated into an abnormal measuring point group pair; After traversing all abnormal measurement point groups, the number of abnormal measurement point group pairs is counted and the ratio is processed with the total number of abnormal measurement point groups to obtain a continuous performance value; The abnormal measuring point groups between the abnormal measuring point group pairs are marked as interval measuring point groups, the number of interval measuring point groups and the number of intervals between the abnormal measuring point group pairs are counted, and the number of interval measuring point groups and the number of intervals between the abnormal measuring point group pairs are processed by ratio, so as to obtain the number mean of the interval measuring point groups; The mean number of interval measurement point groups is processed by ratio with the total number of abnormal measurement point groups to obtain the interval performance value; The continuous performance value and the interval performance value are summed to obtain the abnormal continuous value; comparing the abnormal continuity value to an abnormal continuity threshold; If the abnormal continuity value is greater than the abnormal continuity threshold, the continuity of the abnormal measurement point group is weak, and a discontinuous signal is generated; Re-measure the coordinates of the measuring points based on the discontinuous signal; If the abnormal continuity value is less than or equal to the abnormal continuity threshold, the continuity of the abnormal measurement point group is strong and a continuous signal is generated; It should be noted that the meaning of continuous signal representation is: the continuity between abnormal measurement point groups is strong, and the abnormal measurement point groups show continuous distribution. The abnormal changes between abnormal measurement point groups can be further analyzed to determine whether the measurement point coordinate collection optimization can be performed; Step 3: Based on the continuous signal, analyze the angle deviation of the abnormal measuring point group to obtain the optimized feasible value. According to the optimized feasible value, determine whether the acquisition of the measuring point coordinates of the abnormal measuring point group can be optimized. If so, generate an optimizable signal, and based on the optimizable signal, collect and optimize the measuring point coordinates; Specifically, based on any abnormal measurement point pair; Count the number of abnormal measuring point groups contained in the abnormal measuring point pair, and multiply them by the standard angle to obtain the theoretical angle of the abnormal measuring point pair; The angles corresponding to the abnormal measuring point groups contained in the abnormal measuring point group pairs are summed to obtain the actual angles of the abnormal measuring point group pairs; The theoretical angle of the abnormal measuring point pair is processed with the actual angle of the abnormal measuring point pair, and the absolute value of the difference is taken to obtain the angle deviation of the abnormal measuring point pair; Compare the angle deviation of the abnormal measuring point pair with the angle deviation threshold of the abnormal measuring point pair; If the angle deviation of the abnormal measuring point pair is less than or equal to the angle deviation threshold of the abnormal measuring point pair, the abnormal measuring point pair is marked as an optimizeable pair; If the angle deviation of the abnormal measuring point pair is greater than the angle deviation threshold of the abnormal measuring point pair, the abnormal measuring point pair is marked as an unoptimizable pair; The angle deviation threshold of the abnormal measuring point pair is obtained by multiplying the number of abnormal measuring point groups contained in the abnormal measuring point pair by the angle difference threshold; The number of pairs that can be optimized in the abnormal measuring point groups is counted, and the ratio is processed with the total number of abnormal measuring point groups to obtain the optimal feasible value; comparing the optimized feasible value with the optimized feasible threshold; If the optimization feasible value is greater than the optimization feasible threshold, an optimizable signal is generated; If the optimization feasible value is less than or equal to the optimization feasible threshold, a non-optimization signal is generated; Based on the non-optimizable signal, the coordinates of the measuring points are re-collected; Based on the optimizable signal, the actual angle of the abnormal measuring point pair is obtained, and the ratio is processed with the number of abnormal measuring point groups included in the abnormal measuring point pair to obtain the optimized angle of the abnormal measuring point group included in the abnormal measuring point pair. According to the optimized angle of the abnormal measuring point group, the coordinates of the abnormal measuring point group included in the abnormal measuring point pair are re-optimized and collected; The technical solution of the embodiment of the present invention is as follows: based on the uneven signal of the measuring point, the abnormal measuring point group is analyzed for continuity to obtain the abnormal continuous value, the abnormal continuous value is compared with the abnormal continuous threshold, the continuity of the abnormal measuring point group is judged, if the abnormal continuous value is greater than the abnormal continuous threshold, a continuous signal is generated, based on the continuous signal, the angle deviation analysis is performed on the abnormal measuring point group to obtain the optimized feasible value, and it is judged whether the acquisition of the measuring point coordinates of the abnormal measuring point group can be optimized according to the optimized feasible value, if so, an optimizable signal is generated, and based on the optimizable signal, the measuring point coordinates are optimized and collected. In the case of uneven measuring point coordinates, the present invention analyzes the continuity of the measuring point coordinates, and in the case of strong continuity of the measuring point coordinates, analyzes whether the measuring point coordinates are optimized and collected, thereby realizing the optimized acquisition and identification of the measuring point coordinates.

[0026] Example 5 like Figure 5 - Figure 6 As shown, a tunnel construction detection device based on bidirectional laser ranging according to an embodiment of the present invention includes: an arc beam, a chain, an automatic running device, an electric slide rail, an electric base, a PLC and a bidirectional laser rangefinder; Among them, a chain is built into the arc beam to provide power for the automatic running device. An automatic running device is slidably arranged on the arc beam to provide guidance and positioning for the bidirectional laser rangefinder to move along the arc of the main structure. Among them, a PLC is arranged on the automatic running device to realize the positioning control of the automatic running device and the wireless communication transmission of data; The walking device is fixedly connected to the electric slide rail, the electric slide rail is rotatably connected to the electric base, a bidirectional laser rangefinder is fixedly arranged on the electric base, and the position adjustment of the bidirectional laser rangefinder is realized through the telescopic property of the electric slide rail and the rotatability of the electric base.

[0027] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A shield tunnel ellipticity detection method based on laser ranging, characterized in that: The following steps are involved: S1, start the device to move the automatic travel device to the minimum point of the bidirectional laser rangefinder line of sight obstruction area; S2, using the electric slide rail to drive the electric base and the bidirectional laser rangefinder to move to the central symmetrical position of the inner surface of any assembled pipe ring of the shield tunnel; S3, a bidirectional laser rangefinder emits a ranging beam; S4, the electric base rotates 360° according to the set interval and records the two-way laser ranging data at the same time; S5, using geometric algorithms and triangulation principles to process the bidirectional laser ranging data and the known position coordinate data, calculate the coordinates of the measuring points, and use the ellipticity fitting algorithm to fit and calculate the elliptical shape of the inner surface of the shield tunnel ring according to the calculated measuring point coordinates; The acquisition of the elliptical shape of the inner surface of the shield tunnel ring includes: The obtained bidirectional laser ranging data is processed and analyzed by using geometric algorithms and triangulation principles, and n groups of measuring point coordinates are calculated and tested; According to the coordinates of n groups of measuring points, the least square method is used to fit and obtain the elliptical shape of the inner surface of the shield tunnel ring; S6, calculating the ellipticity of the inner surface of the shield tunnel ring according to the elliptical shape of the inner surface of the shield tunnel ring; Specifically, according to the center coordinates of the ellipse on the inner surface of the shield tunnel ring, the ellipticity of the inner surface of the shield tunnel ring is obtained by the ellipticity calculation formula; S7, transmits the calculation results to the remote monitoring center in real time through wireless communication.

2. According to the method for detecting ellipticity of a shield tunnel based on laser ranging in claim 1, it is characterized in that: The process of calculating n groups of measuring point coordinates is as follows: A1, distance measurement by laser s 1. Installation radius of bidirectional laser rangefinder r The center coordinates of the measuring point and its angle with the horizontal direction α , use the formula to calculate the center to point of the two-way laser rangefinder ( x 1 i , y 1 i ) horizontal distance x ' 1 i and vertical distance y ' 1 i ; Specifically: x ' 1 i = ( s 1+ r )× cosα ； y ' 1 i = ( s 1+ r )× sinα ； A2, known horizontal distance x ' 1 i and vertical distance y ' 1 i , the coordinates of the measuring points are calculated by the formula, specifically: x 1 i =x 1- x ' 1 i ； y 1 i =y 1+ y ' 1 i ； A3, distance measurement by laser s 2. Installation radius of bidirectional laser rangefinder r The center coordinates of the measuring point and its angle with the horizontal direction α , use the formula to calculate the center to point of the two-way laser rangefinder ( x 1 j , y 1 j ) horizontal distance x ' 1 j and vertical distance y ' 1 j , specifically: x ' 1 j =( s 2+ r )× cosα ； y ' 1 j =( s 2+ r )× sinα ； A4, known horizontal distance x ' 1 j and vertical distance y ' 1 j , the coordinates of the measuring points are calculated by the formula, specifically: x 1 j =x 1+ x ' 1 j ； y 1 j =y 1-( s 2+ r )× sinα ； A5, switch to the next measuring point and repeat the calculation steps A1-A4 to obtain the coordinates of the remaining n-1 groups of measuring points.

3. The method for detecting ellipticity of a shield tunnel based on laser ranging according to claim 1, characterized in that: The process of obtaining the elliptical shape of the inner surface of the shield tunnel ring is specifically as follows: B1, sort out the obtained measuring point coordinate data ( x i , y i ); B2, define the equation of the ellipse: ,in,( h , k ) is the center of the ellipse, a and b are the major and minor semi-axis of the ellipse respectively; B3, establish the parameterized ellipse equation and rewrite the ellipse equation as: x = h + a cos θ y = k + b sin θ B4, construct the objective function, which is usually the sum of the squares of the total distances from all points to the ellipse. The objective function can be expressed as: ； B5, select the gradient descent optimization algorithm to minimize the objective function; B6, plot the fitted ellipse and the original data points in the same coordinate system to show the fitting effect; According to the solved ellipse center, major semi-axis and minor semi-axis, the elliptical shape of the inner surface of the shield tunnel ring is obtained.

4. The method for detecting ellipticity of a shield tunnel based on laser ranging according to claim 1, characterized in that: The specific process of calculating the ellipticity of the inner surface of the shield tunnel ring is as follows: Get the center coordinates of the circle on the inner surface of the shield tunnel ring through the formula: l i ={( x i - x j ) 2 +( y i - y j ) 2 } 1 / 2 Calculate the length of any straight line passing through the center coordinates of the circle on the inner surface of the shield tunnel ring L i ,in,( x i , y i )as well as( x j , y j ) are two coordinate points on the elliptical contour of the inner surface of the shield tunnel ring, and the two coordinate points are symmetrical based on the center of the elliptical contour of the inner surface of the shield tunnel ring; Extract the maximum length of the straight line passing through the center coordinates of the ellipse on the inner surface of the shield tunnel ring and record it L d ; Extract the minimum length of the straight line passing through the circular center coordinates of the inner surface of the shield tunnel ring and record it as L x ; Calculate the ellipticity using the formula: Calculate the ovality of the inner surface of the tunnel ring LY d .

5. The method for detecting ellipticity of a shield tunnel based on laser ranging according to claim 1, characterized in that: The process of detecting n groups of measuring point coordinates includes: All measuring points are integrated to obtain adjacent measuring point groups, the angles of the adjacent measuring point groups are obtained, the angles of the adjacent measuring point groups are analyzed with the standard angles, and abnormal measuring point groups are screened out from the adjacent measuring point groups according to the analysis results. The abnormal measuring point groups are processed and analyzed to obtain the uniform value of the measuring points, and compared with the uniform threshold of the measuring points to determine the uniformity of the distribution of the measuring points. If the uniform value of the measuring points is greater than the uniform threshold of the measuring points, an uneven signal of the measuring points is generated; Based on the uneven signal of the measuring point, the continuity analysis of the abnormal measuring point group is performed to obtain the abnormal continuity value, and the abnormal continuity value is compared with the abnormal continuity threshold to determine the continuity of the abnormal measuring point group. If the abnormal continuity value is less than or equal to the abnormal continuity threshold, a continuous signal is generated; Based on the continuous signal, the angle deviation analysis is performed on the abnormal measuring point group to obtain the optimized feasible value. According to the optimized feasible value, it is determined whether the acquisition optimization of the measuring point coordinates of the abnormal measuring point group can be performed. If so, an optimizable signal is generated, and based on the optimizable signal, the acquisition optimization of the measuring point coordinates is performed.

6. The method for detecting ellipticity of a shield tunnel based on laser ranging according to claim 5, characterized in that: The method for obtaining the average value of the measuring point is: Integrate adjacent measuring points into adjacent measuring point groups; Get the angle between adjacent measuring point groups; Perform difference processing on the included angle of the adjacent measuring point group and the standard included angle, and take the absolute value of the difference to obtain the included angle difference; If the angle difference is greater than the angle difference threshold, the adjacent measuring point group is marked as an abnormal measuring point group; Count the number of abnormal measuring point groups and compare them with the total number of adjacent measuring point groups to obtain the numerical abnormal value; Obtain the angle difference corresponding to the abnormal measuring point group, perform difference processing on the angle difference and the angle difference threshold to obtain the angle relative deviation of the abnormal measuring point group, sum and average the angle relative deviations of all abnormal measuring point groups to obtain the angle relative deviation mean, perform ratio processing on the angle relative deviation mean and the angle difference threshold to obtain the degree of abnormality; The number of abnormal values ​​and the degree of abnormal values ​​are summed to obtain the average value of the measuring point.

7. The method for detecting ellipticity of a shield tunnel based on laser ranging according to claim 5 is characterized in that: The abnormal continuous value is obtained in the following way: Based on any abnormal measurement point group; The abnormal measuring point group is compared with other abnormal measuring point groups respectively. If there are measuring points with the same number as other abnormal measuring point groups in the abnormal measuring point group, they are integrated into an abnormal measuring point group pair; After traversing all abnormal measurement point groups, the number of abnormal measurement point group pairs is counted and the ratio is processed with the total number of abnormal measurement point groups to obtain a continuous performance value; The abnormal measuring point groups between the abnormal measuring point group pairs are marked as interval measuring point groups, the number of interval measuring point groups and the number of intervals between the abnormal measuring point group pairs are counted, and the number of interval measuring point groups and the number of intervals between the abnormal measuring point group pairs are processed by ratio, so as to obtain the number mean of the interval measuring point groups; The mean number of interval measurement point groups is processed by ratio with the total number of abnormal measurement point groups to obtain the interval performance value; The continuous performance value and the interval performance value are summed to obtain the abnormal continuous value.

8. The method for detecting ellipticity of a shield tunnel based on laser ranging according to claim 5 is characterized in that: The method for obtaining the optimization feasible value is: Based on any abnormal measurement point pair; Count the number of abnormal measuring point groups contained in the abnormal measuring point pair, and multiply them by the standard angle to obtain the theoretical angle of the abnormal measuring point pair; The angles corresponding to the abnormal measuring point groups contained in the abnormal measuring point group pairs are summed to obtain the actual angles of the abnormal measuring point group pairs; The theoretical angle of the abnormal measuring point pair is processed with the actual angle of the abnormal measuring point pair, and the absolute value of the difference is taken to obtain the angle deviation of the abnormal measuring point pair; If the angle deviation of the abnormal measuring point pair is less than or equal to the angle deviation threshold of the abnormal measuring point pair, the abnormal measuring point pair is marked as an optimizeable pair; The angle deviation threshold of the abnormal measuring point pair is obtained by multiplying the number of abnormal measuring point groups contained in the abnormal measuring point pair by the angle difference threshold; The number of optimizable pairs in the abnormal measuring point pairs is counted and compared with the total number of abnormal measuring point groups to obtain the optimized feasible value.

9. The method for detecting ellipticity of a shield tunnel based on laser ranging according to claim 5, characterized in that: The process of collecting and optimizing the measuring point coordinates is as follows: The actual angle of the abnormal measuring point pair is obtained, and the ratio is processed with the number of abnormal measuring point groups included in the abnormal measuring point pair to obtain the optimized angle of the abnormal measuring point group included in the abnormal measuring point pair. According to the optimized angle of the abnormal measuring point group, the coordinates of the abnormal measuring point group included in the abnormal measuring point pair are re-optimized and collected.

10. A shield tunnel ellipticity detection device based on laser ranging, characterized in that: include: a curved beam with chains built into it; The automatic running device is set on the curved beam and equipped with a PLC controller; The electric slide rail is fixedly connected to the automatic running device; An electric base, rotatably connected to the electric slide rail; A two-way laser rangefinder, fixedly mounted on an electric base; A curved beam, wherein a chain is built into the curved beam; An automatic running device is slidably arranged on the arc-shaped beam, and a PLC controller is arranged on the automatic running device; The automatic running device is fixedly connected to the electric slide rail, the electric slide rail is rotatably connected to the electric base, and a bidirectional laser rangefinder is fixedly arranged on the electric base.

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