Segment calibration construction system for underground civil engineering

Abstract

The invention relates to the technical field of underground civil engineering construction, in particular to a duct piece calibration construction system for underground civil engineering, and aims to solve the problems that in an existing complex space, in the tunnel duct piece splicing process, the real-time three-dimensional calibration difficulty is large, the feedback period of monitoring data is long, and splicing deviation is difficult to adjust in time. The method comprises the following steps: acquiring first construction data of segment construction and first working data of a segment erector, calculating a first deviation value between a segment and a target preset position according to the first construction data and the first working data, and constructing a deviation compensation model according to the first deviation value to calculate a first calibration adjustment amount of the segment; the first deviation value comprises an assembly position difference value and a rotation angle difference value, a second deviation compensation model is constructed to calculate a second calibration adjustment amount of the duct piece, and whether the duct piece needs to be calibrated or not is secondarily judged according to the second calibration adjustment amount, so that the personal error and the rework rate are reduced, and the method is helpful for adapting to complex geology and space environments.

Description

Technical Field

[0001] The present invention relates to the technical field of underground civil construction, and more specifically, to a pipe segment calibration construction system for underground civil construction. Background Art

[0002] During the construction of shield tunnels, the tunnel segments are an important part of the tunnel lining structure, and their assembly accuracy is directly related to the overall line shape, structural stability and waterproof performance of the tunnel. The existing technology uses a segment assembly machine to assemble the segments into a ring piece by piece through precise positioning after the shield tunneling is completed, forming a stable tunnel structure. The existing literature (Wang Mingdou. Research on key technologies for automatic assembly of rectangular shield segment assembly robots [D]. Shanghai Jiaotong University, 2018. DOI: 10.27307 / d.cnki.gsjtu.2018.001678.) gives the following Figure 2 The existing segment assembly machine shown is composed of a main frame, a rotating mechanism, a hydraulic control system, a clamping device and a calibration mechanism. The clamping device is used to grab and position the segments, and the rotating mechanism rotates the segments according to a predetermined angle, and finally accurately assembles them to the specified position. However, in a complex geological environment, the posture of the shield machine is prone to deviation, resulting in assembly deviation, which may cause the tunnel axis to shift after accumulation. Due to the complex underground construction environment, the shield machine is easily affected by the deviation of the shield posture and the vibration of the equipment during excavation, resulting in misalignment, cracking or loose annular seams during the segment assembly process, which in turn causes tunnel leakage or structural damage.

[0003] Traditional tunnel segment assembly mainly relies on manual measurement and empirical judgment, which makes it difficult to achieve high-precision assembly calibration. Especially in long-distance shield construction, the accumulated error can easily cause the tunnel axis to deviate, affecting the safety and service life of the tunnel. Current technical means mainly use total stations or laser measurement equipment to monitor the shield posture and tunnel axis, but in complex spaces, real-time three-dimensional calibration during the assembly process is difficult, and the feedback cycle of monitoring data is long, making it difficult to adjust the assembly deviation in time. In order to solve the above problems, a technical solution is now provided. Summary of the invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a segment calibration construction system for underground civil engineering, which is used to solve the problems that real-time three-dimensional calibration is difficult during the assembly of tunnel segments in complex spaces, the feedback cycle of monitoring data is long, and it is difficult to adjust the assembly deviation in time, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A pipe segment calibration construction system for underground civil engineering comprises a real-time measurement feedback center, an intelligent calibration compensation module and an associated calibration compensation module; the real-time measurement feedback center is used to obtain first construction data of pipe segment construction and first working data of a pipe segment assembly machine; the intelligent calibration compensation module is used to calculate a first deviation value between a pipe segment and a target preset position according to the first construction data and the first working data, and to construct a deviation compensation model according to the first deviation value to calculate a first calibration adjustment amount of the pipe segment; the first deviation value comprises an assembly position difference and a rotation angle difference; the intelligent calibration compensation module comprises a first data extraction unit, a deviation analysis unit, a first pipe segment calibration adjustment unit and a first early warning unit; the first data extraction unit The extracting unit is used to extract the first assembly position of the pipe segment and the first posture data of the pipe segment in the first construction data, extract the first rotation angle of the pipe segment based on the first posture data, and obtain the preset second pipe segment assembly position and second rotation angle; the deviation analysis unit is used to calculate the assembly position difference according to the first assembly position and the second pipe segment assembly position, and calculate the rotation angle difference according to the first rotation angle and the second rotation angle; the first pipe segment calibration adjustment unit is used to obtain the assembly position difference and the rotation angle difference, and construct a first deviation compensation model according to the assembly position difference and the rotation angle difference to calculate the first calibration adjustment amount of the pipe segment. The steps of constructing the first deviation compensation model are as follows: for each position (x a ,y a ,z a ), measure the rotation angle deviation of this position and assembly position deviation Calculate the distance between the rotation angle deviation and the assembly position deviation and the ideal state (i.e., value 1) respectively, add the two distances, and use the sum of the actual deviations at that position as the normalization factor to obtain a ratio representing the comprehensive level of the position deviation. Add up the ratio values ​​obtained at all positions to obtain the overall calibration adjustment g of the segment. zt .

[0007] The formula of the first deviation compensation model is:

[0008]

[0009] Where: g zt is the first calibration adjustment of the segment, For the position (x a ,y a ,z a ), For the position (x a ,y a ,z a ), is the cumulative calculation of all segment positions, is the distance between the difference in assembly position and rotation angle deviation and 1, is the sum of the actual deviations of the segments.

[0010] As a further solution of the present invention, the deviation analysis unit is used to calculate the assembly position difference according to the first assembly position and the second segment assembly position, calculate the rotation angle difference according to the first rotation angle and the second rotation angle, and calculate the rotation angle difference according to the first rotation angle and the second rotation angle. The steps of calculating the assembly position difference are:

[0011] The coordinates of the first segment assembly position Coordinates of the assembly position with the second segment Subtract the corresponding values ​​to get the assembly position difference;

[0012] The calculation steps of the rotation angle difference are: respectively obtaining the components of the first rotation angle and the second rotation angle in each direction, subtracting the corresponding components, and obtaining the rotation angle difference.

[0013] The calculation formula for the assembly position difference is:

[0014]

[0015] Where: For the position (x a ,y a ,z a ), For the position (x a ,y a ,z a )'s first assembly position, For the position (x a ,y a ,z a )'s first assembly position, For the position (x a ,y a ,z a )'s first assembly position coordinates are represented by, For the position (x a ,y a ,z a )'s second assembly position coordinate representation;

[0016] The calculation formula for the rotation angle difference is:

[0017]

[0018] Where: For the position (x a ,y a ,z a)’s rotation angle difference, θ 1a For the position (x a ,y a ,z a )’s first rotation angle, θ 2a For the position (x a ,y a ,z a ), For the position (x a ,y a ,z a ) is represented by the first rotation angle coordinate, For the position (x a ,y a ,z a ) is represented by the second rotation angle coordinate.

[0019] As a further solution of the present invention, the associated calibration compensation module is used to construct a second deviation compensation model to calculate the second calibration adjustment amount of the pipe segment, and to make a secondary judgment on whether the pipe segment needs to be calibrated based on the second calibration adjustment amount; the associated calibration compensation module includes a second data extraction unit, a vibration influence factor calculation unit, a point cloud matching unit, a second pipe segment calibration adjustment unit and a second early warning unit.

[0020] As a further solution of the present invention, the second data extraction unit is used to extract the first tunnel axis offset of the segment in the first construction data, the first segment three-dimensional point cloud data and the first vibration data of the segment assembly machine in the first working data, and obtain the preset second segment three-dimensional point cloud data; the first vibration data includes vibration frequency and vibration amplitude.

[0021] As a further scheme of the present invention, a vibration influence factor calculation unit is used to obtain first vibration data of a segment assembly machine, and calculate the vibration influence factor according to the first vibration data imported into a vibration influence factor calculation formula, by extracting the maximum vibration frequency and the maximum vibration amplitude from the first vibration data collected from the segment assembly machine, and for each group of vibration data, respectively calculate the maximum vibration frequency and the ratio of the i-th vibration frequency to the i-th vibration frequency, and the maximum vibration amplitude and the ratio of the i-th vibration amplitude to the i-th vibration amplitude, add these two ratios, accumulate the sums obtained for all n groups of data, and then divide by the total number of data n to obtain the vibration influence factor.

[0022] The vibration influence factor calculation formula is:

[0023]

[0024] Where: μ z is the vibration influence factor, f max is the maximum vibration frequency in the first vibration data, fi is the i-th vibration frequency in the first vibration data, v max is the maximum vibration amplitude in the first vibration data, v i is the i-th vibration amplitude in the first vibration data, and n is the number of the first vibration data.

[0025] As a further solution of the present invention, the point cloud matching unit is used to construct a point cloud matching model based on the three-dimensional point cloud data of the first pipe segment and the three-dimensional point cloud data of the second pipe segment to calculate the point cloud matching coefficient. For each position, the square of the Euclidean distance between the first pipe segment data and the second pipe segment data is first calculated, and the value is divided by the first pipe segment data for normalization. The square root of the normalized result is taken to obtain the matching deviation of position j, and the matching deviations at all positions are accumulated and averaged to obtain the point cloud matching coefficient.

[0026] As a further solution of the present invention, the second segment calibration adjustment unit is used to construct a second deviation compensation model according to the vibration influence factor, the first tunnel axis offset, and the point cloud matching coefficient to calculate the second calibration adjustment of the segment. The construction steps of the second deviation compensation model are: multiplying the first tunnel axis offset and the vibration influence factor by their respective weight coefficients, and then adding the two items to form a comprehensive deviation, and then adjusting the comprehensive deviation with the inverse of the point cloud matching coefficient to obtain the second calibration adjustment of the segment;

[0027] The formula of the second deviation compensation model is:

[0028]

[0029] Where: g pe is the second calibration adjustment, D p is the first tunnel axis offset, α1 is the weight coefficient of the vibration influencing factor, μ z is the vibration influence factor, α2 is the weight coefficient of the vibration influence factor, D p is the point cloud matching coefficient;

[0030] The second early warning unit is used to extract the second calibration adjustment amount, compare the second calibration adjustment amount with a preset second calibration adjustment amount threshold, and if the second calibration adjustment amount is greater than or equal to the preset second calibration adjustment amount threshold, an adjustment alarm is triggered; if the second calibration adjustment amount is less than the preset second calibration adjustment amount threshold, there is no need to trigger an adjustment alarm.

[0031] The technical effects and advantages of a segment calibration construction system for underground civil engineering of the present invention are as follows: the present invention obtains first construction data of segment construction and first working data of a segment assembler, calculates a first deviation value between the segment and a target preset position according to the first construction data and the first working data, and constructs a deviation compensation model according to the first deviation value to calculate a first calibration adjustment amount of the segment; the first deviation value includes an assembly position difference and a rotation angle difference, and a second calibration adjustment amount of the segment is calculated by constructing a second deviation compensation model, and a secondary judgment is made on whether the segment needs to be calibrated according to the second calibration adjustment amount, thereby improving the accuracy and construction efficiency of tunnel assembly, reducing human errors and rework rate, and helping to adapt to complex geological and spatial environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A schematic diagram of a three-dimensional point cloud of a pipe segment provided by the present invention;

[0033] Figure 2 A schematic diagram of an existing segment assembly machine provided by the present invention;

[0034] Figure 3 A graph showing the real-time monitoring curve of vibration data provided by the present invention;

[0035] Figure 4 The segment assembly calibration adjustment suggestion interface provided by the present invention;

[0036] Figure 5 A schematic structural diagram of a segment calibration construction system for underground civil engineering provided by the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the accompanying drawings in the present invention to clearly and completely describe the technical solution in the present invention. Obviously, the described technical solution is only a part of the present invention, not all of it. Based on the technical solution in the present invention, all other technical solutions obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] Figure 5 A schematic diagram of a pipe segment calibration construction system for underground civil engineering provided by the present invention is shown in FIG. Figure 5 As shown, a segment calibration construction system for underground civil engineering includes a real-time measurement feedback center, an intelligent calibration compensation module and an associated calibration compensation module; the real-time measurement feedback center is connected to the intelligent calibration compensation module and the associated calibration compensation module respectively.

[0039] The real-time measurement feedback center is used to obtain the first construction data of the segment construction and the first working data of the segment assembly machine; the first construction data includes the first assembly position of the segment, the first tunnel axis offset, the first segment three-dimensional point cloud data and the first posture data; the first working data includes the first vibration data of the segment assembly machine.

[0040] The intelligent calibration compensation module is used to calculate the first deviation value between the pipe segment and the target preset position according to the first construction data and the first working data, and to construct a deviation compensation model based on the first deviation value to calculate the first calibration adjustment amount of the pipe segment; the first deviation value includes the assembly position difference and the rotation angle difference.

[0041] The associated calibration compensation module is used to construct a second deviation compensation model to calculate the second calibration adjustment amount of the pipe segment, and to perform a secondary determination on whether the pipe segment needs to be calibrated based on the second calibration adjustment amount.

[0042] Specifically, the real-time measurement feedback center includes a laser measuring instrument, a high-precision three-dimensional scanner, a posture sensor, and a vibration sensor.

[0043] The laser measuring instrument is used to monitor the assembly position of the segments and the offset of the tunnel axis in real time.

[0044] The high-precision 3D scanner is used to scan the position of the assembled segments and generate 3D point cloud data of the assembled segments, such as Figure 1 The schematic diagram of the three-dimensional point cloud of the segment provided by the present invention presents an annular structure composed of a large number of blue point clouds, which can be regarded as a visualization of the three-dimensional point cloud data of the circular ring segment (or tunnel section). Each blue dot represents a spatial coordinate point obtained after scanning / measurement, forming an annular section as a whole.

[0045] The attitude sensor is used to obtain the attitude data of the segment in real time.

[0046] The vibration sensor is used to obtain the vibration data of the segment assembly machine in real time.

[0047] Specifically, the intelligent calibration compensation module includes a first data extraction unit, a deviation analysis unit, a first segment calibration adjustment unit and a first early warning unit; the first data extraction unit is connected to the deviation analysis unit, the deviation analysis unit is connected to the first segment calibration adjustment unit, and the first segment calibration adjustment unit is connected to the first early warning unit.

[0048] The first data extraction unit is used to extract the first assembly position of the pipe segment and the first posture data of the pipe segment in the first construction data, extract the first rotation angle of the pipe segment based on the first posture data, and obtain the preset second pipe segment assembly position and second rotation angle.

[0049] The deviation analysis unit is used to calculate the assembly position difference according to the first assembly position and the second segment assembly position, and calculate the rotation angle difference according to the first rotation angle and the second rotation angle. The calculation formula of the assembly position difference is:

[0050]

[0051] Where: For the position (x a ,y a ,z a )’s assembly position difference, For the position (x a ,y a ,z a )'s first assembly position, For the position (x a ,y a ,z a )'s first assembly position, For the position (x a ,y a ,z a )'s first assembly position coordinates are represented by, For the position (x a ,y a ,z a ) is represented by the coordinates of the second assembly position.

[0052] The calculation formula for the rotation angle difference is:

[0053]

[0054] Where: For the position (x a ,y a ,z a )’s rotation angle difference, θ 1a For the position (x a ,y a ,z a )’s first rotation angle, θ 2a For the position (x a ,y a ,z a ), For the position (x a ,y a ,z a ) is represented by the first rotation angle coordinate, For the position (x a ,y a ,z a ) is represented by the second rotation angle coordinate.

[0055] The first segment calibration adjustment unit is used to obtain the assembly position difference and the rotation angle difference, and to construct a first deviation compensation model according to the assembly position difference and the rotation angle difference to calculate the first calibration adjustment amount of the segment. The formula of the first deviation compensation model is:

[0056]

[0057] Where: g zt is the first calibration adjustment of the segment, For the position (x a ,y a ,z a ), For the position (x a ,y a ,z a )’s assembly position difference, is the cumulative calculation of all segment positions, is the distance between the difference in assembly position and rotation angle deviation and 1, is the sum of the actual deviations of the segments.

[0058] The first early warning unit is used to extract the first calibration adjustment amount of the pipe segment, and compare the first calibration adjustment amount of the pipe segment with the first calibration adjustment amount threshold of the preset pipe segment. If the first calibration adjustment amount of the pipe segment is greater than or equal to the first calibration adjustment amount threshold of the preset pipe segment, an adjustment alarm will be triggered; if the first calibration adjustment amount of the pipe segment is less than the first calibration adjustment amount threshold of the preset pipe segment, the adjustment alarm will not be triggered.

[0059] Figure 4 The segment assembly calibration adjustment suggestion interface provided by the present invention gives warning information of the current segment assembly position deviation and posture deviation, and provides specific adjustment suggestions based on the measurement and calculation results; position adjustment: such as moving the segment by several millimeters in the X and Y directions to compensate for the installation deviation; angle adjustment: fine-tuning the assembly angle (such as tilt and twist) in degrees; the prompt "Attention required" above indicates that the current assembly position deviation exceeds the acceptable range, and it is recommended to make fine adjustments immediately to ensure construction accuracy.

[0060] By real-time monitoring of assembly position differences and rotation angle differences, the position and posture of each segment are accurately calibrated to prevent the accumulation of assembly errors and ensure that the tunnel axis is consistent with the designed trajectory. The deviation compensation model can be dynamically adjusted according to the assembly deviation to ensure that the segment is always maintained within the set tolerance range during the assembly process; by comparing the calibration adjustment amount with the preset threshold, the segment assembly quality is evaluated in real time. If the deviation exceeds the allowable range, the system automatically triggers an adjustment alarm to promptly remind the operator to make corrections, avoiding large-scale rework in the later stage of construction and significantly saving costs and time; the assembly position and posture deviations are accurately extracted and analyzed in complex three-dimensional space, which is especially suitable for tunnel construction in complex terrains such as bends and ramps. Parameters such as vibration influencing factors can be further incorporated into the compensation model to ensure that small deviations caused by geological vibrations or equipment disturbances during construction can be corrected in time; construction data and equipment working data are automatically extracted to reduce manual measurement and recording links, and avoid deviations caused by operating errors or inaccurate manual judgments; segment assembly deviations are reduced to ensure the stability of the tunnel structure and prevent structural damage due to inaccurate assembly Deformation or local stress concentration can help improve the long-term safety and durability of the tunnel, ensure the accuracy of the tunnel waterproof layer and assembly gaps, and reduce the risk of water seepage and tunnel settlement; difference calculation, calibration adjustment and compensation can be performed without frequent manual intervention, greatly reducing the time for measurement and calibration. In the construction of narrow or space-constrained tunnels, the system can adapt flexibly to avoid the measurement difficulties and complex adjustments of traditional methods; it can save the assembly position and adjustment records of each ring of segments to form a complete construction database, providing a reference basis for subsequent tunnel construction and maintenance, and can continuously optimize model parameters to improve the adaptability and accuracy of the compensation model in different environments; by reducing assembly errors, avoiding material waste due to rework, and improving the utilization rate of construction materials, the automatic calibration system reduces dependence on highly skilled labor and reduces labor costs; by integrating functions such as data extraction, deviation analysis, calibration compensation and automatic early warning, it provides an efficient and accurate solution for underground segment assembly in complex environments, which not only improves construction quality, but also significantly improves construction efficiency and safety, and has important engineering application value.

[0061] Specifically, the associated calibration compensation module includes a second data extraction unit, a vibration influence factor calculation unit, a point cloud matching unit, a second segment calibration adjustment unit and a second early warning unit; the second data extraction unit is connected to the vibration influence factor calculation unit, the point cloud matching unit and the second segment calibration adjustment unit respectively, the vibration influence factor calculation unit and the point cloud matching unit are connected to the second segment calibration adjustment unit respectively, and the second segment calibration adjustment unit is connected to the second early warning unit.

[0062] The second data extraction unit is used to extract the first tunnel axis offset of the segment in the first construction data, the first segment three-dimensional point cloud data and the first vibration data of the segment assembly machine in the first working data, and obtain the preset second segment three-dimensional point cloud data; the first vibration data includes vibration frequency and vibration amplitude.

[0063] The vibration influence factor calculation unit is used to obtain the first vibration data of the segment assembly machine, and calculate the vibration influence factor according to the first vibration data imported into the vibration influence factor calculation formula. The vibration influence factor calculation formula is:

[0064]

[0065] Where: μ z is the vibration influence factor, f max is the maximum vibration frequency in the first vibration data, f i is the i-th vibration frequency in the first vibration data, v max is the maximum vibration amplitude in the first vibration data, v i is the i-th vibration amplitude in the first vibration data, and n is the number of the first vibration data.

[0066] Figure 3 The real-time monitoring curve display diagram of vibration data provided by the present invention shows a line graph of the real-time vibration amplitude changing with time. The horizontal axis represents time (or sampling sequence), and the vertical axis represents the vibration amplitude (in mm). The fluctuations of the curve represent the changes in vibration intensity during construction or mechanical operation, and are used to monitor the vibration conditions of the segment assembly machine or the surrounding environment.

[0067] The point cloud matching unit is used to construct a point cloud matching model based on the three-dimensional point cloud data of the first segment and the three-dimensional point cloud data of the second segment to calculate the point cloud matching coefficient. The formula of the point cloud matching model is:

[0068]

[0069] Where: D p is the point cloud matching coefficient, m is the number of 3D point cloud data of the first segment, P j is the 3D point cloud data of the first segment at position j, Q j is the three-dimensional point cloud data of the second segment at position j.

[0070] The second segment calibration adjustment unit is used to construct a second deviation compensation model to calculate the second calibration adjustment of the segment according to the vibration influence factor, the first tunnel axis offset, and the point cloud matching coefficient. The formula of the second deviation compensation model is:

[0071]

[0072] Where: gpe is the second calibration adjustment, D p is the first tunnel axis offset, α1 is the weight coefficient of the vibration influencing factor, μ z is the vibration influence factor, α2 is the weight coefficient of the vibration influence factor, D p is the point cloud matching coefficient.

[0073] The second early warning unit is used to extract the second calibration adjustment amount, compare the second calibration adjustment amount with a preset second calibration adjustment amount threshold, and if the second calibration adjustment amount is greater than or equal to the preset second calibration adjustment amount threshold, an adjustment alarm is triggered; if the second calibration adjustment amount is less than the preset second calibration adjustment amount threshold, there is no need to trigger an adjustment alarm.

[0074] Example 2

[0075] In a certain city subway tunnel project, a shield tunnel with a diameter of 6.65m was used, and prefabricated reinforced concrete segments were used for lining. Due to the complex geological conditions (mainly soft clay intercalated with sand layers, and containing local weak strata and groundwater), the shield machine will cause certain vibrations and deviations during the excavation process. In order to ensure that each segment always remains consistent with the designed tunnel axis during installation, a segment calibration construction system was introduced at the construction site. The system mainly consists of a real-time measurement feedback center, an intelligent calibration compensation module, and an associated calibration compensation module. The laser measuring instrument, high-precision 3D scanner, attitude and vibration sensor are used to collect segment installation data in real time, and then after deviation analysis and compensation model calculation, the calibration adjustment amount is automatically output, and an early warning is automatically triggered when the deviation exceeds the preset threshold, prompting the operator to make corrections in time.

[0076] In the actual construction process, each ring of lining is usually composed of 6 segments. Taking the actual measurement data of a certain ring as an example, the initial deviation data of each segment is recorded, as shown in Table 1.

[0077]

[0078] The first construction data is collected, and the deviation value of each segment is obtained by comparing the preset segment assembly position and posture. Taking segment 1 as an example: the actual position is measured to deviate 8mm from the design position (left deviation), and the actual rotation angle is 0.30° more than the design value (clockwise). For segment 1, ΔP1=-8mm indicates a left deviation, Δθ1=-0.30° indicates a clockwise deviation, and g is measured for the reference block. zt =0.93. This result will be used as a reference value to input into the automatic calibration control of subsequent segments. The installation position and rotation angle of the segments will be adjusted through the feedback mechanism to ensure that the error of the next segment is corrected.

[0079] During the installation of segment 1, the maximum vibration frequency and amplitude obtained by vibration data sampling are f max and v max , the system performs calculations for each data point to quantify the additional deviation caused by vibration. For example, if the average acceleration in the vibration data table is 0.04g, and the calculated vibration impact factor is μ z =40mm / g.

[0080] The embodiment of the present invention constructs a deviation compensation model through multi-dimensional parameters such as vibration influence factor, tunnel axis offset and point cloud matching coefficient, so as to ensure a comprehensive evaluation of assembly deviation. The vibration influence factor can reflect the dynamic influence of equipment operation status on assembly accuracy, while the point cloud matching coefficient directly quantifies the error between the actual assembly result and the design target, making the calibration more accurate. By extracting vibration data, three-dimensional point cloud data and axis offset in real time, the system can instantly calculate the calibration adjustment amount and dynamically adjust it during the assembly process, effectively avoiding the gradual accumulation of errors and ensuring the high accuracy of tunnel construction. It is of great significance to tunnel assembly in complex construction environments, especially in areas with frequent vibration or complex geological conditions. Direct quantification The influence of vibration frequency and vibration amplitude ensures that the assembly deviation caused by equipment vibration or geological disturbance during construction can be compensated and corrected in time. By calculating the vibration influence factor, the system can automatically determine whether the vibration is within an acceptable range, and trigger an early warning when necessary to prevent the assembly deviation from exceeding the limit; the point cloud matching model is used to compare the actual assembly with the designed segments, accurately quantify the assembly deviation, and further improve the accuracy of assembly positioning. By calculating the point cloud matching coefficient, it can quickly identify the concentrated area of ​​assembly error, provide data support for segment calibration, and reduce the risk of rework due to assembly errors; real-time monitoring of the calibration adjustment amount, once the adjustment amount exceeds the threshold, the system immediately triggers an alarm to prompt the operator to make corrections in time, reducing human intervention and subjective judgment to ensure that the tunnel assembly is within the control range of accuracy error, reducing the cost of rework and remediation in the later stage; in the process of assembly, it realizes the full process automation control from data extraction, vibration analysis to calibration and adjustment, reduces manual measurement and adjustment links, and greatly improves the construction efficiency and intelligence level. In narrow or complex construction environments, the automatic calibration system can solve the problems of difficult manual measurement and difficult to ensure accuracy, and is suitable for tunnel assembly in a variety of complex geological environments; according to multiple influencing factors such as vibration, point cloud matching and axis offset, it performs precise calibration, and has strong adaptability to complex terrain, long distance or non-straight tunnel assembly. The introduction of tunnel axis offset enables the system to timely correct the segment in curved sections or non-standard spaces. The deviation in the assembly can be further guaranteed to ensure the assembly quality; the assembly deviation can be accurately controlled to reduce the stress concentration, structural deformation or leakage caused by improper assembly, thereby improving the overall stability and durability of the tunnel. In the construction of long-distance tunnels such as subways, underground integrated pipelines or mines, the calibration function of the system can effectively prevent structural hazards in long-term operation and ensure the safety of underground projects; through multi-factor models such as vibration influence, point cloud matching and axis offset, a full-process automated calibration solution is provided for the assembly of tunnel segments, which can not only significantly improve the assembly accuracy and construction efficiency, but also reduce the rework rate and construction costs. It also shows strong adaptability and stability in complex geological environments, which has important technical value for underground civil engineering projects.

[0081] The embodiment of the present invention obtains first construction data of segment construction and first working data of a segment assembly machine, calculates a first deviation value between the segment and a target preset position according to the first construction data and the first working data, and constructs a deviation compensation model according to the first deviation value to calculate a first calibration adjustment amount of the segment; the first deviation value includes an assembly position difference and a rotation angle difference, and a second calibration adjustment amount of the segment is calculated by constructing a second deviation compensation model, and a secondary judgment is made on whether the segment needs to be calibrated according to the second calibration adjustment amount, thereby improving the accuracy and construction efficiency of tunnel assembly, reducing human errors and rework rates, and helping to adapt to complex geological and spatial environments.

[0082] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0083] Finally: The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A segment calibration construction system for underground civil engineering, comprising a real-time measurement feedback center, an intelligent calibration compensation module and an associated calibration compensation module; characterized in that: The real-time measurement feedback center is used to obtain the first construction data of the segment construction and the first working data of the segment assembly machine; the intelligent calibration compensation module is used to calculate the first deviation value between the segment and the target preset position according to the first construction data and the first working data, and to construct a deviation compensation model according to the first deviation value to calculate the first calibration adjustment amount of the segment; the first deviation value includes the assembly position difference and the rotation angle difference; the intelligent calibration compensation module includes a first data extraction unit, a deviation analysis unit, a first segment calibration adjustment unit and a first early warning unit; the first data extraction unit is used to extract the first assembly position of the segment and the first posture data of the segment in the first construction data, extract the first rotation angle of the segment based on the first posture data, and obtain the preset second segment assembly position and second rotation angle; The deviation analysis unit is used to calculate the assembly position difference according to the first assembly position and the second segment assembly position, and calculate the rotation angle difference according to the first rotation angle and the second rotation angle; The first segment calibration adjustment unit is used to obtain the assembly position difference and the rotation angle difference, and to construct a first deviation compensation model based on the assembly position difference and the rotation angle difference to calculate the first calibration adjustment amount of the segment. The steps of constructing the first deviation compensation model are as follows: for each position (x a ,y a ,z a ), measure the rotation angle deviation of this position and assembly position deviation Calculate the distance between the rotation angle deviation and the assembly position deviation and the ideal state (i.e., the value 1) respectively, add the two distances, and use the sum of the actual deviations at that position as the normalization factor to obtain a ratio representing the comprehensive level of the position deviation. Add up the proportional values ​​obtained at all positions to obtain the overall calibration adjustment of the segment.

2. The segment calibration construction system for underground civil engineering according to claim 1, characterized in that: The deviation analysis unit is used to calculate the assembly position difference according to the first assembly position and the second segment assembly position, and calculate the rotation angle difference according to the first rotation angle and the second rotation angle. The steps for calculating the assembly position difference are: The coordinates of the first segment assembly position Coordinates of the assembly position with the second segment Subtract the corresponding values ​​to get the assembly position difference; The calculation steps of the rotation angle difference are: respectively obtaining the components of the first rotation angle and the second rotation angle in each direction, subtracting the corresponding components, and obtaining the rotation angle difference.

3. The segment calibration construction system for underground civil engineering according to claim 1, characterized in that: The associated calibration compensation module is used to construct a second deviation compensation model to calculate the second calibration adjustment amount of the pipe segment, and to make a secondary judgment on whether the pipe segment needs to be calibrated based on the second calibration adjustment amount; the associated calibration compensation module includes a second data extraction unit, a vibration influence factor calculation unit, a point cloud matching unit, a second pipe segment calibration adjustment unit and a second early warning unit.

4. The segment calibration construction system for underground civil engineering according to claim 1, characterized in that: The second data extraction unit is used to extract the first tunnel axis offset of the segment in the first construction data, the first segment three-dimensional point cloud data and the first vibration data of the segment assembly machine in the first working data, and obtain the preset second segment three-dimensional point cloud data; the first vibration data includes vibration frequency and vibration amplitude.

5. The segment calibration construction system for underground civil engineering according to claim 4, characterized in that: The vibration influence factor calculation unit is used to obtain the first vibration data of the segment assembly machine, and import the first vibration data into the vibration influence factor calculation formula to calculate the vibration influence factor. The maximum vibration frequency and the maximum vibration amplitude are extracted from the first vibration data collected from the segment assembly machine. For each set of vibration data, the maximum vibration frequency and the ratio of the i-th vibration frequency to the i-th vibration frequency and the maximum vibration amplitude and the ratio of the i-th vibration amplitude to the i-th vibration amplitude are calculated respectively. The two ratios are added together, and the sums obtained for all n groups of data are accumulated, and then divided by the total number of data n to obtain the vibration influence factor.

6. The segment calibration construction system for underground civil engineering according to claim 4, characterized in that: The point cloud matching unit is used to construct a point cloud matching model based on the three-dimensional point cloud data of the first segment and the three-dimensional point cloud data of the second segment to calculate the point cloud matching coefficient. The steps of constructing the point cloud matching model are as follows: for each position, first calculate the square of the Euclidean distance between the first segment data and the second segment data, divide the value by the first segment data for normalization, take the square root of the normalized result, and obtain the matching deviation of position j. The matching deviations at all positions are accumulated and averaged to obtain the point cloud matching coefficient.

7. The segment calibration construction system for underground civil engineering according to claim 4, characterized in that: The second segment calibration adjustment unit is used to construct a second deviation compensation model according to the vibration influence factor, the first tunnel axis offset, and the point cloud matching coefficient to calculate the second calibration adjustment of the segment. The construction steps of the second deviation compensation model are: multiplying the first tunnel axis offset and the vibration influence factor by their respective weight coefficients, and then adding the two items to form a comprehensive deviation, and then adjusting the comprehensive deviation with the inverse of the point cloud matching coefficient to obtain the second calibration adjustment of the segment; The second warning unit is used to extract the second calibration adjustment amount, compare the second calibration adjustment amount with a preset second calibration adjustment amount threshold, and trigger an adjustment alarm if the second calibration adjustment amount is greater than or equal to the preset second calibration adjustment amount threshold; If the second calibration adjustment amount is less than the preset second calibration adjustment amount threshold, there is no need to trigger an adjustment-needed alarm.

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