Shield tunnel segment behind-wall accurate detection and grouting trolley and construction method thereof

Abstract

The invention discloses a shield tunnel segment behind-wall accurate detection and grouting trolley and a construction method thereof.The shield tunnel segment behind-wall accurate detection and grouting trolley comprises an electric car, a track is laid in a shield tunnel, the electric car walks on the track, an annular guide rail is installed at one end of the electric car, and the annular guide rail and a shield tunnel segment are coaxially arranged; the electric moving seat is arranged on the annular guide rail in a sliding manner; the geological radar detector is mounted on the electric moving seat in a position-adjustable manner; the laser scanner is mounted on the electric moving seat; the mechanical arm is installed at the other end of the electric car, a grouting pipe is installed on the mechanical arm, and the grouting pipe is connected with a grouting pump; and the controller is connected to the electric moving seat, the geological radar detector, the laser scanner, the mechanical arm and the grouting pump. According to the method, the problem that application limitation exists in an existing shield tunnel synchronous grouting quality evaluation means is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of shield tunneling construction, and particularly to a precise detection and grouting trolley behind the segments of a shield tunnel and a construction method thereof. Background Art

[0002] Synchronous grouting of shield tunnels is an important measure to control ground deformation and protect existing tunnels, bridges and the surrounding environment. However, the grouting form is not easy to control, and the grouting volume is generally determined manually by experience, with a large human factor. Improper control is likely to cause local or overall dislocation, drift, structural deformation, cracking and other forms of damage to the segments of the shield tunnel lining. The morphology and filling degree of the grouting body behind the segments cannot be effectively determined, so that the grouting operation cannot be guided in real time and effectively.

[0003] At present, the main means for evaluating grouting quality is the use of radar detection and imaging technology, which has application limitations such as the need for contact detection and difficult data analysis. In addition, manual sampling inspection is a destructive monitoring method with a large randomness in sampling, and there is a lack of reliable technical means to effectively identify and locate grouting voids, resulting in difficulty in taking corresponding remedial measures in a timely manner.

[0004] The information disclosed in this background art section is only intended to enhance the overall understanding of the present invention and should not be regarded as an admission or any form of suggestion that this information constitutes prior art already known to those of ordinary skill in the art. Summary of the Invention

[0005] In order to overcome the defects of the prior art, the present invention provides a precise detection and grouting trolley behind the segments of a shield tunnel and a construction method thereof, so as to solve the problem of application limitations existing in the existing means for evaluating the quality of synchronous grouting of shield tunnels.

[0006] To achieve the above object, there is provided a precise detection and grouting trolley behind the segments of a shield tunnel, including:

[0007] An electric vehicle, on which tracks are laid in the shield tunnel, the electric vehicle travels on the tracks, and a circular guide rail is installed at one end of the electric vehicle, and the circular guide rail is coaxially arranged with the segments of the shield tunnel;

[0008] An electric moving seat, which slides on the circular guide rail;

[0009] A ground-penetrating radar detector, which is installed on the electric moving seat with adjustable position;

[0010] A laser scanner, which is installed on the electric moving seat;

[0011] A robotic arm, which is installed at the other end of the electric vehicle, and a grouting pipe is installed on the robotic arm, and the grouting pipe is connected to a grouting pump;

[0012] A controller is connected to the electric movable base, the geological radar detector, the laser scanner, the mechanical arm and the grouting pump.

[0013] Furthermore, it further comprises a laser vibrometer and a speedometer, wherein the laser vibrometer and the speedometer are installed on the electric movable base, and the laser vibrometer and the speedometer are respectively connected to the controller.

[0014] Furthermore, guide grooves are formed on both end surfaces of the annular guide rail, and the guide grooves are arranged along the circumferential direction of the annular guide rail. A accommodating groove is formed on one side of the electric movable seat, and the annular guide rail is movably arranged in the accommodating groove. Rollers are rotatably installed on the two opposite groove walls of the accommodating groove, and the two opposite rollers of the accommodating groove are respectively slid in the two guide grooves of the annular guide rail, and a driving structure for driving the electric movable seat is installed on the electric movable seat.

[0015] Furthermore, the driving structure includes:

[0016] A rack is mounted on the inner surface of the annular guide rail, and the rack is arranged along the circumferential direction of the annular guide rail;

[0017] A gear is rotatably mounted on the bottom of the receiving groove, and the gear is engaged with the rack;

[0018] The motor is transmission-connected to the gear, and the motor signal is connected to the controller.

[0019] Furthermore, a base plate is installed on the slot of the electric movable seat, and the base plate is connected to a support plate through a telescopic rod, and the geological radar detector is installed on the support plate.

[0020] Furthermore, the support plate is provided with a slide groove, which is arranged along the axial direction of the annular guide rail. A sliding seat is slidably provided in the slide groove, and the geological radar detector is fixed on the sliding seat. A locking member for locking the support plate is detachably installed on the sliding seat.

[0021] The present invention provides a method for accurately detecting and grouting segments behind a shield tunnel wall, comprising the following steps:

[0022] Adjust the position of the geological radar detector on the electric moving base;

[0023] The controller controls the tram to move along the shield tunnel and the electric moving seat to move along the circular guide rail. The geological radar detector and laser scanner perform visual inspection of the grouting effect behind the shield tunnel segment wall.

[0024] The controller obtains detection data of the geological radar detector and the laser scanner;

[0025] Based on the detection data, the controller calculates the detection result of the grouting effect;

[0026] Based on the detection result, the controller controls the robotic arm to grout behind the segments of the shield tunnel with the grouting pipe, and at the same time, the controller controls the grouting pump to adjust the grouting pressure and grouting speed.

[0027] Furthermore, it further includes:

[0028] a. After grouting behind the segments of the shield tunnel, a plurality of measuring points are evenly arranged on the segment wall, and the laser vibrometer and the velocimeter obtain the velocity time history of each measuring point;

[0029] b. The controller calculates the measured power spectral density and the reference power spectral density of each measuring point through the Welch method for the velocity time history of each measuring point;

[0030] c. Based on the measured power spectral density of each measuring point and the reference power spectral density of each measuring point, the controller calculates the vibration energy ratio and the normalized spectral entropy of each measuring point;

[0031] d. Based on the vibration energy ratio and the normalized spectral entropy of each measuring point, the controller calculates the parameters of DBSCAN;

[0032] e. The controller clusters the parameters of DBSCAN to obtain an outlier set;

[0033] f. The controller screens the points that first become outliers in the outlier set as potential points;

[0034] g. Using the potential points as measuring points, repeat steps a - f until all potential points are confirmed or excluded;

[0035] h. The controller takes the points in the outlier set except the potential points as grouting void points, and the spatial position corresponding to the grouting void points is the grouting void area.

[0036] The beneficial effect of the present invention is that the precise detection and grouting trolley behind the segments of the shield tunnel of the present invention realize the precise detection of the grouting effect behind the segments of the shield tunnel through the combined use of a geological radar detector and a laser scanner device, improving the detection accuracy and efficiency.

[0037] The precise detection behind the segments of the shield tunnel and the grouting trolley of the present invention adjust the grouting pressure and grouting flow based on the detection results of the radar detector and the laser scanner through the controller to precisely control the grouting quality, ensuring uniform grouting and appropriate grouting volume. The precise detection behind the segments of the shield tunnel and the grouting trolley of the present invention perform grouting operations according to the detection results, achieving precise control of the grouting operation and avoiding the problems of insufficient grouting or excessive grouting.

[0038] The precise detection behind the segments of the shield tunnel and the grouting trolley of the present invention can perform multiple detections and groutings, effectively improving the construction efficiency and quality.

[0039] The precise detection behind the segments of the shield tunnel and the grouting trolley of the present invention is applicable to the construction of shield tunnels under various geological conditions, and has high practicability and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Other features, objects, and advantages of the present application will become more apparent by reading the detailed description of the non-limiting embodiments with reference to the following drawings:

[0041] Figure 1 It is a schematic structural diagram of the precise detection behind the segments of the shield tunnel and the grouting trolley according to an embodiment of the present invention.

[0042] Figure 2 It is a front view of the precise detection behind the segments of the shield tunnel and the grouting trolley according to an embodiment of the present invention.

[0043] Figure 3 It is a left view of the precise detection behind the segments of the shield tunnel and the grouting trolley according to an embodiment of the present invention.

[0044] Figure 4 It is a schematic structural diagram of the electric mobile seat according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] The present application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention and are not intended to limit the invention. Additionally, it should be noted that for the sake of description, only the parts related to the invention are shown in the drawings.

[0046] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0047] Referring to Figures 1 to 4 as shown, the present invention provides a precise detection behind the segments of the shield tunnel and a grouting trolley, including: a trolley 1, an electric mobile seat 2, a geological radar detector, a laser scanner, a robotic arm 3, and a controller.

[0048] There is a track laid inside the shield tunnel. The tram 1 runs on the track. An annular guide rail 21 is installed at one end of the tram 1. The annular guide rail 21 is coaxially arranged with the shield tunnel segment.

[0049] The electric movable seat 2 slides on the annular guide rail 21. The ground penetrating radar detector is adjustably installed on the electric movable seat 2. The laser scanner is installed on the electric movable seat 2. The annular guide rail 21 is used to support and guide the movement of the ground penetrating radar detector and the laser scanner device.

[0050] The robotic arm 3 is installed at the other end of the tram 1. A grouting pipe is installed on the robotic arm 3, and at the same time, a grouting bucket is also installed on the tram 1. The grouting pipe is connected to the grouting bucket. A grouting pump is connected to the grouting pipe.

[0051] The controller is connected to the electric movable seat 2, the ground penetrating radar detector, the laser scanner, the robotic arm 3 and the grouting pump.

[0052] As a preferred embodiment, the shield tunnel segment back precision detection and grouting trolley of the present invention further includes a laser vibrometer and a speedometer. The laser vibrometer and the speedometer are installed on the electric movable seat 2. The laser vibrometer and the speedometer are respectively connected to the controller.

[0053] In this embodiment, guide grooves are formed on both end faces of the annular guide rail 21. The guide grooves are arranged along the circumferential direction of the annular guide rail 21. A receiving through groove is formed on one side of the electric movable seat 2. The annular guide rail 21 is movably arranged in the receiving through groove. Rollers 22 are rotatably installed on the opposite two groove walls of the receiving through groove. The two rollers 22 on the opposite sides of the receiving through groove respectively slide in the two guide grooves of the annular guide rail 21. A driving structure for driving the electric movable seat 2 is installed on the electric movable seat 2.

[0054] In this embodiment, the driving structure includes a rack, a gear and a motor.

[0055] The rack is installed on the inner ring surface of the annular guide rail 21. The rack is arranged along the circumferential direction of the annular guide rail 21.

[0056] The gear is rotatably installed at the bottom of the receiving through groove. The gear meshes with the rack.

[0057] The motor is drivingly connected to the gear. The motor is signal-connected to the controller.

[0058] In this embodiment, the cross-section of the annular guide rail 21 is I-shaped. In some embodiments, the annular guide rail 21 is an arc-shaped I-beam. The annular guide rail 21 includes an upper flange plate, a lower flange plate, and a web plate. The upper surface of the upper flange plate is the outer annular surface of the annular guide rail 21, and correspondingly, the lower surface of the lower flange plate is the inner annular surface of the annular guide rail 21. The rack is mounted on the lower surface of the lower flange plate. The electric movable base 2 is C-shaped. Specifically, two legs are formed at opposite ends of the electric movable base 2. The rollers 22 are mounted on opposite sides of the two legs.

[0059] As a preferred embodiment, the slot of the electric movable seat 2 is provided with a base plate 23. The base plate 23 is connected to a support plate 24 via a telescopic rod. The geological radar detector is installed on the support plate 24.

[0060] In this embodiment, the base plate 23 is connected to the two legs of the electric movable base 2. The base plate 23 is arranged opposite to the upper flange plate, that is, the base plate 23 is arranged outside the outer ring surface of the annular guide rail 21. The telescopic rod 25 is a manually adjustable mechanical telescopic rod.

[0061] The mechanical telescopic rod comprises two threaded rods and a threaded sleeve. The two threaded rods are coaxially arranged. The opposing ends of the two threaded rods are connected to a support plate 24 and a base plate 23, respectively. The ends of the threaded sleeve are screwed onto the opposing ends of the two threaded rods. In this embodiment, the threads at the two ends of the threaded sleeve have opposite spiral directions. Rotating the threaded sleeve adjusts the distance between the support plate 24 and the base plate 23.

[0062] As a preferred embodiment, the support plate 24 is provided with a slide groove. The slide groove is arranged along the axial direction of the annular guide rail 21. A sliding seat is slidably disposed in the slide groove. The geological radar detector is fixed to the sliding seat. A locking member for locking the support plate 24 is detachably mounted on the sliding seat.

[0063] In this embodiment, the sliding seat has assembly holes on opposite sides of the groove wall facing the chute. The assembly holes on the sliding seat are arranged to face the groove wall of the chute. Assembly holes are respectively provided on opposite sides of the sliding seat. The locking member is an electro-hydraulic push rod. The electro-hydraulic push rod is installed in the assembly hole. When the sliding seat is adjusted, the electro-hydraulic push rod extends out of the assembly hole and presses against the groove wall of the chute to lock the support plate 24, so that the position of the sliding seat in the chute is relatively fixed. When locking the support plate 24, the electro-hydraulic push rods on opposite sides of the sliding seat simultaneously extend to press against the groove wall on opposite sides of the chute.

[0064] A geological radar detector slides outside the outer surface of annular guide rail 21 and is used to perform radar detection of the grouting effect behind the shield tunnel segment wall. A motor drives the gear, which, in conjunction with the rack, drives the motorized movable base 2 along the circumference of annular guide rail 21, enabling the geological radar detector to move along the annular guide rail 21.

[0065] The ground penetrating radar detector is adjusted to the vertical distance from the outer ring surface of the annular guide rail 21 through a telescopic rod to adjust the height of the ground penetrating radar detector, and the position in the axial direction of the annular guide rail 21 is adjusted through a sliding seat.

[0066] The laser scanner device is slidably arranged on the annular guide rail 21 and is used for laser scanning of the grouting effect behind the segments of the shield tunnel.

[0067] In this embodiment, the tram 1 is a transportation device that uses new energy (such as lithium iron phosphate batteries) as the power source and travels on a specific track. The tram 1 combines the advantages of new energy technology and rail transit, and has the characteristics of environmental protection, energy conservation, and high efficiency.

[0068] The tram 1 is usually composed of the following main parts:

[0069] Car body: It is the part for loading goods or passengers, and lightweight, durability, and comfort should be considered in the design.

[0070] New energy power system: Usually uses batteries or supercapacitors, etc. as the power source to provide electrical energy for the trolley. At the same time, it provides power for the grouting pump. These energy sources have the characteristics of environmental protection and no pollution, which conforms to the concept of green travel.

[0071] Track system: Uses the existing material tracks in the tunnel. The track system should have good stability and load-bearing capacity to ensure that the trolley can travel smoothly and safely.

[0072] Control system: Includes sensors, controllers, and actuators, etc., which are used to monitor the running state of the trolley, control the traveling speed and direction of the trolley, and realize functions such as automatic navigation and obstacle avoidance.

[0073] The working principle of the tram 1 is as follows:

[0074] Energy supply: The trolley is provided with electrical energy through a new energy power system such as a battery or a supercapacitor to drive the motor to operate.

[0075] Track traveling: The trolley travels on the track and maintains a stable traveling state through the guiding and supporting functions provided by the track system.

[0076] Intelligent control: The running state and surrounding environment information of the trolley are monitored in real time through the sensors in the control system, and the controller performs intelligent control on the trolley according to this information to realize functions such as automatic navigation, obstacle avoidance, and speed regulation.

[0077] The grouting device includes a grouting pump, a grouting pipe, and a grouting nozzle. The grouting pump is used to pump the grouting material into the grouting pipe. The grouting pipe connects the grouting pump and the grouting nozzle. The grouting nozzle is arranged at the end of the grouting pipe and is used to spray the grouting material into the grouting void area behind the segments of the shield tunnel.

[0078] The grouting device further includes a robotic arm 3, and the robotic arm 3 is connected to the controller. The controller receives the detection results of the detection device and controls the working parameters of the grouting pump according to the detection results, such as grouting pressure, grouting speed, etc., to achieve precise control of the grouting operation.

[0079] The present invention provides a construction method for precise detection and grouting trolley behind the segments of a shield tunnel, including the following steps:

[0080] S1. Adjust the position of the ground penetrating radar detector on the electric moving seat 2.

[0081] S2. The controller controls the tram 1 to move along the shield tunnel and controls the electric moving seat 2 to move along the annular guide rail 21. The ground penetrating radar detector and the laser scanner perform visual detection on the grouting effect behind the segments of the shield tunnel.

[0082] S3. The controller obtains the detection data of the ground penetrating radar detector and the laser scanner.

[0083] S4. Based on the detection data, the controller calculates and obtains the detection results of the grouting effect.

[0084] S5. Based on the detection results, the controller controls the robotic arm 3 to grout behind the segments of the shield tunnel with the grouting pipe, and at the same time, the controller controls the grouting pump to adjust the grouting pressure and grouting speed.

[0085] In this embodiment, the controller installs the detection device (i.e., the ground penetrating radar detector and the laser scanner) and the grouting device on the annular guide rail 21 of the tram 1 on the inner track of the shield tunnel, and adjusts the height and position of the ground penetrating radar detector and the laser scanner device to ensure that they can cover the entire grouting area behind the segments of the shield tunnel.

[0086] Start the detection device, and the ground penetrating radar detector and the laser scanner device start working simultaneously. The ground penetrating radar detector performs self-height adjustment and longitudinal movement, and the laser scanner device always remains in the horizontal direction. The ground penetrating radar detector and the laser scanner device move within the range of -45° to 27°0°, and with the advancement of the shield, perform visual detection on the grouting effect behind the segments of the shield tunnel.

[0087] The controller receives the detection data of the ground penetrating radar detector and the laser scanner device, and processes and analyzes them to obtain the detection results of the grouting effect.

[0088] The data detected by the ground penetrating radar is used to judge whether there are voids behind the tunnel segments, as well as the size and position of the voids. The data detected by the ground penetrating radar includes radar profile images, reflection signal amplitudes, reflection signal travel times, spectral analysis data, and data processing and interpretation reports. The specific principle is as follows:

[0089] 1. Radar profile image

[0090] Image characteristics: The ground penetrating radar forms a two-dimensional or three-dimensional radar profile image by transmitting electromagnetic waves and receiving the reflected signals. In the image, different media (such as air, concrete, water, etc.) have different reflection characteristics for electromagnetic waves, showing different amplitude, phase and waveform characteristics.

[0091] Manifestation of voids: Voids (such as delamination, cavities, etc.) usually appear as obvious reflection interfaces on the radar image, with strong reflected signals, large amplitudes, and the waveform may present hyperbola or other characteristic forms. The size and position of the voids can be preliminarily judged by analyzing the position, shape and amplitude of the reflection interface.

[0092] 2. Amplitude of the reflected signal

[0093] Amplitude magnitude: The amplitude of the reflected signal is related to the dielectric constant difference of the reflection interface. The dielectric constant difference between the void (air) and the surrounding medium (such as concrete) is relatively large, so the amplitude of the reflected signal is usually strong.

[0094] Application: By measuring the amplitude of the reflected signal, it can assist in judging the existence and relative size of the voids. The larger the amplitude, the larger the void may be or the more significant the dielectric constant difference between the void and the surrounding medium.

[0095] 3. Travel time of the reflected signal

[0096] Definition of travel time: The time required for the reflected signal to travel from transmission to reception is called the travel time.

[0097] Position calculation: According to the propagation speed of electromagnetic waves in the medium (known or obtained through calibration) and the travel time of the reflected signal, the depth of the reflection interface, that is, the position of the void, can be calculated.

[0098] 4. Spectrum analysis data

[0099] Spectrum characteristics: The ground penetrating radar signal has specific spectrum characteristics, and different media have different frequency responses to electromagnetic waves.

[0100] Void identification: By analyzing the spectrum characteristics of the reflected signal, it can further assist in identifying the existence and characteristics of the voids. For example, voids may cause the enhancement or attenuation of specific frequency components.

[0101] 5. Data processing and interpretation report

[0102] Data preprocessing: It includes denoising, gain adjustment, filtering, etc., to improve the image quality and data reliability.

[0103] Feature extraction: Extract the characteristic parameters of the voids from the radar image, such as position, size, shape, etc.

[0104] Interpretation Report: Combining the principle of ground penetrating radar, the characteristics of tunnel segment structure and the actual on-site situation, comprehensively interpret the detection data to form a detailed interpretation report. The report should include the distribution map of voids, size statistics, location description, as well as possible cause analysis and recommended measures.

[0105] Example Illustration:

[0106] Suppose a distinct reflection interface is detected by the ground penetrating radar behind the tunnel segment, with a relatively large amplitude of the reflection signal and a depth corresponding to the travel time of 0.5 meters. Through data processing and interpretation, it can be determined that there is a void at this location, and the position of the void is approximately 0.5 meters away from the surface of the segment. The size of the void needs to be further estimated in combination with other features (such as the width and shape of the reflection interface).

[0107] The data collected by the laser scanner mainly focuses on the geometric shape and spatial information behind the tunnel segment wall, specifically including the following three types of key data: surface contour data, void distribution data, and spatial positioning data.

[0108] 1. Surface Contour Data

[0109] Data Content: Based on the three-dimensional point cloud data, the surface contour information behind the tunnel segment wall can be extracted, such as the curvature of the segment, inclination angle, surface flatness, etc.

[0110] The surface contour data helps analyze the stress state and deformation of the tunnel segment, evaluate the stability and safety of the segment. At the same time, it also provides a basis for the path planning of the grouting trolley and the setting of grouting parameters.

[0111] 2. Void Distribution Data

[0112] Data Content: By comparing the design model of the tunnel segment with the actual data collected by the laser scanner, the void areas behind the wall can be identified, and the size, shape, and location of the voids can be determined.

[0113] The void distribution data is a key parameter for grouting construction, directly determining the location, quantity of grouting, and the selection of grouting materials. Precise void distribution data can ensure the grouting effect and improve the integrity and durability of the tunnel structure.

[0114] 3. Spatial Positioning Data

[0115] Data Content: The laser scanner is usually used in combination with a high-precision positioning system (such as total station, GPS, etc.) to ensure that the collected data has accurate spatial position information.

[0116] [[ID=३८]]The controller determines the required grouting volume based on the size of the voids behind the tunnel segment detected by the ground penetrating radar, and the laser scanning radar locates the grouting hole positions. The two work together to complete the grouting work.

[0117] The controller controls the working parameters of the grouting pump according to the detection results to carry out the grouting operation. During the grouting process, the grouting control system monitors parameters such as grouting pressure and grouting speed in real time to ensure the precise control of the grouting operation.

[0118] After the grouting is completed, the detection device is started again for detection to confirm whether the grouting effect meets the requirements. If it does not meet the requirements, the grouting parameters are adjusted to carry out the secondary grouting operation.

[0119] In order to further improve the detection accuracy of the grouting effect, the construction method of the precise detection and grouting trolley behind the segment of the shield tunnel of the present invention further includes:

[0120] a. After the grouting behind the segment of the shield tunnel, a plurality of measuring points are evenly arranged on the segment wall, and the laser vibrometer and the velocimeter obtain the velocity time history of each measuring point.

[0121] In this embodiment, the laser vibrometer is a laser Doppler vibrometer.

[0122] b. The controller calculates the measured power spectral density of each measuring point and the reference power spectral density of each measuring point through the Welch method for the velocity time history of each measuring point.

[0123] c. Based on the measured power spectral density of each measuring point and the reference power spectral density of each measuring point, the controller calculates the vibration energy ratio and the normalized spectral entropy of each measuring point.

[0124] d. Based on the vibration energy ratio and the normalized spectral entropy of each measuring point, the controller calculates the parameters of DBSCAN.

[0125] e. The controller clusters the parameters of DBSCAN to obtain an outlier set.

[0126] f. The controller screens the points that first become outliers in the outlier set as potential points.

[0127] g. Taking the potential points as measuring points, repeat steps a to f until all potential points are confirmed or excluded.

[0128] h. The controller takes the points in the outlier set except the potential points as grouting void points, and the spatial positions corresponding to the grouting void points are grouting voids.

[0129] Through the above detection method, the precise detection of the grouting effect behind the segment of the shield tunnel can be realized, providing a reliable basis for the grouting operation.

[0130] The precise detection behind the segments of a shield tunnel and the grouting trolley of the present invention achieve precise detection of the grouting effect behind the segments of a shield tunnel through the combined use of a ground penetrating radar detector and a laser scanner device, improving the detection accuracy and efficiency.

[0131] The precise detection behind the segments of a shield tunnel and the grouting trolley of the present invention, based on the detection results of the radar detector and the laser scanner by the controller, adjust the grouting pressure and grouting flow rate to precisely control the grouting quality, ensuring uniform grouting and appropriate grouting volume. The precise detection behind the segments of a shield tunnel and the grouting trolley of the present invention perform grouting operations according to the detection results, achieving precise control of grouting operations and avoiding problems such as insufficient grouting or excessive grouting.

[0132] The precise detection behind the segments of a shield tunnel and the grouting trolley of the present invention can perform multiple detections and groutings, effectively improving the construction efficiency and quality.

[0133] The precise detection behind the segments of a shield tunnel and the grouting trolley of the present invention are applicable to shield tunnel construction under various geological conditions, with high practicality and reliability.

[0134] The precise detection behind the segments of a shield tunnel and the grouting trolley of the present invention can accurately identify and locate grouting voids by calculating the vibration energy ratio and standardized spectral entropy of measurement points and combining with the DBSCAN clustering algorithm, providing a reliable basis for grouting operations.

[0135] The precise detection behind the segments of a shield tunnel and the grouting trolley of the present invention are applicable to various shield tunnel construction and operation and maintenance scenarios, with broad application prospects and promotion value.

[0136] The above description is only a preferred embodiment of the present application and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the technical solutions formed by mutually replacing the above features with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A precise detection and grouting trolley behind the segment of a shield tunnel, characterized in that, Including: A tram, with a track laid in a shield tunnel, the tram running on the track, and an annular guide rail installed at one end of the tram, the annular guide rail being coaxially arranged with the shield tunnel segment; An electric moving seat, sliding on the annular guide rail; A ground penetrating radar detector, adjustably installed on the electric moving seat; A laser scanner, installed on the electric moving seat; A robotic arm, installed at the other end of the tram, a grouting pipe installed on the robotic arm, and the grouting pipe connected to a grouting pump; A controller, connected to the electric moving seat, the ground penetrating radar detector, the laser scanner, the robotic arm, and the grouting pump.

2. The precise detection and grouting trolley behind the segment wall of the shield tunnel according to claim 1, characterized in that, It further includes a laser vibrometer and a speedometer, the laser vibrometer and the speedometer being installed on the electric moving seat, and the laser vibrometer and the speedometer being respectively connected to the controller.

3. The precise detection and grouting trolley behind the segment lining of the shield tunnel according to claim 1, characterized in that, Guide grooves are formed on both end faces of the annular guide rail, the guide grooves being arranged along the circumferential direction of the annular guide rail. A receiving through groove is formed on one side of the electric moving seat, the annular guide rail being movably arranged in the receiving through groove. Rollers are rotatably installed on the opposite two groove walls of the receiving through groove, and the opposite two rollers of the receiving through groove respectively slide in the two guide grooves of the annular guide rail. A driving structure for driving the electric moving seat is installed on the electric moving seat.

4. The precise detection and grouting trolley behind the segment wall of the shield tunnel according to claim 3, wherein The driving structure includes: A rack, installed on the inner ring surface of the annular guide rail, the rack being arranged along the circumferential direction of the annular guide rail; A gear, rotatably installed at the bottom of the receiving through groove, the gear meshing with the rack; A motor, drivingly connected to the gear, the motor being signal-connected to the controller.

5. The precise detection and grouting trolley behind the segment lining of a shield tunnel according to claim 3, characterized in that, A substrate is installed at the notch of the receiving through groove of the electric moving seat, the substrate being connected to a support plate through a telescopic rod, and the ground penetrating radar detector being installed on the support plate.

6. The precise detection and grouting trolley behind the segment wall of the shield tunnel according to claim 5, characterized in that, The support plate is provided with a sliding groove, the sliding groove being arranged along the axial direction of the annular guide rail. A sliding seat slides in the sliding groove, the ground penetrating radar detector being fixed on the sliding seat, and a locking member for locking the support plate is detachably installed on the sliding seat.

7. A construction method for the precise detection and grouting trolley behind the segments of a shield tunnel as described in any one of claims 1 to 6, characterized in that, Including the following steps: Adjust the position of the ground penetrating radar detector on the electric moving seat; The controller controls the tram to move along the shield tunnel and controls the electric moving seat to move along the annular guide rail, and the ground penetrating radar detector and the laser scanner perform visual inspection on the grouting effect behind the shield tunnel segment wall; The controller obtains the detection data of the ground penetrating radar detector and the laser scanner; Based on the detection data, the controller calculates and obtains the detection result of the grouting effect; Based on the detection result, the controller controls the robotic arm to grout behind the shield tunnel segment wall with the grouting pipe, and at the same time the controller controls the grouting pump to adjust the grouting pressure and grouting speed.

8. The construction method of the precise detection and grouting trolley behind the segment wall of a shield tunnel according to claim 7, characterized in that It further includes: a. After grouting behind the shield tunnel segment wall, a plurality of measuring points are evenly arranged on the segment wall, and the laser vibrometer and the speedometer obtain the velocity time history of each measuring point; b. The controller calculates the power spectral density of each measuring point and the reference power spectral density of each measuring point for the velocity time history of each measuring point by the Welch method; c. Based on the measured point power spectral density of each measurement point and the reference power spectral density of each measurement point, the controller calculates the vibration energy ratio and the normalized spectral entropy of each measurement point; d. Based on the vibration energy ratio and the normalized spectral entropy of each measurement point, the controller calculates the parameters of DBSCAN; e. The controller clusters the parameters of DBSCAN to obtain a set of outlier points; f. The controller screens the points that become outlier points for the first time within the set of outlier points as potential points; g. Using the potential points as measurement points, repeat steps a to f until all potential points are confirmed or excluded; h. The controller takes the points in the set of outlier points excluding the potential points as grouting void points, and the spatial position corresponding to the grouting void points is the grouting void area.

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