Laser radar installation and measurement method, system and equipment for TBM and medium

Abstract

The invention discloses a laser radar installation and measurement method, system and equipment for a TBM and a medium. A laser radar installation hole is reserved in a TBM cutterhead, and a holder, a front-back moving device and a protective cover are installed in the hole. During normal tunneling, the protective cover is closed to protect the laser radar; during measurement, the protective cover is opened, and the laser radar measurement surface is moved to a position parallel to the surface of the cutterhead to prevent the cutterhead structure from blocking laser pulse signals; by comprehensively considering laser radar performance parameters and tunnel face geological conditions, the optimal measurement distance is determined, the cutterhead structure is adjusted to the distance, and the data quality is ensured. If the actual distance reaches the standard, scanning is started, and detailed geological information is obtained; and if the distance is insufficient, the equipment is withdrawn and tunneling is recovered, so that construction efficiency and safety are guaranteed, and support is provided for surrounding rock judgment and construction decision.

Description

Technical Field

[0001] The present invention relates to the technical field of laser radar installation and measurement during tunnel construction, and in particular to a laser radar installation and measurement method, system, equipment and medium for TBM. Background Art

[0002] In tunnel construction, full-face tunnel boring machines (TBMs) are widely used due to their efficient excavation. However, in practice, TBM construction faces a critical yet difficult challenge: tunnel face observation. This seriously restricts the safety, stability, and efficiency of tunnel construction.

[0003] On the one hand, the TBM's cutterhead obstructs direct observation of the tunnel face during excavation, making it difficult for construction workers to intuitively and comprehensively observe the true conditions of the tunnel face, significantly hindering the assessment of surrounding rock conditions and the prediction of geological changes. On the other hand, the working environment between the cutterhead and the tunnel face is extremely harsh: the space is extremely narrow, restricting the range of movement of construction equipment and hindering the placement and operation of observation equipment. Lighting is severely insufficient, making it difficult to obtain clear images using traditional optical imaging methods. Furthermore, high dust concentrations interfere with observation vision and instrument operation, further complicating observation.

[0004] Currently, there are two main technical approaches for tunnel face observation. Traditional optical imaging methods have significant drawbacks in TBM construction scenarios. In dark, dusty, and confined environments, image quality is extremely poor, failing to meet the demand for clear tunnel face images. While lidar imaging technology, suitable for drill-and-blast methods, has performed well in some tunnel construction, the significant differences in the construction environments and processes between drill-and-blast and TBM construction make it difficult to directly transfer lidar technology to TBM construction scenarios to achieve the desired observation results.

[0005] Despite technological advancements, several related patents have emerged to address this issue. For example, patent CN119437074A discloses a TBM tunnel face contour identification device and method based on line laser measurement. This utilizes a high-precision line laser measuring instrument that rotates with the cutterhead and, in combination with a rotary angle encoder, measures real-time angles. While this device and method can measure the geological features and morphology of the tunnel face to a certain extent, its accuracy and stability remain insufficient, making it difficult to meet more complex measurement requirements. Another example is patent CN110989024A, which describes a TBM tunnel fault fracture zone prediction system and method based on rock and mineral analysis. This system utilizes a robotic arm mounted on the TBM and related detection equipment to obtain surrounding rock information. However, the robotic arm's limited flexibility and automation hinder the accuracy and efficiency of mineral composition and content testing. While these existing technologies have explored TBM tunnel face observation, they still suffer from significant drawbacks and fail to fully address the challenge of generating clear tunnel face images for surrounding rock condition assessment in harsh environments.

[0006] The existing technology still has the following problems: 1. Existing optical imaging methods cannot meet the imaging clarity requirements in the dark, dusty, and confined environment between the TBM cutterhead and the tunnel face. This makes it difficult to provide high-quality tunnel face images for construction personnel to accurately assess the surrounding rock conditions, limiting the timely acquisition of surrounding rock geological information and the rational adjustment of construction plans. 2. Existing line laser measuring instruments are still insufficient in measurement accuracy and stability. They cannot stably obtain sufficiently accurate tunnel face profile data, making it difficult to meet the complex and ever-changing measurement requirements of tunnel construction, affecting the accurate identification and analysis of tunnel face geological features. 3. The LiDAR measurement method suitable for drill-and-blast tunnels cannot be directly transplanted to TBM construction scenarios due to the significant differences between the construction environment and TBM methods. As a result, the advantages of LiDAR technology cannot be fully utilized in TBM face observation. There is an urgent need to develop LiDAR observation solutions and technologies specifically for TBM construction scenarios. Summary of the Invention

[0007] Based on the problems raised by the above background technology, the purpose of the present invention is to provide a lidar installation and measurement method, system, equipment and medium for TBM, which solves the problem that existing optical imaging methods cannot meet the imaging clarity requirements in the dark, dusty and narrow environment between the TBM cutterhead and the tunnel face, making it difficult to provide high-quality tunnel face images for construction personnel to accurately judge the surrounding rock conditions, thereby limiting the timely acquisition of surrounding rock geological information and the reasonable adjustment of construction plans.

[0008] The present invention is achieved through the following technical solutions: A first aspect of the present invention provides a laser radar installation measurement method for a TBM, comprising the following steps: Step S1: Reserving a laser radar installation hole on the TBM cutterhead structure, and installing a laser radar at the laser radar installation hole; Step S2: determining an optimal measurement distance between the laser radar and the tunnel face, and retracting the TBM cutterhead structure backward to the optimal measurement distance; Step S3: Obtain the actual distance between the TBM cutterhead structure and the tunnel face, and determine the actual distance: If the actual distance reaches the optimal measurement distance, the laser radar is started to scan the entire tunnel face; If the actual distance does not reach the optimal measurement distance, the laser radar is retracted and the TBM cutterhead structure is restored to the tunnel face excavation position.

[0009] In the above technical solution, a laser radar mounting hole is reserved on the TBM cutterhead structure, and a pan / tilt head, a forward and backward moving device, and an openable and closable steel plate protective cover are installed in the laser radar mounting hole. The material and thickness of the protective tube are the same as those of the cutterhead. During normal excavation, the protective cover is closed to protect the laser radar from damage. At the same time, the laser radar is installed in the mounting hole. When measurement is required, the protective cover is opened, and the laser radar measuring surface is moved to a position parallel to the cutterhead surface to prevent the cutterhead structure from blocking the emitted laser pulse signal.

[0010] The optimal distance between the LiDAR and the tunnel face is determined, and the TBM cutterhead is retracted to that distance. This optimal distance is determined based on a combination of LiDAR performance parameters and the geological conditions of the tunnel face, ensuring that the LiDAR captures high-quality, high-precision tunnel face data. By adjusting the position of the TBM cutterhead to achieve the optimal distance, favorable conditions are created for subsequent tunnel face scanning. This step demonstrates the importance attached to LiDAR measurement accuracy. By precisely controlling the measurement distance, the reliability of the measurement data is improved, providing strong support for subsequent assessment of the surrounding rock conditions.

[0011] The actual distance between the TBM cutterhead and the tunnel face is determined and assessed. This ensures that the LiDAR operates at the optimal measurement distance during actual operation, thereby guaranteeing the accuracy of the measurement results. If the actual distance reaches the optimal measurement distance, the LiDAR is activated to scan the entire tunnel face. Utilizing the LiDAR's high-precision measurement capabilities, detailed geological information, such as the tunnel face contour, geological structure, and rock properties, is obtained. This provides construction personnel with a clear and intuitive image of the tunnel face, helping them accurately assess the surrounding rock conditions and formulate appropriate construction plans and measures.

[0012] If the actual distance falls short of the optimal measurement distance, the LiDAR is retracted and the TBM cutterhead returns to the face excavation position. This operation is designed to avoid inaccurate data from non-optimal measurement distances and also considers construction efficiency and safety. Retracting the LiDAR when the actual distance is insufficient prevents damage to the equipment or invalid data from operating under adverse conditions. Returning the cutterhead to the excavation position ensures normal TBM excavation operations, preventing the LiDAR measurement from impacting tunnel construction progress.

[0013] In an optional embodiment, a laser radar mounting hole is reserved on the TBM cutterhead structure, including: Obtain TBM equipment parameters, and calculate the number of laser radars based on the TBM equipment parameters; When the number of the laser radars exceeds 1, the laser radar mounting holes are arranged at equal intervals along the same radial direction of the TMB cutter head structure; wherein the arrangement spacing of the equal intervals is calculated based on the number of the laser radars.

[0014] In an optional embodiment, calculating the number of laser radars according to the TBM equipment parameters includes:

[0015] In the above formula, represents the number of laser radars, d represents the diameter of the TBM cutterhead structure, Indicates the maximum backward movement distance of the TBM cutterhead structure. Indicates the vertical field of view angle of the lidar.

[0016] In an optional embodiment, the vertical field of view angle of the laser radar is in the range of 105° to 180°.

[0017] In an optional embodiment, the calculation process of the arrangement spacing is as follows:

[0018] In the above formula, Indicates the layout spacing, represents the number of laser radars, and d represents the diameter of the TBM cutterhead structure.

[0019] In an optional embodiment, the optimal measurement distance is calculated based on the vertical field of view angle of the laser radar, the diameter of the TBM cutterhead structure, and the number of laser radars; wherein the calculation process of the optimal measurement distance is as follows: b=d / (2tan ×n) In the above formula, b represents the optimal measurement distance.

[0020] In an optional embodiment, if the actual distance reaches the optimal measurement distance, the laser radar is started to scan the entire tunnel face, including: Step S31: opening the protective cover of the laser radar and moving the measuring surface of the laser radar to be parallel to the surface of the TBM blade structure; Step S32: Start the TBM cutterhead structure to idle, and start the laser radar to start scanning when the speed reaches a preset range and becomes stable; Step S33: After the laser radar is activated and the TBM cutterhead structure completes a preset number of full rotations, the laser radar is turned off and the rotation of the TBM cutterhead structure is stopped; Step S34: perform an integrity check on the scanned image obtained by the laser radar scanning. If the scanned image does not cover the entire tunnel face, return to step S31 and scan again.

[0021] A second aspect of the present invention provides a laser radar installation and measurement system for a TBM, the laser radar installation and measurement system comprising: An installation module is used to reserve a laser radar installation hole on the TBM cutterhead structure and install the laser radar at the laser radar installation hole; a distance calculation module, configured to determine an optimal measurement distance between the laser radar and the tunnel face, and to retract the TBM cutterhead structure backward to the optimal measurement distance; The distance judgment module is used to obtain the actual distance between the TBM cutterhead structure and the tunnel face and to judge the actual distance: If the actual distance reaches the optimal measurement distance, the laser radar is started to scan the entire tunnel face; If the actual distance does not reach the optimal measurement distance, the laser radar is retracted and the TBM cutterhead structure is restored to the tunnel face excavation position.

[0022] A third aspect of the present invention provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements a laser radar installation measurement method for a TBM when executing the computer program.

[0023] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements a laser radar installation measurement method for TBM.

[0024] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. This invention can generate clear tunnel face images in the harsh environment of the TBM cutterhead and tunnel face, comprehensively and accurately reflecting the geological conditions of the tunnel face, providing a reliable basis for accurate judgment of the surrounding rock conditions, and effectively solving the imaging problems of traditional observation methods in harsh environments; 2. The fully automated laser radar scanning system eliminates the need for manual operation in dangerous areas, eliminating the potential safety hazards of manual observation, significantly improving work efficiency, and reducing manual errors. 3. By scientifically arranging multiple LiDARs and accurately calculating the optimal measurement distance based on the cutterhead diameter and field of view angle, the performance of LiDARs is fully utilized to ensure high-precision and high-stability measurement data, meeting measurement needs under complex geological conditions. 4. Abandoning complex robotic arms, the laser radar is installed on the cutterhead, and comprehensive scanning is achieved by the rotation of the cutterhead. This simplifies the equipment structure, reduces the risk of failure, significantly improves the system's flexibility and automation level, and adapts to dynamic construction environments. 5. This solution is compatible with various TBM types, including open, single-shield, and double-shield. It is not restricted by geological conditions and has wide applicability, providing an effective face observation solution for various tunnel projects. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the examples. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be considered as limiting the scope. A person of ordinary skill in the art can also derive other relevant drawings based on these drawings without inventive effort. In the drawings: Figure 1 A cross-sectional view of the integration of a laser radar on a TBM cutterhead structure according to Example 1 of the present invention; Figure 2 This is a front view of the integration solution of the laser radar provided in Example 1 of the present invention on the TBM cutterhead structure; Figure 3 Schematic diagram for determining the optimal measurement distance of the TBM integrated lidar provided in Example 1 of the present invention.

[0026] Figure 4 This is a schematic structural diagram of an electronic device provided in Example 3 of the present invention.

[0027] The explanations of the marks in the figure are as follows: 1. LiDAR launch system; 2. Slide rail; 3. Pulley; 4. LiDAR main control module; 5. Pan / tilt; 6. Openable / closable protective cover; 7. Data transmission line; 8. Front cutter of the TBM cutterhead; 9. LiDAR mounting hole; 10. LiDAR installation position; 11. TBM cutterhead slag inlet hole; 12. TBM side cutter; 13. Tunnel face; 14. TBM cutterhead shield; 15. Maximum movable distance Lmax of the TBM cutterhead; 16. Optimal measurement distance b of the TBM cutterhead LiDAR. DETAILED DESCRIPTION

[0028] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with examples and drawings. The exemplary embodiments of the present invention and their descriptions are only used to explain the present invention and are not intended to limit the present invention.

[0029] Example 1 Embodiment 1 of the present invention provides a laser radar installation and measurement method for a TBM, the laser radar installation and measurement method comprising the following steps: Step S1: Reserving a laser radar installation hole on the TBM cutterhead structure, and installing a laser radar at the laser radar installation hole; Step S2: determining an optimal measurement distance between the laser radar and the tunnel face, and retracting the TBM cutterhead structure backward to the optimal measurement distance; Step S3: Obtain the actual distance between the TBM cutterhead structure and the tunnel face, and determine the actual distance: If the actual distance reaches the optimal measurement distance, the laser radar is started to scan the entire tunnel face; If the actual distance does not reach the optimal measurement distance, the laser radar is retracted and the TBM cutterhead structure is restored to the tunnel face excavation position.

[0030] It should be noted that a laser radar mounting hole is reserved on the TBM cutterhead structure, and a pan / tilt head, a forward and backward moving device, and an openable and closable steel plate protective cover are installed in the laser radar mounting hole. The material and thickness of the protective tube are the same as those of the cutterhead. The protective cover is closed during normal excavation to protect the laser radar from damage. At the same time, the laser radar is installed in the mounting hole. When measurement is required, the protective cover is opened, and the laser radar measuring surface is moved to a position parallel to the cutterhead surface to prevent the cutterhead structure from blocking the emitted laser pulse signal.

[0031] The optimal distance between the LiDAR and the tunnel face is determined, and the TBM cutterhead is retracted to that distance. This optimal distance is determined based on a combination of LiDAR performance parameters and the geological conditions of the tunnel face, ensuring that the LiDAR captures high-quality, high-precision tunnel face data. By adjusting the position of the TBM cutterhead to achieve the optimal distance, favorable conditions are created for subsequent tunnel face scanning. This step demonstrates the importance attached to LiDAR measurement accuracy. By precisely controlling the measurement distance, the reliability of the measurement data is improved, providing strong support for subsequent assessment of the surrounding rock conditions.

[0032] The actual distance between the TBM cutterhead and the tunnel face is determined and assessed. This ensures that the LiDAR operates at the optimal measurement distance during actual operation, thereby guaranteeing the accuracy of the measurement results. If the actual distance reaches the optimal measurement distance, the LiDAR is activated to scan the entire tunnel face. Utilizing the LiDAR's high-precision measurement capabilities, detailed geological information, such as the tunnel face contour, geological structure, and rock properties, is obtained. This provides construction personnel with a clear and intuitive image of the tunnel face, helping them accurately assess the surrounding rock conditions and formulate appropriate construction plans and measures.

[0033] If the actual distance falls short of the optimal measurement distance, the LiDAR is retracted and the TBM cutterhead returns to the face excavation position. This operation is designed to avoid inaccurate data from non-optimal measurement distances and also considers construction efficiency and safety. Retracting the LiDAR when the actual distance is insufficient prevents damage to the equipment or invalid data from operating under adverse conditions. Returning the cutterhead to the excavation position ensures normal TBM excavation operations, preventing the LiDAR measurement from impacting tunnel construction progress.

[0034] In an optional embodiment, a laser radar mounting hole is reserved on the TBM cutterhead structure, including: Obtain TBM equipment parameters, and calculate the number of laser radars based on the TBM equipment parameters; When the number of the laser radars exceeds 1, the laser radar mounting holes are arranged at equal intervals along the same radial direction of the TMB cutter head structure; wherein the arrangement spacing of the equal intervals is calculated based on the number of the laser radars.

[0035] The integration solution of LiDAR on TBM cutterhead structure is as follows: Figure 1 、 Figure 2As shown in the figure, the number of laser radars is determined according to the parameters of the TBM equipment itself. In this embodiment, the number of laser radars n that need to be pre-installed mainly depends on the diameter of the TBM cutterhead and the maximum moving distance that the TBM cutterhead can move backward. When there are multiple laser radars, they are arranged at equal intervals along the same radial direction of the cutterhead. After arrangement, as shown in Figure 3 shown.

[0036] In an optional embodiment, calculating the number of laser radars according to the TBM equipment parameters includes:

[0037] In the above formula, represents the number of laser radars, d represents the diameter of the TBM cutterhead structure, Indicates the maximum backward movement distance of the TBM cutterhead structure. Indicates the vertical field of view angle of the lidar.

[0038] If the number of LiDARs is not an integer, round it up. Taking a 5-meter TBM cutterhead as an example, if the cutterhead diameter is 5 meters, the maximum distance the cutterhead can retreat is 1 meter, and the vertical field of view of the LiDAR is 150°, the number of LiDARs that need to be pre-installed is:

[0039] Since the number of laser radars is not an integer, it is rounded up and one laser radar needs to be installed.

[0040] In an optional embodiment, the vertical field of view angle of the laser radar is in the range of 105° to 180°.

[0041] Among them, the vertical field of view angle index of the installed laser radar needs to reach between 105° and 180°. The purpose is to adjust the angle of the laser radar by adjusting the gimbal, so that the laser radar angle can be perpendicular to the palm face during the first scan.

[0042] In an optional embodiment, the calculation process of the arrangement spacing is as follows:

[0043] In the above formula, Indicates the layout spacing, represents the number of laser radars, and d represents the diameter of the TBM cutterhead structure.

[0044] Among them, the distance between the reserved laser radar installation hole and the center of the cutter head is:

[0045] The unit of length in this embodiment is meter.

[0046] After determining the number and location of the reserved mounting holes, during the TBM production process, Figure 1 and Figure 2 The structure shown is pre-installed with a laser radar system. It mainly consists of a slide rail (2), a pulley (3), a laser radar main control module (4), a pan / tilt (5), an openable and closable protective cover (6), and a data transmission line (7). The openable and closable protective cover (6) is made of the same high-strength alloy wear-resistant material as the cutterhead and has the same thickness as the cutterhead. During normal excavation, the protective cover is closed to protect the laser radar from damage. When measurement is required, the protective cover is opened and the laser radar measuring surface is moved to a position parallel to the cutterhead surface.

[0047] Furthermore, for example, when the cutter head diameter d is 8 meters, the number of laser radars is 2, and the vertical field of view angle a is 120°, the minimum value of the optimal measurement distance b is 8 / (2× × 2) = 1.155 meters. The spacing between the laser radars is 8 / (1+2) = 2.67 meters. The first laser radar is located 2.67 meters from the center of the cutterhead, and the second laser radar is located at the same radial distance of the first laser radar, 2 × 2.67 = 5.37 meters from the cutterhead.

[0048] In an optional embodiment, the optimal measurement distance is calculated based on the vertical field of view angle of the laser radar, the diameter of the TBM cutterhead structure, and the number of laser radars; wherein the calculation process of the optimal measurement distance is as follows: b=d / (2tan ×n) In the above formula, b represents the optimal measurement distance, represents the vertical field of view of the laser radar, d represents the diameter of the TBM cutterhead structure, Indicates the number of lidars.

[0049] The purpose of calculating the optimal measurement distance is to move the cutterhead back to a position slightly larger than the optimal measurement distance to ensure that the laser radar can fully scan the entire tunnel face.

[0050] In an optional embodiment, if the actual distance reaches the optimal measurement distance, the laser radar is started to scan the entire tunnel face, including: Step S31: opening the protective cover of the laser radar and moving the measuring surface of the laser radar to be parallel to the surface of the TBM blade structure; Step S32: Start the TBM cutterhead structure to idle, and start the laser radar to start scanning when the speed reaches a preset range and becomes stable; Step S33: After the laser radar is activated and the TBM cutterhead structure completes a preset number of full rotations, the laser radar is turned off and the rotation of the TBM cutterhead structure is stopped; Step S34: perform an integrity check on the scanned image obtained by the laser radar scanning. If the scanned image does not cover the entire tunnel face, return to step S31 and scan again.

[0051] The preset range in this embodiment is 2.5 r / min to 3.5 r / min, and the preset number of revolutions in this embodiment is 5 revolutions.

[0052] Among them, when the actual distance reaches the optimal measurement distance, the laser radar is started to scan the entire tunnel face. First, open the protective cover of the laser radar and move the measuring surface of the laser radar to be parallel to the surface of the TBM blade structure; start the TBM cutterhead for idling, and when the speed reaches 3.0r / min and stabilizes, turn on the laser radar and start a test scan to allow the laser radar to scan the entire tunnel face. After turning on the radar scanning cutterhead selection for more than 5 circles, turn off the laser radar. The data obtained by the laser radar scan is transmitted to the onboard computer in the TBM main cab. The imaging analysis software on the computer generates a tunnel face image to observe whether the image covers the entire tunnel face and meets the requirements. If it does not meet the requirements, adjust the laser radar scanning angle range by adjusting the gimbal and distance, and scan again.

[0053] When the actual distance does not reach the optimal measurement distance, the laser radar is retracted, returned to the inside of the cutterhead, and the protective cover is closed; when the protective cover is closed, the cutterhead returns to the tunnel face excavation position and continues excavation.

[0054] Example 2 Embodiment 2 of the present invention provides a laser radar installation and measurement system for a TBM, the laser radar installation and measurement system comprising: An installation module is used to reserve a laser radar installation hole on the TBM cutterhead structure and install the laser radar at the laser radar installation hole; a distance calculation module, configured to determine an optimal measurement distance between the laser radar and the tunnel face, and to retract the TBM cutterhead structure backward to the optimal measurement distance; The distance judgment module is used to obtain the actual distance between the TBM cutterhead structure and the tunnel face and to judge the actual distance: If the actual distance reaches the optimal measurement distance, the laser radar is started to scan the entire tunnel face; If the actual distance does not reach the optimal measurement distance, the laser radar is retracted and the TBM cutterhead structure is restored to the tunnel face excavation position.

[0055] Example 3 Figure 4 This is a schematic diagram of the structure of an electronic device provided in Example 3 of the present invention, such as Figure 4As shown, the electronic device includes a processor 21, a memory 22, an input device 23 and an output device 24; the number of processors 21 in the computer device can be one or more. Figure 4 In the figure, a processor 21 is taken as an example; the processor 21, memory 22, input device 23 and output device 24 in the electronic device can be connected by a bus or other means. Figure 4 The bus connection is taken as an example.

[0056] Memory 22, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules. Processor 21 executes the software programs, instructions, and modules stored in memory 22 to perform various electronic device functions and data processing, thereby implementing the lidar installation measurement method for a TBM in Example 1.

[0057] The memory 22 may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data created based on the use of the terminal, etc. Furthermore, the memory 22 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, the memory 22 may further include a memory remotely located relative to the processor 21, and these remote memories may be connected to the electronic device via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0058] The input device 23 can be used to receive the ID and password input by the user, etc. The output device 24 is used to output the network configuration page.

[0059] Example 4 Embodiment 4 of the present invention further provides a computer-readable storage medium, wherein the computer-executable instructions, when executed by a computer processor, are used to implement the laser radar installation measurement method for TBM provided in embodiment 1.

[0060] An embodiment of the present invention provides a storage medium containing computer-executable instructions, and its computer-executable instructions are not limited to the method operations provided in Example 1, but can also execute related operations in the laser radar installation and measurement method for TBM provided in any embodiment of the present invention.

[0061] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A laser radar installation measurement method for TBM, characterized in that: The steps include: Step S1: Reserving a laser radar installation hole on the TBM cutterhead structure, and installing a laser radar at the laser radar installation hole; Step S2: determining an optimal measurement distance between the laser radar and the tunnel face, and retracting the TBM cutterhead structure backward to the optimal measurement distance; Step S3: Obtain the actual distance between the TBM cutterhead structure and the tunnel face, and determine the actual distance: If the actual distance reaches the optimal measurement distance, the laser radar is started to scan the entire tunnel face; If the actual distance does not reach the optimal measurement distance, the laser radar is retracted and the TBM cutterhead structure is restored to the tunnel face excavation position.

2. The laser radar installation and measurement method for TBM according to claim 1, characterized in that: LiDAR mounting holes are reserved on the TBM cutterhead structure, including: Obtain TBM equipment parameters, and calculate the number of laser radars based on the TBM equipment parameters; When the number of the laser radars exceeds 1, the laser radar mounting holes are arranged at equal intervals along the same radial direction of the TMB cutter head structure; wherein the arrangement spacing of the equal intervals is calculated based on the number of the laser radars.

3. The laser radar installation and measurement method for TBM according to claim 2, characterized in that: Calculate the number of LiDARs based on the TBM equipment parameters, including: In the above formula, represents the number of laser radars, d represents the diameter of the TBM cutterhead structure, Indicates the maximum backward movement distance of the TBM cutterhead structure. Indicates the vertical field of view of the lidar.

4. The laser radar installation and measurement method for TBM according to claim 3, characterized in that: The vertical field of view angle of the laser radar is in the range of 105° to 180°.

5. The laser radar installation and measurement method for TBM according to claim 3, characterized in that: The calculation process of the arrangement spacing is as follows: In the above formula, Indicates the layout spacing, represents the number of laser radars, and d represents the diameter of the TBM cutterhead structure.

6. The laser radar installation and measurement method for TBM according to claim 1, characterized in that: The optimal measurement distance is calculated based on the vertical field of view angle of the laser radar, the diameter of the TBM cutterhead structure, and the number of laser radars. The calculation process of the optimal measurement distance is as follows: b=d / (2tan ×n) In the above formula, b represents the optimal measurement distance, represents the vertical field of view of the laser radar, d represents the diameter of the TBM cutterhead structure, Indicates the number of lidars.

7. The laser radar installation and measurement method for TBM according to claim 1, characterized in that: If the actual distance reaches the optimal measurement distance, the laser radar is activated to scan the entire tunnel face, including: Step S31: opening the protective cover of the laser radar and moving the measuring surface of the laser radar to be parallel to the surface of the TBM blade structure; Step S32: Start the TBM cutterhead structure to idle, and start the laser radar to start scanning when the speed reaches a preset range and becomes stable; Step S33: After the laser radar is activated and the TBM cutterhead structure completes a preset number of full rotations, the laser radar is turned off and the rotation of the TBM cutterhead structure is stopped; Step S34: perform integrity check on the scanned image obtained by the laser radar scan. If the scanned image does not cover the entire tunnel face, return to step S31 and scan again.

8. A laser radar installation measurement system for TBM, characterized in that: include: An installation module is used to reserve a laser radar installation hole on the TBM cutterhead structure and install the laser radar at the laser radar installation hole; a distance calculation module, configured to determine an optimal measurement distance between the laser radar and the tunnel face, and to retract the TBM cutterhead structure backward to the optimal measurement distance; The distance judgment module is used to obtain the actual distance between the TBM cutterhead structure and the tunnel face and to judge the actual distance: If the actual distance reaches the optimal measurement distance, the laser radar is started to scan the entire tunnel face; If the actual distance does not reach the optimal measurement distance, the laser radar is retracted and the TBM cutterhead structure is restored to the tunnel face excavation position.

9. An electronic device, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the laser radar installation and measurement method for TBM described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the laser radar installation measurement method for TBM described in any one of claims 1 to 7 is implemented.

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