Dust interference prevention data correction equipment and correction method for tunnel flatness monitoring

Abstract

The invention belongs to the technical field of tunnel monitoring, and particularly relates to dust interference prevention data correction equipment for tunnel flatness monitoring and a correction method, the dust interference prevention data correction equipment comprises an arched electric slide rail, the surface of the arched electric slide rail is slidably connected with a slide block, one side of the slide block is provided with an auxiliary mechanism, and the auxiliary mechanism comprises symmetrically arranged support frames. According to the correction equipment and method, the influence of external vibration on the high-precision laser scanner can be reduced by arranging a double-layer structure of the anti-interference mechanism, the protection tube and the isolation tube, the protection cover made of an optical-grade sapphire glass material has high light transmittance and anti-scratching performance, and the dust adhesion rate can be reduced by a surface nano coating; the high-pressure air pump isolates external dust through an annular air curtain formed by the air inlet pipe and the air inlet groove by means of airflow with the speed higher than that of air in the tunnel, the external dust is prevented from entering a scanning area, interference of dust, water vapor and other impurities on a scanning light path is reduced from the source, and the definition of original data obtained by the laser scanner in the complex tunnel environment is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tunnel monitoring, and particularly relates to a dust interference data correction equipment and method for tunnel flatness monitoring. BACKGROUND

[0002] In the process of tunnel engineering construction and operation, the tunnel inner wall flatness is a key index for evaluating the structural safety and construction quality, and its monitoring data directly affects the formulation of tunnel maintenance scheme, deformation warning and service life judgment. At present, the mainstream tunnel flatness monitoring relies on laser scanning technology, acquires tunnel inner wall point cloud data through a laser scanner, and then generates flatness parameters through data analysis.

[0003] However, the particularity of the tunnel environment brings many technical problems to the monitoring work. On the one hand, there is a high dust concentration and poor air mobility in the tunnel. The concrete dust in the construction phase and the vehicle dust in the operation period will adhere to the surface of the scanner lens or protective cover in large quantities, not only shielding the laser light path to cause scanning signal attenuation, but also producing clutter signals due to dust scattering, so that the original point cloud data is mixed with a large number of noise points, and in severe cases, the scanning profile may even be distorted. Although the existing equipment is equipped with a simple dust cover, it is difficult to cope with continuous dust pollution and needs to be cleaned frequently by hand, which not only increases the maintenance cost but also affects the monitoring continuity; on the other hand, the temperature and humidity in the tunnel fluctuate greatly and the equipment is easily disturbed by vibration. When laser propagates in the air, the change of temperature and humidity will change the refractive index of air, and then produce ranging error; at the same time, the scanner is usually carried on a mobile carrier (such as a track slider), and the bumping and tilting in the moving process will cause scanning track deviation, resulting in spatial position deviation of point cloud data. The existing data correction technology mainly adopts fixed parameter compensation, which is difficult to adapt to the dynamically changing environmental conditions in the tunnel, and the corrected data may still have large deviation, which cannot meet the high-precision monitoring demand.

[0004] In view of the above problems, the present application provides a dust interference data correction equipment and method for tunnel flatness monitoring. SUMMARY

[0005] Based on the technical problems of the existing tunnel flatness monitoring, the present application provides a dust interference data correction equipment and method for tunnel flatness monitoring.

[0006] The dust interference data correction equipment for tunnel flatness monitoring provided by the application comprises an arched electric slide rail, the surface of the arched electric slide rail is slidably connected with a sliding block, one side of the sliding block is provided with an auxiliary mechanism, the auxiliary mechanism comprises symmetrically arranged support frames, one side of each support frame is fixedly connected with a motor one, the output shaft of the motor one is fixedly connected with a gear one, the surface of the gear one is vertically engaged with a gear two, a rotating rod is rotatably connected between the two support frames, one end of the rotating rod is fixedly connected with one side surface of the gear two, the surface of the rotating rod is fixedly connected with an anti-interference mechanism, the anti-interference mechanism comprises a protective tube, the inside of the protective tube is fixedly connected with a high-precision laser scanner, and the tube body of the protective tube is provided with a cleaning mechanism.

[0007] Preferably, one end of the protective tube is symmetrically provided with an air inlet pipe, the inner wall of the protective tube is fixedly connected with an isolation pipe, the isolation pipe is located between the protective tube and the high-precision laser scanner, the outer surface of the high-precision laser scanner is fixedly connected with the inner wall of the isolation pipe through a fixed block, one end of the protective tube is provided with an air inlet groove, the air inlet groove is located on the outside of the isolation plate, the inner wall of the air inlet pipe is fixedly communicated with the inner wall of the air inlet groove, and one end of the isolation pipe is provided with a protective cover.

[0008] Preferably, the cleaning mechanism comprises a water inlet pipe, one end of the water inlet pipe is rotatably connected with an adjusting pipe one, the other end of the water inlet pipe is connected with a high-pressure water pump, one end of the adjusting pipe one is rotatably connected with an adjusting pipe two, the surface of the adjusting pipe one and the surface of the adjusting pipe two are fixedly connected with inclined gear rings, the outer surface of the adjusting pipe one and the outer surface of the adjusting pipe two are respectively fixedly connected with a motor two and a motor three, and the output shaft of the motor two and the output shaft of the motor three are respectively engaged with the two gear rings on the outer surfaces of the adjusting pipe one and the adjusting pipe two through gears.

[0009] Preferably, the outlet of the adjusting pipe two is provided with a clamping plate, the clamping plate is fixedly connected with an iris mechanism, a water outlet hole with the same inner diameter as the opening and closing of the iris mechanism is formed in the center of the plate body of the clamping plate, the upper end of the iris mechanism is fixedly connected with the inner wall of the clamping plate, the lower end of the iris mechanism is rotatably connected with a gas cylinder, one end of the gas cylinder is embedded in the plate body of the clamping plate, the gas cylinder is arranged in an array on the periphery of the rotating part of the iris mechanism, one end of the clamping plate is fixedly connected with a water distribution cone, the outer surface of the water distribution cone is fixedly connected with the surface of the clamping plate through a three-pronged star structure, and the center of the water distribution cone is the same as the center of the water outlet hole.

[0010] Preferably, the material of the protective cover is optical-grade sapphire glass, and the surface is coated with a transparent nano coating.

[0011] Preferably, one end of the air inlet pipe is fixedly connected with a high-pressure air pump, the output air pressure of the high-pressure air pump is 0.3-0.5 MPa, and the protective pipe forms an annular air curtain at the pipe opening away from the air inlet groove, the air flow velocity of the annular air curtain is greater than the air flow velocity in the tunnel.

[0012] Preferably, the high-precision laser scanner is internally provided with a data correction system, the data correction system comprises a point cloud preprocessing module, a multi-source data fusion module and a dynamic refraction compensation module, the point cloud preprocessing module performs noise elimination based on statistical outlier filtering on original scanning data, the multi-source data fusion module comprises real-time data of a dust concentration sensor, a temperature and humidity sensor and an inertial measurement unit, and the dynamic refraction compensation module calculates an air refraction index deviation value according to temperature and humidity parameters, corrects laser ranging errors and compensates the formula as follows: wherein D0 is an original measurement distance, n s is a standard refraction index, n t is a real-time refraction index.

[0013] Preferably, the data correction system further comprises a dust scattering noise suppression module, a reference point dynamic tracking module and a motion distortion correction module, the dust scattering noise suppression module identifies and filters clutter signals generated by dust scattering by analyzing the intensity attenuation curve of laser echo signals, and retains effective reflection signals; the reference point dynamic tracking module pre-provides a plurality of reflective reference points on the inner wall of the tunnel, tracks the scanning coordinates of the reference points in real time, and triggers system self-checking when the reference point coordinate deviation exceeds ±0.2 mm; and the motion distortion correction module reversely compensates the track deviation generated by equipment movement in the scanning process in combination with the position sensor data of the slider and the motion parameters of the inertial measurement unit, and corrects the spatial position deviation of the point cloud data.

[0014] Preferably, the data correction system is provided with a data quality evaluation module and a self-adaptive correction strategy library, the data quality evaluation module quantitatively scores the corrected data from three dimensions of point cloud density, signal-to-noise ratio and reference point coincidence degree, and automatically calls an optimization scheme in the correction strategy library when the score is lower than a preset threshold; the correction strategy library internally provides correction parameter combinations under different dust concentrations and temperature and humidity environments, automatically matches the optimal correction strategy according to the real-time monitoring results of the multi-source data fusion module, and supports manual definition of correction parameters and storage as a new strategy.

[0015] Preferably, the correction method of the dust interference data correction equipment for tunnel flatness monitoring comprises the following specific steps:

[0016] Step one, when monitoring, the anti-interference mechanism is moved to the monitoring point by the slider sliding on the arched electric slide rail, the motor one drives gear one and gear two to rotate, drives the rotating rod and the anti-interference mechanism to adjust the scanning angle, the laser scanner starts to scan the specified position, and the data obtained by scanning is accessed to the data correction system, if the point cloud preprocessing module finds that the number of noise points abnormally increases, the modified data is still large after the dynamic refraction compensation module is corrected, or the effective signal ratio after filtering by the dust scattering noise suppression module is lower than the set value, it is determined that the data does not meet the expectation, at this time, the system immediately triggers the cleaning instruction, and the high-pressure water pump starts to supply water;

[0017] Step two, the water source enters the adjusting pipe one and the adjusting pipe two through the water inlet pipe, and the iris mechanism is adjusted by the cylinder to adjust the water outlet, when the water pressure in the adjusting pipe two increases, the high-pressure water source hits on the water distribution cone, generates misty water, and washes the dirty dust in the air, then the adjusting pipe one and the adjusting pipe two are adjusted by controlling motor two and motor three, so that the water outlet of the adjusting pipe two is aligned with the protective cover, the high-pressure water pump supplies water, and the iris mechanism is adjusted to the maximum by the cylinder, at this time, the non-misty water sprayed cleans the protective cover;

[0018] Step three, after the water washing is completed, the pneumatic high-pressure air pump is started, the high-pressure gas enters the air inlet groove through the air inlet pipe, and then is sprayed between the isolation pipe and the protective pipe, so that the damp dust particles on the cleaning path are further blown away, when the high-pressure gas is sprayed from the periphery of the protective cover, the air at the position of the protective cover is also affected by the high-speed gas flow and flows, and the transparent nano coating on the surface of the protective cover drives the water on the surface of the protective cover to evaporate faster.

[0019] The beneficial effects in the application are:

[0020] 1. By arranging the anti-interference mechanism, the double-layer structure of the protective pipe and the isolation pipe can reduce the influence of external vibration on the high-precision laser scanner, the protective cover made of optical-grade sapphire glass has high light transmittance and anti-scratching performance, and the surface nano coating can reduce the dust adhesion rate, and the high-pressure air pump forms a ring-shaped air curtain through the air inlet pipe and the air inlet groove, uses the airflow with a speed higher than that of the air in the tunnel to isolate external dust, avoids the dust from entering the scanning area, and blows away the dust particles on the scanning path, thereby reducing the dust, water vapor and other impurities from the source, and reducing the interference of the dust, water vapor and other impurities on the scanning light path, and ensuring the clarity of the original data obtained by the laser scanner in the complex tunnel environment.

[0021] 2. By setting the cleaning mechanism, the water spray angle of the adjusting pipe one and the adjusting pipe two can be flexibly adjusted under the drive of the motor two and the motor three, the iris mechanism cooperates with the cylinder to accurately control the water output (fog-shaped water is used for dust reduction, columnar water is used for cleaning the protective cover), and the water distribution cone can improve the cleaning efficiency by dispersing the water flow. At the same time, the system can automatically trigger cleaning according to the feedback of the data correction system, and then the gas on the surface of the protective cover is blown dry by the high-pressure gas pump to avoid the influence of residual water vapor on scanning.

[0022] 3. By setting the data correction system, the point cloud preprocessing and dust scattering noise suppression modules eliminate interference signals from the data source; the dynamic refraction compensation and motion distortion correction modules quantitatively correct the environmental factors and equipment motion errors; the reference point dynamic tracking and data quality evaluation modules ensure that the data deviation is controllable through real-time self-checking and scoring, and the adaptive correction strategy library can also automatically match the correction scheme according to real-time environmental parameters. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A schematic diagram of a dust interference data correction equipment for tunnel flatness monitoring is provided for the present application;

[0024] Figure 2 A perspective view of the anti-interference mechanism of the dust interference data correction equipment for tunnel flatness monitoring is provided for the present application;

[0025] Figure 3 A sectional view of the anti-interference mechanism of the dust interference data correction equipment for tunnel flatness monitoring is provided for the present application;

[0026] Figure 4 A perspective view of the dust interference data correction equipment for tunnel flatness monitoring is provided for the present application; Figure 3 An enlarged view of A in the above-mentioned equipment;

[0027] Figure 5 An enlarged view of A1 in the above-mentioned equipment; Figure 4 An enlarged view of A1 in the above-mentioned equipment;

[0028] Figure 6 A sectional view of the adjusting pipe two of the dust interference data correction equipment for tunnel flatness monitoring is provided for the present application;

[0029] Figure 7 A perspective view of the water distribution cone of the dust interference data correction equipment for tunnel flatness monitoring is provided for the present application.

[0030] In the figure: 1, electric slide rail; 2, anti-interference mechanism; 21, protective tube; 22, laser scanner; 23, cleaning mechanism; 231, water inlet pipe; 232, adjusting pipe one; 233, motor two; 234, motor three; 235, adjusting pipe two; 236, iris mechanism; 237, air cylinder; 238, water distribution cone; 24, air inlet pipe; 25, isolation pipe; 26, air inlet groove; 27, protective cover; 3, auxiliary mechanism; 31, support frame; 32, motor one; 33, gear one; 34, gear two. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all.

[0032] REFERENCE Figures 1-7 A dust interference data correction equipment for tunnel flatness monitoring, comprising an arched electric slide rail 1, a slide block is slidably connected to the surface of the arched electric slide rail 1, an auxiliary mechanism 3 is arranged on one side of the slide block, the auxiliary mechanism 3 comprises symmetrically arranged support frames 31, a motor one 32 is fixedly connected to one side of the support frame 31, a gear one 33 is fixedly connected to the output shaft of the motor one 32, a gear two 34 is engaged with the surface of the gear one 33 in the vertical direction, a rotating rod is rotatably connected between the two support frames 31, one end of the rotating rod is fixedly connected to one side of the gear two 34, an anti-interference mechanism 2 is fixedly connected to the surface of the rotating rod, the anti-interference mechanism 2 comprises a protective tube 21, a high-precision laser scanner 22 is fixedly connected inside the protective tube 21, and a cleaning mechanism 23 is arranged on the pipe body of the protective tube 21.

[0033] In the embodiment, an air inlet pipe 24 is symmetrically arranged at one end of the protective tube 21, an isolation pipe 25 is fixedly connected to the inner wall of the protective tube 21, the isolation pipe 25 is located between the protective tube 21 and the high-precision laser scanner 22, the outer surface of the high-precision laser scanner 22 is fixedly connected to the inner wall of the isolation pipe 25 through a fixed block, an air inlet groove 26 is arranged at one end of the protective tube 21, the air inlet groove 26 is located outside the isolation pipe 25, the inner wall of the air inlet pipe 24 is fixedly communicated with the inner wall of the air inlet groove 26, and a protective cover 27 is arranged at one end of the isolation pipe 25.

[0034] Specifically, when high-pressure gas enters from the air inlet pipe 24, the airflow flows into the gap between the protective pipe 21 and the isolation pipe 25 through the air inlet groove 26, the internal space of the protective pipe 21 can be supplemented and adjusted, the isolation pipe 25 can effectively isolate the laser scanner 22 from the outside airflow channel, avoiding the direct impact of the airflow on the laser scanner 22 and affecting its working stability, and the protective cover 27 can protect the components of the laser scanner 22 at the port of the isolation pipe 25, reducing the entry of external sundries and other interference. Such a structure helps to create a stable working environment, ensures the accurate and stable operation of the high-precision laser scanner 22, and improves the environmental adaptability and protection effect of the whole device on the scanning operation.

[0035] In the embodiment, the cleaning mechanism 23 comprises a water inlet pipe 231, one end of the water inlet pipe 231 is rotatably connected with an adjusting pipe one 232, the other end of the water inlet pipe 231 is externally connected with a high-pressure water pump, one end of the adjusting pipe one 232 is rotatably connected with an adjusting pipe two 235, the surface of the adjusting pipe one 232 and the surface of the adjusting pipe two 235 are fixedly connected with inclined gear rings, the outer surface of the adjusting pipe one 232 and the outer surface of the adjusting pipe two 235 are fixedly connected with a motor two 233 and a motor three 234 respectively, the output shaft of the motor two 233 and the output shaft of the motor three 234 are respectively engaged with the two gear rings on the outer surfaces of the adjusting pipe one 232 and the adjusting pipe two 235 through gears; a clamping plate is arranged at the outlet of the adjusting pipe two 235, the clamping plate is arranged in an inverted truncated pyramid shape, the middle is a cavity, the cavity between the clamping plates is fixedly connected with an iris mechanism 236, a water outlet hole with the same inner diameter as the opening and closing of the iris mechanism 236 is formed at the center of the plate body of the clamping plate, the upper end of the iris mechanism 236 is fixedly connected with the inner wall of the clamping plate, the lower end of the iris mechanism 236 is rotatably connected with a gas cylinder 237, one end of the gas cylinder 237 is embedded in the plate body of the clamping plate, the gas cylinder 237 is arranged in an array around the rotating part of the iris mechanism 236, one end of the clamping plate is fixedly connected with a water distribution cone 238, the outer surface of the water distribution cone 238 is fixedly connected with the surface of the clamping plate through a three-pronged star structure, and the center of the water distribution cone 238 is the same as the center of the water outlet hole.

[0036] Specifically, the high-pressure water pump is externally connected with a water source, water is delivered to the water inlet pipe 231, the motor two 233 and the motor three 234 are operated, the gears are engaged with the gear rings to drive the adjusting pipe one 232 and the adjusting pipe two 235 to rotate respectively, and the water delivery angle and direction are adjusted flexibly. The water is delivered to the outlet of the adjusting pipe two 235, the gas cylinder 237 is actuated to drive the iris mechanism 236 to open and close, and the water flow and water flow pattern are accurately controlled through the water outlet hole. The water flow regulated by the iris mechanism 236 impacts on the water distribution cone 238, the water distribution cone is fixed by the three-pronged star structure, the water flow is dispersed, the high-pressure dispersed mist water is sprayed on the scanning path, the particulate matter in the air on the path is removed, and the particulate matter is accelerated to settle.

[0037] In the embodiment, the protective cover 27 is made of optical-grade sapphire glass, and the surface is coated with a transparent nano coating.

[0038] Specifically, the optical-grade sapphire glass has high hardness and high light transmission, and as the material of the protective cover 27, it can provide firm protection for the internal high-precision laser scanner 22, resist external scratches and impacts, and ensure that the laser scanning light can pass through smoothly without affecting the scanning accuracy. The transparent nano coating on the surface further endows the protective cover 27 with hydrophobic, oleophobic, and anti-fouling functions, making it difficult for dust and water stains to adhere. Even if stains are attached, they are easy to clean, maintaining the cleanliness of the surface of the protective cover 27, ensuring long-term stability of the light transmission effect, reducing the interference of protective component pollution and damage on scanning work, prolonging the service life of the protective cover and internal equipment, and keeping the high-precision laser scanner 22 in a stable and clean working environment, thereby improving the reliability and maintenance convenience of the device as a whole.

[0039] In the embodiment, one end of the air inlet pipe 24 is fixedly connected with a high-pressure air pump, the output air pressure of the high-pressure air pump is 0.3-0.5 MPa, and the pipe opening at the end of the protective pipe 21 away from the air inlet groove 26 forms an annular air curtain, and the airflow speed of the annular air curtain is greater than the airflow speed in the tunnel.

[0040] Specifically, the high-pressure air pump is started, the air pressure is controlled at 0.3-0.5 MPa, the airflow is delivered into the protective pipe 21 through the air inlet pipe 24, and the airflow forms an annular air curtain at the pipe opening at the end of the protective pipe 21 away from the air inlet groove 26 due to the structural design. Since the airflow speed of the annular air curtain is greater than the airflow speed in the tunnel, it can effectively prevent dust and debris in the tunnel from entering the interior of the protective pipe 21, and the emission of high-pressure gas can effectively accelerate and disperse the particles on the scanning path, creating a relatively clean and stable working environment for the high-precision laser scanner 22, reducing the influence of external airflow disturbance and pollutants on the scanning accuracy and equipment, ensuring the continuous and accurate performance of the scanning operation, and also helping to maintain the stability of the airflow environment in the protective pipe, assisting in heat dissipation, and improving the overall operation reliability and service life of the equipment.

[0041] In the embodiment, the high-precision laser scanner 22 is internally provided with a data correction system, which includes a point cloud preprocessing module, a multi-source data fusion module, and a dynamic refraction compensation module. The point cloud preprocessing module performs noise removal based on statistical outlier filtering on the original scanning data. The multi-source data fusion module receives real-time data from a dust concentration sensor, a temperature and humidity sensor, and an inertial measurement unit. The dynamic refraction compensation module calculates the air refraction rate deviation value based on the temperature and humidity parameters to correct the laser ranging error, and the compensation formula is: where D0 is the original measured distance, n s is the standard refraction index, n t is the real-time refraction index.

[0042] Specifically, after the point cloud preprocessing module is started, the original scanning data is analyzed point by point. Based on the statistical outlier filtering algorithm, the average distance and the standard deviation of the point cloud in the local region are calculated first. When the distance of a data point from the surrounding points exceeds the set threshold, the system determines that the point is a noise point and automatically eliminates it. For example, when there is a momentary dust shielding of the laser beam in the tunnel, the abnormal light points generated will be filtered in time to avoid such interference data from entering the subsequent processing link, thereby providing a purer point cloud basis for subsequent analysis.

[0043] The multi-source data fusion module continuously receives real-time data from multiple external sensors: the dust concentration sensor feedbacks the dust particle density data in the air, which can assist in judging the cleanliness of the scanning environment and provide a reference for subsequent data reliability evaluation; the temperature and humidity sensor collects the environmental temperature and humidity parameters, which are the core basis for dynamic refraction compensation; the inertial measurement unit real-time captures the attitude changes of the scanner itself, such as slight tilting and vibration, and the data can be used to correct the scanning angle deviation caused by device shaking. These multi-dimensional data are integrated into the data processing hub to form a complete set of environmental and device state data.

[0044] The working logic of the dynamic refraction compensation module is more precise. When the laser propagates in the air, the air refractive index changes with the temperature and humidity, which in turn causes ranging errors. The module first calculates the real-time refractive index n t according to the real-time data from the temperature and humidity sensor through the preset air refractive index calculation formula, then retrieves the standard refractive index n s built-in the system, and substitutes it into the compensation formula to obtain the corrected actual distance D0.

[0045] In this embodiment, the data correction system further includes a dust scattering noise suppression module, a reference point dynamic tracking module, and a motion distortion correction module. The dust scattering noise suppression module identifies and filters the clutter signals generated by dust scattering by analyzing the intensity decay curve of the laser echo signal and retains the effective reflection signal. The reference point dynamic tracking module sets multiple reflective reference points on the inner wall of the tunnel and real-time tracks the scanning coordinates of the reference points. When the reference point coordinate deviation exceeds ±0.2 mm, the system triggers a self-check. The motion distortion correction module combines the position sensor data of the slider and the motion parameters of the inertial measurement unit to compensate for the trajectory deviation caused by device movement during scanning and correct the spatial position deviation of the point cloud data.

[0046] Specifically, when the dust scattering noise suppression module is working, it will capture the echo signal after the laser is emitted in real time and generate a complete intensity decay curve. In a tunnel environment, when the dust concentration in the tunnel suddenly increases, the laser beam will scatter when it encounters dust particles. The intensity decay rate of such scattering signals is usually faster than that of the effective reflection signals when the laser irradiates the inner wall of the tunnel.

[0047] During the scanning process, the module continuously locks the scanning coordinates of these reference points and compares them with the preset initial coordinates; when the real-time coordinates of a reference point deviate from the initial coordinates by more than ±0.2 mm, the system immediately triggers a self-checking process to automatically investigate potential problems such as whether the scanner lens is stained, whether the laser emitter power is stable, whether the internal algorithm parameters are abnormal, etc. If the self-checking finds that the lens is stained, the cleaning mechanism 23 will be called.

[0048] When the scanner moves in the tunnel with the slider, the position sensor records the instantaneous position of the slider in real time, and the inertial measurement unit synchronously collects the motion parameters such as the moving speed, acceleration and rotation angle of the device. The module fuses and analyzes the two types of data to construct the actual motion trajectory model of the device. Since the spatial position of the scanning point cloud is directly related to the motion state of the device, the module compensates and corrects the coordinates of each scanning point by inversely calculating the offset of the motion trajectory. For example, when the slider slightly bounces due to track unevenness, causing the device to tilt instantaneously, the module can correct the scanning point coordinates in the tilted state to the real coordinates in the horizontal state according to the tilt angle data of the inertial measurement unit, ensuring the continuity and accuracy of the point cloud data in spatial distribution.

[0049] In this embodiment, the data correction system is configured with a data quality evaluation module and an adaptive correction strategy library. The data quality evaluation module quantitatively scores the corrected data from three dimensions of point cloud density, signal-to-noise ratio and reference point fit degree, and automatically calls the optimization scheme in the correction strategy library when the score is below the preset threshold; the correction strategy library has built-in correction parameter combinations under different dust concentrations and temperature and humidity environments, automatically matches the optimal correction strategy according to the real-time monitoring results of the multi-source data fusion module, and supports manual customization of correction parameters and storage as new strategies.

[0050] Specifically, the data quality evaluation module starts evaluation after the data has undergone preliminary noise removal, refraction compensation, motion distortion correction, etc. In the point cloud density dimension, the module will count the number of scanning points in a unit space, compare it with the preset standard density range, and calculate the density compliance rate; in the signal-to-noise ratio dimension, by analyzing the ratio of effective reflection signal strength to noise signal strength, a signal-to-noise ratio score of 0-100 is generated; in the reference point fit degree dimension, the scanning coordinates of the corrected reference points are compared with the initial coordinates, and the average deviation value is calculated. The smaller the deviation, the higher the fit degree score. The scores of the above three dimensions are weighted according to the preset weights of 20%, 40% and 40% for density, signal-to-noise ratio and fit degree respectively to calculate the comprehensive score. If the comprehensive score is below the preset threshold, the module will automatically send an optimization request to the correction strategy library.

[0051] The core of the adaptive correction strategy library is to realize environmental adaptation and dynamic optimization. The strategy library pre-stores multiple sets of correction parameter combinations: for dust concentration <0.5 mg / m3 Low-dust, normal temperature 20-25℃, humidity 40%-60% environment, matching basic correction parameters; for high concentration ≥2mg / m 3 Dust environment, built-in enhanced parameters; for temperature change >5℃ / h, humidity change >10% / h environment, configure dynamic refraction compensation module calculation frequency from 1 time / second to 5 times / second.

[0052] Referring to Figures 1-7 A dust interference data correction method for tunnel flatness monitoring, the specific operation steps are as follows:

[0053] Step one, when monitoring, the anti-interference mechanism 2 is moved to the monitoring point by the sliding block of the arched electric slide rail 1, the motor one 32 drives the gear one 33 and the gear two 34 to rotate, drives the rotating rod and the anti-interference mechanism 2 to adjust the scanning angle, and the laser scanner 22 starts to scan the specified position. The data obtained by scanning is input into the data correction system. If the point cloud preprocessing module finds that the number of noise points abnormally increases, the corrected data after the dynamic refraction compensation module is still greatly deviated, or the effective signal ratio after the dust scattering noise suppression module is filtered is lower than the set value, it is determined that the data does not meet the expectation. At this time, the system immediately triggers the cleaning instruction, and the high-pressure water pump starts to supply water;

[0054] Step two, the water source enters the adjusting pipe one 232 and the adjusting pipe two 235 through the water inlet pipe 231, and the iris mechanism 236 is adjusted by the air cylinder 237 to control the water outlet. When the water pressure in the adjusting pipe two 235 increases, the high-pressure water source hits the water distribution cone 238, producing misty water to clean the dirty dust in the air, and then adjusting the adjusting pipe one 232 and the adjusting pipe two 235 by controlling the motor two 233 and the motor three 234. The water outlet of the adjusting pipe two 235 is aligned with the protective cover 27, the high-pressure water pump supplies water, and the iris mechanism 236 is controlled by the air cylinder 237 to adjust the water outlet to the maximum. At this time, the non-misty water sprayed cleans the protective cover;

[0055] Step three, after water washing, start the pneumatic high-pressure air pump, high-pressure gas enters the air inlet groove 26 through the air inlet pipe 24, and then is sprayed between the isolation pipe 25 and the protective pipe 21. The damp dust particles on the cleaning path are further blown away. When the high-pressure gas is sprayed from the periphery of the protective cover 27, the air at the position of the protective cover 27 will also flow due to the influence of the high-speed gas flow. The transparent nano coating on the surface of the protective cover 27 further drives the water on the surface of the protective cover 27 to evaporate quickly.

[0056] The above merely describes preferred specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art, according to the technical solution and inventive concept of the present application, makes equivalent replacement or change within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A dust interference correction device for tunnel smoothness monitoring, comprising an arched electric slide rail (1), wherein a slider is slidably connected to the surface of the arched electric slide rail (1), and an auxiliary mechanism (3) is provided on one side of the slider. The auxiliary mechanism (3) includes symmetrically arranged support frames (31), a motor (32) is fixedly connected to one side of the support frame (31), a gear (33) is fixedly connected to the output shaft of the motor (32), and a gear (34) meshes vertically on the surface of the gear (33). The device is characterized in that: A rotating rod is rotatably connected between the two support frames (31). One end of the rotating rod is fixedly connected to one side of the gear two (34). An anti-interference mechanism (2) is fixedly connected to the surface of the rotating rod. The anti-interference mechanism (2) includes a protective tube (21). A high-precision laser scanner (22) is fixedly connected inside the protective tube (21). A cleaning mechanism (23) is provided on the tube body of the protective tube (21).

2. The dust interference correction device for tunnel smoothness monitoring according to claim 1, characterized in that: One end of the protective tube (21) is symmetrically provided with an air inlet pipe (24). An isolation pipe (25) is fixedly connected to the inner wall of the protective tube (21). The isolation pipe (25) is located between the protective tube (21) and the high-precision laser scanner (22). The outer surface of the high-precision laser scanner (22) is fixedly connected to the inner wall of the isolation pipe (25) through a fixing block. One end of the protective tube (21) is provided with an air inlet groove (26). The air inlet groove (26) is located outside the isolation pipe (25). The inner wall of the air inlet pipe (24) is fixedly connected to the inner wall of the air inlet groove (26). One end of the isolation pipe (25) is provided with a protective cover (27).

3. The dust interference correction device for tunnel smoothness monitoring according to claim 2, characterized in that: The cleaning mechanism (23) includes a water inlet pipe (231), one end of which is rotatably connected to an adjusting pipe (232), and the other end of which is externally connected to a high-pressure water pump. One end of the adjusting pipe (232) is rotatably connected to an adjusting pipe (235). Inclined gear rings are fixedly connected to the surfaces of the adjusting pipe (232) and the adjusting pipe (235). Motor 2 (233) and Motor 3 (234) are fixedly connected to the outer surfaces of the adjusting pipe (232) and the adjusting pipe (235) respectively. The output shafts of the motor 2 (233) and the motor 3 (234) respectively mesh with the two gear ring surfaces on the outer surfaces of the adjusting pipe (232) and the adjusting pipe (235) through gears.

4. The dust interference correction device for tunnel smoothness monitoring according to claim 3, characterized in that: A clamping plate is provided at the outlet of the regulating pipe 2 (235), and an iris mechanism (236) is fixedly connected between the clamping plates. A water outlet hole with the same opening and closing inner diameter as the iris mechanism (236) is opened at the center of the plate body. The upper end of the iris mechanism (236) is fixedly connected to the inner wall of the clamping plate. A cylinder (237) is rotatably connected to the lower rotating part of the iris mechanism (236). One end of the cylinder (237) is embedded in the plate body of the clamping plate. The cylinders (237) are arranged in an array around the rotating part of the iris mechanism (236). A water-dividing cone (238) is fixedly connected to one end of the clamping plate. The outer surface of the water-dividing cone (238) is fixedly connected to the surface of the clamping plate through a three-pointed star structure. The center of the water-dividing cone (238) is the same as the center of the water outlet hole.

5. The dust interference correction device for tunnel smoothness monitoring according to claim 4, characterized in that: The protective shield (27) is made of optical-grade sapphire glass and has a transparent nano-coating on its surface.

6. The dust interference correction device for tunnel smoothness monitoring according to claim 5, characterized in that: One end of the air inlet pipe (24) is fixedly connected to a high-pressure air pump. The output air pressure of the high-pressure air pump is 0.3-0.5MPa. An annular air curtain is formed at the end of the protective pipe (21) away from the air inlet slot (26). The airflow velocity of the annular air curtain is greater than the airflow velocity inside the tunnel.

7. The dust interference correction device for tunnel smoothness monitoring according to claim 6, characterized in that: The high-precision laser scanner (22) is equipped with a data correction system, which includes a point cloud preprocessing module, a multi-source data fusion module, and a dynamic refraction compensation module. The point cloud preprocessing module performs noise removal based on statistical outlier filtering on the original scan data. The multi-source data fusion module receives real-time data from a dust concentration sensor, a temperature and humidity sensor, and an inertial measurement unit. The dynamic refraction compensation module calculates the air refractive index deviation value based on temperature and humidity parameters to correct the laser ranging error. The compensation formula is: Where D0 is the original measured distance, and n is the distance. s n is the standard refractive index. t This is the real-time refractive index.

8. The dust interference correction device for tunnel smoothness monitoring according to claim 7, characterized in that: The data correction system also includes a dust scattering noise suppression module, a reference point dynamic tracking module, and a motion distortion correction module. The dust scattering noise suppression module analyzes the intensity attenuation curve of the laser echo signal to identify and filter clutter signals generated by dust scattering, retaining effective reflection signals. The reference point dynamic tracking module pre-sets multiple reflective reference points on the inner wall of the tunnel and tracks the scanning coordinates of the reference points in real time. When the reference point coordinate deviation exceeds ±0.2mm, the system self-check is triggered. The motion distortion correction module combines the position sensor data of the slider with the motion parameters of the inertial measurement unit to perform reverse compensation for the trajectory offset caused by equipment movement during the scanning process, correcting the spatial position deviation of the point cloud data.

9. The dust interference correction device for tunnel smoothness monitoring according to claim 8, characterized in that: The data correction system is equipped with a data quality assessment module and an adaptive correction strategy library. The data quality assessment module quantifies and scores the corrected data from three dimensions: point cloud density, signal-to-noise ratio, and reference point fit. When the score is lower than a preset threshold, the system automatically calls the optimization scheme in the correction strategy library. The correction strategy library contains combinations of correction parameters under different dust concentrations, temperature, and humidity environments. It automatically matches the optimal correction strategy based on the real-time monitoring results of the multi-source data fusion module, and also supports manually defining correction parameters and storing them as new strategies.

10. The correction method for a dust interference correction device for tunnel smoothness monitoring according to claim 9, characterized in that, The specific steps are as follows: Step 1: During monitoring, the slider of the arched electric slide rail (1) drives the anti-interference mechanism (2) to move to the monitoring point. Motor 1 (32) drives gear 1 (33) and gear 2 (34) to rotate, which drives the rotating rod and the anti-interference mechanism (2) to adjust the scanning angle. The laser scanner (22) starts scanning the designated position. The scanned data is connected to the data correction system. If the point cloud preprocessing module finds that the noise points have increased abnormally, the data still has a large deviation after the dynamic refraction compensation module corrects it, or the effective signal ratio after the dust scattering noise suppression module filters is lower than the set value, it is determined that the data does not meet expectations. At this time, the system immediately triggers the cleaning command, and the high-pressure water pump starts to supply water. Step 2: Water enters regulating pipe 1 (232) and regulating pipe 2 (235) through water inlet pipe (231). At the same time, cylinder (237) controls iris mechanism (236) to adjust water output. When the water pressure in regulating pipe 2 (235) increases, the high-pressure water source hits the water distribution cone (238) to generate mist water, which cleans the pollutants and dust in the air. Then, by controlling motor 2 (233) and motor 3 (234) to adjust regulating pipe 1 (232) and regulating pipe 2 (235) together, the water outlet of regulating pipe 2 (235) is aligned with the protective cover (27). The high-pressure water pump supplies water, and at the same time, cylinder (237) controls iris mechanism (236) to adjust the water output to the maximum. At this time, the non-mist water sprayed out cleans the protective cover. Step 3: After the water washing is completed, the pneumatic high-pressure air pump is started. The high-pressure gas enters the air inlet slot (26) through the air inlet pipe (24) and is then sprayed between the isolation pipe (25) and the protective pipe (21), further dispersing the wet dust particles on the cleaning path. When the high-pressure gas is sprayed out from the outside of the protective cover (27), the air at the location of the protective cover (27) will also flow due to the influence of the high-speed gas flow. Combined with the transparent nano-coating on the surface of the protective cover (27), this will further accelerate the evaporation of moisture on the surface of the protective cover (27).

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