Shield tunnel segment joint dislocation active resetting and reinforcing method and related device

Abstract

The invention discloses an active resetting and reinforcing method for shield tunnel segment joint dislocation and a related device, and relates to the technical field of shield tunnel repairing. The method comprises the following steps: obtaining point cloud data of each segment based on overall three-dimensional point cloud data; based on the point cloud data of the reference non-dislocation segment selected from the point cloud data of all segments, all existing dislocation joints are identified step by step; firstly, a local coordinate system is constructed at a dislocation joint, point cloud data of adjacent segments corresponding to the dislocation joint are accurately matched, and then a dislocation amount calculation result is obtained through calculation based on the point cloud data of the adjacent segments and the local coordinate system; further constructing a digital twinborn model, and performing multi-parameter numerical simulation by using the digital twinborn model to obtain an optimal reset scheme; and obtaining a cooperative control instruction based on the optimal reset scheme. According to the method, the resetting and reinforcing effect of the shield tunnel segment joint is remarkably improved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of shield tunnel repair, in particular to a shield tunnel segment joint misalignment active resetting and reinforcing method and related device. BACKGROUND

[0002] As a key structure in urban rail transit and other underground engineering, shield tunnels will be subjected to various loads, including service loads and occasional loads, during long-term operation. These loads are prone to cause irreversible deformation of the tunnel structure, which in turn leads to problems such as segment misalignment and shedding, seriously threatening the safe operation of rail transit and even possibly inducing major safety accidents. Tunnel diseases can be mainly classified into two categories: 1. Tunnel deformation problems, such as segment misalignment and convergence deformation, which can cause the tunnel cross-section to shrink and the structure to lose stability, and in extreme cases, can cause local collapse; 2. Water leakage problems, which can be divided into wet spots, dripping, surface seepage, and gushing, depending on the severity. Long-term leakage not only interferes with the normal use of the tunnel, but also exacerbates steel corrosion and concrete carbonization, further weakening the structural bearing capacity and forming a vicious cycle of continuous decline in structural performance.

[0003] Shield tunnels are typical precast assembly concrete structures, with their main body composed of standardized concrete segments assembled by high-strength bolts. This industrialized construction mode has the advantages of fast construction speed, controllable quality, and small environmental impact, but also leads to two key weak points in the tunnel structure: radial joints and longitudinal joints. Radial joints are located between segments within the same ring and are the key to structural continuity. Once misaligned, they will significantly damage the structural integrity, cause stress redistribution, reduce the tunnel's bearing capacity, and possibly induce progressive large deformation. Longitudinal joints are located between rings and are the core of the tunnel's waterproof system. Misalignment of these joints will directly damage the integrity of the waterproof layer, leading to water leakage problems, which will further intensify under the long-term action of train loads, occasional loads, and groundwater erosion, seriously affecting the safe operation of the tunnel structure.

[0004] For the above diseases, three types of reinforcement schemes are mainly used in the engineering at present: segment body reinforcement technology, radial joint reinforcement technology and longitudinal joint reinforcement technology. Among them, the segment body reinforcement technology focuses on improving the bearing capacity of the segment itself, but does not fully consider the stress concentration problem of the joint area, resulting in that the reinforcing material cannot effectively participate in the stress, causing waste of resources; the radial joint reinforcement technology is based on the existing misalignment state for reinforcement, which can coordinate the relative deformation between segments, but cannot realize active resetting, so it is difficult to fully release the inherent strength potential of the segment, the structural bearing capacity is insufficiently recovered, and the safety hidden danger caused by residual deformation still exists; the longitudinal joint reinforcement technology can improve the shear performance of the joint, but may ignore the leakage problem caused by misalignment, and even cause further decline of waterproof performance, forming a new leakage channel. The existing reinforcement technology system has deficiencies in the reinforcement direction and reinforcement starting point, which makes the disease treatment fall into a cycle of "repeated reinforcement-damage", not only significantly increases the operation and maintenance cost, but also shortens the service life of the tunnel, which has a negative impact on the sustainable development of urban underground space.

[0005] Therefore, under the current technical conditions, it is urgent to explore new reinforcement ideas to more effectively deal with the structural deformation and leakage problems caused by misalignment of shield tunnel segments, and to improve the safety and durability of long-term operation of the tunnel. SUMMARY

[0006] The purpose of the present application is to provide a shield tunnel segment joint misalignment active resetting reinforcement method and related device, which can significantly improve the resetting and reinforcement effect of the shield tunnel segment joint.

[0007] To achieve the above purpose, the present application provides the following solutions: In a first aspect, the present application provides a shield tunnel segment joint misalignment active resetting reinforcement method, comprising: obtaining the overall three-dimensional point cloud data of the shield tunnel; based on the overall three-dimensional point cloud data, using an adaptive point cloud segmentation algorithm to perform segment joint identification operation and segment separation operation on the shield tunnel, to obtain the point cloud data of each segment, and based on the point cloud data of the reference non-misaligned segment, to gradually identify all existing misaligned joints; the point cloud data of the reference non-misaligned segment is obtained from the point cloud data of all segments, and the reference non-misaligned segment is a segment with complete point cloud geometry and high curvature continuity; firstly, a local coordinate system is constructed at the misaligned joint, and the point cloud data of the adjacent segments corresponding to the misaligned joint is accurately matched, and then based on the point cloud data of the adjacent segments and the local coordinate system, the normal offset and the tangential deflection angle between the adjacent segments are calculated to obtain the misalignment calculation result; based on the overall three-dimensional point cloud data, a three-dimensional model of the shield tunnel is constructed; Based on the calculation result of the misalignment amount, the three-dimensional model, the segment size information, the joint position information, the geological condition data, and the load and mechanical data, a digital twin model is constructed, and multi-parameter numerical simulation is performed by using the digital twin model to obtain an optimal resetting scheme; Based on the optimal resetting scheme, a cooperative control instruction is obtained; the cooperative control instruction is used to control the reinforcing and resetting assembly to reset and reinforce the misaligned segments.

[0008] Optionally, based on the overall three-dimensional point cloud data, a self-adaptive point cloud segmentation algorithm is used to perform segment joint identification and segment separation operations on the shield tunnel to obtain point cloud data of each segment, specifically including: Based on the overall three-dimensional point cloud data, the curvature change rate and the normal vector angle deviation of each point are calculated; Based on the curvature change rate and the normal vector angle deviation, the joint feature points are determined; Based on the overall three-dimensional point cloud data and the joint feature points, a region growing algorithm is used to perform segment joint identification to obtain the joints between all segments; Based on the joints between all segments, the segment separation operation is performed on the overall three-dimensional point cloud data to obtain the point cloud data of each segment.

[0009] Optionally, based on the point cloud data of the reference misalignment-free segment, all existing misalignment joints are identified step by step, specifically including: Based on the point cloud data of all segments, the point cloud data of at least one reference misalignment-free segment is determined; The point cloud data of the reference misalignment-free segment is least square fitted to obtain a reference surface model; The point cloud data of the to-be-evaluated segment is least square fitted to obtain a to-be-evaluated surface model; the to-be-evaluated segment is a segment adjacent to the reference misalignment-free segment; The displacement deviation of the reference surface model and the to-be-evaluated surface model is calculated to obtain a displacement deviation value; It is judged whether the displacement deviation value is greater than a preset misalignment threshold; if yes, the joint between the reference misalignment-free segment and the to-be-evaluated segment is regarded as a misalignment joint; if no, the to-be-evaluated segment is regarded as a new reference misalignment-free segment, and the to-be-evaluated surface model of the to-be-evaluated segment is determined as the reference surface model of the new reference misalignment-free segment, and the step of “least square fitting the point cloud data of the reference misalignment-free segment to obtain a reference surface model” is returned until all to-be-evaluated segments of the shield tunnel are traversed.

[0010] Optionally, after the step of constructing a three-dimensional model of the shield tunnel based on the overall three-dimensional point cloud data, the shield tunnel segment joint misalignment active resetting and reinforcing method further comprises: mapping the misalignment amount calculation result to the three-dimensional model to obtain a segment misalignment distribution atlas; the segment misalignment distribution atlas is obtained by encoding the misalignment amount calculation result using different colors.

[0011] Optionally, based on the misalignment amount calculation result, the three-dimensional model, segment size information, joint position information, geological condition data, and load and mechanical data, a digital twin model is constructed, and multi-parameter numerical simulation is performed using the digital twin model to obtain an optimal resetting scheme, specifically including: Based on the misalignment amount calculation result, segment size information, joint position information, and geological condition data, a parameterized model is constructed; the parameterized model is a model composed of reinforcing and resetting component design parameters, including steel plate size, bolt arrangement mode, and hydraulic jack arrangement position; The parameterized model, the three-dimensional model, and the load and mechanical data are fused to obtain a digital twin model; Multi-parameter numerical simulation is performed using the digital twin model to determine an optimal resetting scheme; the optimal resetting scheme includes an optimal drilling scheme, an accurate grouting amount or soil removal amount, a segment resetting displacement amount, a jack jacking force range, and a final configuration scheme of steel plates and bolts.

[0012] Optionally, the cooperative control instruction includes: According to the optimal drilling scheme, a segment is precisely drilled using a drilling machine; According to the accurate grouting amount, a grouting pump is used to inject filling slurry into the segment wall through the drill hole; or, according to the accurate soil removal amount, a soil removal claw is used to remove a corresponding volume of soil through the drill hole; According to the final configuration scheme of steel plates and bolts, steel plates and bolts are set; According to the segment resetting displacement amount and the jack jacking force range, a hydraulic jack and an electric control tightening machine are controlled to work cooperatively to synchronize the jacking force and the bolt pretightening force according to a preset program ratio.

[0013] Optionally, the shield tunnel segment joint misalignment active resetting and reinforcing method further comprises: After the resetting construction is completed based on the optimal resetting scheme, three-dimensional point cloud data of the repaired area is obtained again; Based on the three-dimensional point cloud data of the repaired area, a misalignment amount calculation result after resetting is calculated, and a reinforcing effect is evaluated based on the misalignment amount calculation result after resetting; the reinforcing effect is used to determine whether a supplementary measure scheme needs to be generated.

[0014] In a second aspect, the present application provides a computer device, comprising: a memory, a processor to store a computer program on the memory and executable on the processor, and the processor executes the computer program to implement the shield tunnel segment joint dislocation active reset reinforcement method according to any one of the above.

[0015] In a third aspect, the present application provides a computer readable storage medium, having stored thereon a computer program, which, when executed by a processor, implements the shield tunnel segment joint dislocation active reset reinforcement method according to any one of the above.

[0016] In a fourth aspect, the present application provides a computer program product, comprising a computer program, which, when executed by a processor, implements the shield tunnel segment joint dislocation active reset reinforcement method according to any one of the above.

[0017] According to the specific embodiments provided by the present application, the present application has the following technical effects: The present application provides a shield tunnel segment joint dislocation active reset reinforcement method and related devices, by obtaining the overall three-dimensional point cloud data of the shield tunnel, and using the adaptive point cloud segmentation algorithm to identify and separate the segment joint, the problem of inaccurate identification of dislocation joints in traditional methods is solved, and accurate point cloud data acquisition of each segment and step-by-step identification of dislocation joints are realized. Moreover, based on the point cloud data of the reference non-dislocation segment, a local coordinate system is constructed and accurate matching of the point cloud data of adjacent segments at the dislocation joint is realized, solving the problem of inaccurate quantitative calculation of dislocation joints, and the dislocation amount including the normal offset and the tangential deflection angle can be accurately calculated, significantly improving the calculation accuracy.

[0018] By constructing a three-dimensional model of the shield tunnel based on the overall three-dimensional point cloud data, combining the dislocation amount, segment size, joint position information, geological conditions and other data, a digital twin model is constructed and multi-parameter numerical simulation is performed, solving the problem of insufficient refinement and optimization of the reset scheme, and a refined optimal reset scheme can be quickly generated, significantly improving the reliability and pertinence of the reset strategy.

[0019] By generating a cooperative control instruction based on the optimal reset scheme, the problem of coordinated control in the reinforcement reset operation is solved, so that through the reset-bearing integrated cooperative control mechanism, the bearing capacity of the segment itself is fully utilized, the invalid reinforcement of the non-weak area segment in the traditional technology is effectively avoided, the problem of passive reinforcement starting point error is further solved, the accurate reset reinforcement of the dislocation segment is realized, and the precision of the reinforcement measures and the overall performance of the structure are significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described below only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0021] Figure 1 An application environment diagram of a shield tunnel segment joint misalignment active resetting and reinforcing method provided by an embodiment of the present application; Figure 2 A flowchart of the shield tunnel segment joint misalignment active resetting and reinforcing method provided by an embodiment of the present application; Figure 3 A technical process flowchart of the shield tunnel segment joint misalignment active resetting and reinforcing method provided by an embodiment of the present application; Figure 4 A flowchart of a push-self-lock synchronous construction process in a cooperative control instruction provided by an embodiment of the present application; Figure 5 A push-self-lock synchronous construction process diagram provided by an embodiment of the present application; Figure 6 A structure diagram of a computer device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments only constitute some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] In order to make the above purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0024] The shield tunnel segment joint misalignment active resetting and reinforcing method provided by the embodiments of the present application can be applied to, for example, Figure 1The application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data required by the server 104 to process. The data storage system can be set up separately, or integrated on the server 104, or placed on the cloud or other servers. The terminal 102 can send the overall three-dimensional point cloud data of the shield tunnel to the server 104, and the server 104 obtains the point cloud data of each segment based on the overall three-dimensional point cloud data, and gradually identifies all existing misaligned joints based on the point cloud data of the reference misaligned joint selected from the point cloud data of all segments; first construct a local coordinate system at the misaligned joint, and accurately match the point cloud data of the adjacent segments corresponding to the misaligned joint, and then calculate the misalignment calculation result based on the point cloud data of the adjacent segments and the local coordinate system; further, the digital twin model is constructed to perform multi-parameter numerical simulation to obtain the optimal resetting scheme; based on the optimal resetting scheme, the cooperative control instruction is obtained. The server 104 can feed back the obtained cooperative control instruction to the terminal 102.

[0025] Among them, the terminal 102 can be, but not limited to, various desktop computers, notebook computers, Internet of Things devices and reinforced resetting components. The server 104 can be implemented by an independent server or a server cluster composed of multiple servers, and can also be a cloud server.

[0026] In an exemplary embodiment, as Figures 2-3 shown, a shield tunnel segment joint misalignment active resetting and reinforcing method is provided, which is executed by a computer device, specifically by a terminal or a server, etc. Computer device alone, or by a terminal and a server together, in the embodiment of the application, taking the server 104 in the Figure 1 application environment as an example for illustration, including the following steps 201 to 206. Among them: Step 201, obtaining the overall three-dimensional point cloud data of the shield tunnel.

[0027] Step 202, based on the overall three-dimensional point cloud data, using an adaptive point cloud segmentation algorithm to perform segment joint identification and segment separation operations on the shield tunnel, to obtain the point cloud data of each segment, and based on the point cloud data of the reference misaligned joint, to gradually identify all existing misaligned joints; The point cloud data of the reference misaligned joint is selected from the point cloud data of all segments, and the reference misaligned joint is a segment with complete point cloud geometry and high curvature continuity.

[0028] Step 203, first construct a local coordinate system at the misaligned joint, and accurately match the point cloud data of the adjacent segments corresponding to the misaligned joint, and then calculate the normal offset and tangential deflection angle between the adjacent segments based on the point cloud data of the adjacent segments and the local coordinate system, to obtain the misalignment calculation result.

[0029] In step 204, a three-dimensional model of the shield tunnel is constructed based on the overall three-dimensional point cloud data.

[0030] In step 205, a digital twin model is constructed based on the misalignment calculation results, the three-dimensional model, the segment size information, the joint position information, the geological condition data, the reinforcement and resetting component design parameters, and the load and mechanical data, and multi-parameter numerical simulation is performed using the digital twin model to obtain an optimal resetting scheme.

[0031] In step 206, a cooperative control instruction is obtained based on the optimal resetting scheme; the cooperative control instruction is used to control the reinforcement and resetting component to reset and reinforce the misaligned segments.

[0032] By implementing the above steps 201 to 206, the present application solves the problem of inaccurate identification of misaligned joints in traditional methods by obtaining overall three-dimensional point cloud data of the shield tunnel and using an adaptive point cloud segmentation algorithm to identify and separate the segment joints, achieving accurate point cloud data acquisition for each segment and step-by-step identification of misaligned joints. Moreover, based on the point cloud data of the reference misaligned segments, a local coordinate system is constructed and accurate matching of point cloud data of adjacent segments at misaligned joints is achieved, solving the problem of inaccurate quantitative calculation of misaligned joints and accurately calculating the misalignment including the normal offset and the tangential deflection angle, significantly improving the calculation accuracy.

[0033] By constructing a three-dimensional model of the shield tunnel based on overall three-dimensional point cloud data, and combining misalignment data, segment size, joint position information, geological conditions, and other data, a digital twin model is constructed and multi-parameter numerical simulation is performed, solving the problem of insufficient refinement and optimization of the resetting scheme, and quickly generating a refined optimal resetting scheme, significantly improving the reliability and pertinence of the resetting strategy.

[0034] By generating a cooperative control instruction based on the optimal resetting scheme, the problem of coordinated control in reinforcement and resetting operations is solved, so that the bearing capacity of the segment is fully utilized through the resetting-bearing integrated cooperative control mechanism, effectively avoiding the invalid reinforcement of non-weak segments in traditional technology, further solving the problem of incorrect passive reinforcement starting point, achieving accurate resetting and reinforcement of misaligned segments, and significantly improving the accuracy of reinforcement measures and the overall performance of the structure.

[0035] Further, in step 201, a three-dimensional laser radar is used to emit laser to scan the shield tunnel and obtain high-density overall three-dimensional point cloud data of the shield tunnel; the point cloud spacing of the overall three-dimensional point cloud data is not greater than 0.2 mm, and the scanning range needs to cover the segment joint area of the shield tunnel, and the point cloud coverage rate of the segment joint area is not less than 95%, ensuring the integrity of the point cloud.

[0036] It can be understood that this step adopts a three-dimensional laser radar to globally scan the shield tunnel segment, the laser beam emitted thereby can accurately capture the micro geometric distortion of the radially misaligned segment and the longitudinally misaligned segment, and realize the collection of an ultrahigh-density point cloud with a point cloud spacing of ≤0.2 mm. The scanning range needs to ensure that the joint area has a non-shading rate of ≥95%, and completely eliminates the visual blind area, thereby providing complete and accurate data basement for subsequent digital twin model construction. The completeness of the point cloud data determines the accuracy of damage identification and the reliability of the resetting scheme, and is the primary guarantee for accurate repair.

[0037] Further, in step 202, based on the obtained overall three-dimensional point cloud data, an adaptive point cloud segmentation algorithm is used to identify the misaligned joint area. The segment joint is first identified and the point cloud data of each segment is separated, and through analysis of the geometric characteristics of the point cloud, such as curvature change and normal direction consistency, point cloud clustering is performed in the vicinity of the joint. Taking a misaligned segment as a reference (i.e., a reference misaligned segment), by fitting the surface model of the adjacent segment, the position difference between the reference misaligned segment and the adjacent segment is compared, and the misaligned segment joint is identified.

[0038] In step 202, based on the overall three-dimensional point cloud data, the adaptive point cloud segmentation algorithm is used to perform segment joint identification and segment separation on the shield tunnel, to obtain the point cloud data of each segment, which specifically includes: In step 2021, based on the overall three-dimensional point cloud data, the curvature change rate and the normal vector angle deviation of each point are calculated.

[0039] In step 2022, based on the curvature change rate and the normal vector angle deviation, the joint feature points are determined.

[0040] In step 2023, based on the overall three-dimensional point cloud data and the joint feature points, the region growing algorithm is used to perform segment joint identification, to obtain the joints between all segments.

[0041] In step 2024, based on the joints between all segments, the segment separation is performed on the overall three-dimensional point cloud data, to obtain the point cloud data of each segment.

[0042] In step 202, based on the point cloud data of the reference misaligned segment, all existing misaligned joints are identified, specifically including: In step 2025, based on the point cloud data of all segments, the point cloud data of at least one reference misaligned segment is determined.

[0043] In step 2026, the least squares fitting is performed on the point cloud data of the reference misaligned segment, to obtain the reference surface model.

[0044] Step 2027, least square fitting is performed on the point cloud data of the pipe segment to be evaluated to obtain a to-be-evaluated surface model; the to-be-evaluated pipe segment is a pipe segment adjacent to the reference error-free pipe segment.

[0045] Step 2028, displacement deviation between the reference surface model and the to-be-evaluated surface model is calculated to obtain a displacement deviation value.

[0046] Step 2029, it is judged whether the displacement deviation value is greater than a preset error threshold; if yes, the joint between the reference error-free pipe segment and the to-be-evaluated pipe segment is regarded as an error joint; if no, the to-be-evaluated pipe segment is regarded as a new reference error-free pipe segment, and the to-be-evaluated surface model of the to-be-evaluated pipe segment is determined as a reference surface model of the new reference error-free pipe segment, and the step of “least square fitting is performed on the point cloud data of the reference error-free pipe segment to obtain a reference surface model” is returned until all to-be-evaluated pipe segments of the shield tunnel are traversed.

[0047] It can be understood that the pipe joint is essentially a geometric discontinuous boundary of adjacent precast concrete blocks. By calculating the Gaussian curvature change rate and the normal vector angle deviation of the local region of the point cloud, the joint feature can be accurately captured. The region growing algorithm is used to expand along the discontinuous boundary with the joint feature point as the initial seed region, and the process realizes the automatic separation of the point clouds of adjacent pipe segments. Least square surface fitting is performed on the separated single-block pipe segment point cloud, and by comparing the spatial pose parameters of the fitting surfaces of the reference error-free pipe segment and the corresponding adjacent pipe segment, the displacement deviation of the adjacent pipe segments can be essentially distinguished, providing a reliable topological basis for error quantification. The algorithm can effectively solve the misclassification problem caused by uneven point cloud density or noise interference in traditional methods, and significantly improve the robustness of error identification.

[0048] Further, in step 203, based on the error joint identification result, a local coordinate system is established at the error joint, the point cloud data of the adjacent pipe segments corresponding to the error joint is accurately matched, the normal offset and the tangential deflection angle between the adjacent pipe segments are calculated, and an error amount calculation result is obtained, with an accuracy of 0.2 mm.

[0049] It can be understood that this step essentially solves the accurate spatial relationship reconstruction of the error pipe segment through the local coordinate system. The local coordinate system converts the global problem into directional analysis of the joint neighborhood, the Z-axis radial constraint ensures that the normal offset truly reflects the pipe segment void degree, and the X-axis ring constraint accurately captures the tangential twist. The point cloud matching adopts the iterative closest point algorithm to achieve sub-millimeter registration by minimizing the root mean square error of the spatial distance of the adjacent pipe segment point clouds. This method overcomes the interference of the overall deformation of the tunnel on the local error analysis, and ensures that the output error amount confidence reaches ±0.2 mm, providing a reliable basis for the repositioning construction.

[0050] Further, after the three-dimensional model of the shield tunnel is constructed based on the overall three-dimensional point cloud data as in step 204, the shield tunnel segment joint dislocation active resetting and reinforcing method further comprises: mapping the dislocation amount calculation result to the three-dimensional model to obtain a segment dislocation distribution atlas (i.e. a heat atlas), and marking a high dislocation amount area in the three-dimensional model; the segment dislocation distribution atlas is obtained by encoding the dislocation amount calculation result using different colors, wherein red represents that the dislocation amount calculation result is greater than 5 mm, yellow represents that the dislocation amount calculation result is between 2 mm and 5 mm, and green represents that the dislocation amount calculation result is less than 2 mm.

[0051] It can be understood that the step converts the abstract dislocation amount calculation data into intuitive spatial risk distribution through the point cloud-model bidirectional mapping mechanism. The color classification (red / yellow / green) of the heat atlas is essentially color coding of the structural safety state: red represents that the segment joint has exceeded the elastic deformation limit (the dislocation amount calculation result is greater than 5 mm), and is extremely prone to cause bearing capacity failure; yellow indicates that the joint is in the plastic deformation stage (the dislocation amount calculation result is between 2 mm and 5 mm), and needs preventive intervention; and green indicates that the deformation is within the safety threshold (the dislocation amount calculation result is less than 2 mm). The continuous ring marking of the high dislocation amount area accurately reveals the chain instability risk caused by local damage of the tunnel, and provides a scientific decision basis for targeted repair.

[0052] Further, in step 205, a digital twin model is constructed based on the dislocation amount calculation result, the three-dimensional model, segment size information, joint position information, geological condition data, and load and mechanical data, and multi-parameter numerical simulation is performed using the digital twin model to obtain an optimal resetting scheme, specifically comprising: Step 2051, a parameterized model is constructed based on the dislocation amount calculation result, segment size information, joint position information, and geological condition data; the parameterized model is a model composed of reinforcing resetting component design parameters, and the reinforcing resetting component design parameters include steel plate size, bolt arrangement mode, and hydraulic jack arrangement position.

[0053] Step 2052, the parameterized model, the three-dimensional model, and the load and mechanical data (i.e. segment load distribution atlas and stress concentration coefficient analysis) are fused to obtain a digital twin model.

[0054] Step 2053, multi-parameter numerical simulation is performed using the digital twin model to determine an optimal resetting scheme; the optimal resetting scheme includes an optimal drilling scheme, an accurate grouting amount or soil removal amount, a segment resetting displacement amount, a jack jacking force range, and a final configuration scheme of the steel plate and the bolt, so as to ensure that the resetting process is controllable and secondary damage to the segment is avoided.

[0055] Understandably, this step utilizes digital twin modeling and multi-parameter coupled simulation to precisely optimize the repositioning scheme. First, parametric modeling transforms segment misalignment, segment dimensions, joint locations, and geological conditions into adjustable parameters such as steel plate dimensions, bolt arrangement, and hydraulic jack placement. Second, multiphysics simulation, combined with tunnel load distribution maps and stress concentration factor analysis, employs the finite element method to calculate the changes in principal concrete stress along the repositioning path. This precisely controls key indicators such as grouting or excavation volume, segment repositioning displacement, jack thrust range, and steel plate and bolt configuration, ultimately outputting an economical and safe optimal repositioning scheme. This significantly reduces material costs while ensuring a controllable repositioning process and preventing secondary damage to the segments.

[0056] Furthermore, such as Figure 4 As shown, the cooperative control instructions in step 206 include: Step a1: Based on the optimal drilling scheme, use a drilling machine to precisely drill holes in the tunnel segments. Specifically: Based on the optimal drilling scheme determined by numerical simulation of the digital twin model, accurately locate the joints that need to be reinforced, clean the broken concrete on the inner surface of the tunnel segments on both sides, and use a drilling machine to precisely drill holes according to the drilling positioning, hole diameter and angle parameters output by the simulation results. The drilling depth needs to be able to penetrate the tunnel segment.

[0057] Understandably, this step, driven by a digital twin model and precise drilling technology, lays the foundation for the subsequent construction of the surrounding rock adjustment and repositioning system. The digital twin model integrates multi-source information such as geological conditions, segment stress state, and target repositioning force, and outputs the optimal drilling posture through finite element calculations. Essentially, it avoids potential risks such as internal steel reinforcement mesh, embedded parts, and existing microcracks within the segments. The drilling machine executes through-hole drilling according to parametric instructions, with a depth control accuracy of ±1mm, providing a precise working channel for subsequent grouting / excavation. This ensures the mechanical compatibility of the newly added bolt holes with the existing structural system, eliminates secondary damage caused by blind drilling, and fundamentally solves the problem of incomplete surrounding rock intervention in traditional reinforcement technologies. Surface cleaning down to a solid substrate is to rebuild the effective anchoring interface of the segment concrete and avoid bolt preload attenuation caused by fractured layers.

[0058] Step a2, according to the accurate grouting amount, use the grouting pump to inject the filling slurry into the pipe wall through the drill hole; or, according to the accurate soil removal amount, use the soil removal claw to remove the corresponding volume of soil through the drill hole; specifically: according to the scheme determined by the digital twin model, perform surrounding rock treatment, for the case of pipe segment outward displacement caused by wall behind void, use the grouting pump to inject the filling slurry into the pipe wall through the drill hole, and the slurry solidifies to form a support body to provide the support force required for the jacking reset; for the case of pipe segment inward displacement caused by the surrounding rock closely attached to the pipe segment, use the soil removal claw to remove the corresponding volume of soil through the drill hole to form a local pressure release cavity to reduce the jacking reset resistance. In implementation, the dynamic construction principle of "grouting / removing as you go, pushing as you go, and twisting as you go" is followed.

[0059] It can be understood that this step realizes the treatment of the displacement root cause through differentiated mechanical intervention. The digital twin model provides quantitative decision basis for the grouting amount, slurry pressure, soil removal amount and soil removal position based on the accurate simulation of surrounding rock pressure distribution, void area morphology and target reset force. The grouting operation not only fills the void area, but also converts the local concentrated load into a surface load uniformly transmitted to the deep surrounding rock by the support body formed thereby; the soil removal operation provides a controllable space for pipe segment rebound by accurately unloading the surrounding pressure of a specific area. Strictly following the principle of "grouting / removing as you go, pushing as you go, and twisting as you go", the core is to establish real-time dynamic balance of surrounding rock state-jacking force-structure response, breaking the limitation of traditional "only reinforcement without adjustment", so as to realize safe, accurate and efficient structure reset.

[0060] Step a3, according to the final configuration scheme of the steel plate and the bolt, set the steel plate and the bolt; specifically: in the through bolt hole on the surface of the displaced pipe segment, implant the expansion bolt according to the simulation scheme, and fix the steel plate of the selected size to the inner surface of the displaced pipe segment.

[0061] It can be understood that this step constructs a rigid force transmission interface on the inner surface of the displaced pipe segment through the anchoring mechanism of the expansion bolt. The expansion bolt radially expands the bolt hole diameter during tightening, forming a high-strength occlusion pressure with the hole wall concrete, which is essentially a three-way force chain that transmits the steel plate load to the pipe segment concrete and then to the surrounding rock. The core value of the hierarchical torque loading strategy is to avoid stress sudden increase to induce micro cracks and allow the concrete to fully develop creep. The flatness control of the steel plate ensures that the jacking reaction force is uniformly distributed, thereby eliminating the risk of anchoring failure caused by local stress concentration from the root.

[0062] At the same time, the surface through bolt hole of the adjacent non-displaced pipe segment is positioned, and the high-strength expansion bolt is pre-installed in the bolt hole but not fastened.

[0063] It can be understood that this step creates the key condition for subsequent synchronous reset by pre-installation technology. The essence of the pre-installed bolt only screwed into 3 teeth threads is to build a temporary slippable constraint boundary, which prevents the bolt from falling off due to construction vibration, and allows the misaligned segment to be freely adjusted along the tangent direction during the jacking process. The precise protruding amount of 8mm of the bolt head ensures that the electric tightening machine can be instantaneously engaged and loaded, and the technical core lies in balancing the contradiction between the initial positioning reliability and the adaptability during the reset process, thereby completely avoiding the risk of segment internal force locking caused by traditional full-tightening fastening.

[0064] Step a4, according to the segment reset displacement and the jacking force range of the hydraulic jack, the hydraulic jack and the electric tightening machine are controlled to work cooperatively to make the jacking force and the bolt pretightening force increase in proportion according to the preset program, specifically including: Step a41, the hydraulic jack is supported by a tripod according to the simulation scheme, and the reaction end is fixed in the grouting hole of the misaligned segment or a stable reaction point.

[0065] It can be understood that this step builds a stable jacking reaction system in a narrow space through an adaptive anchoring mechanism. The moment optimization design of the tripod can avoid the overturning risk of traditional single-point support. The grouting hole of the misaligned segment is converted into a standard reaction interface, avoiding irreversible damage caused by secondary opening of the segment.

[0066] Step a42, the piston rod of the hydraulic jack abuts against the reinforced steel plate of the misaligned segment, and the electric tightening machine is connected to the self-locking bolt.

[0067] It can be understood that this step realizes the control of the precise "jacking-self-locking" process of the reset system through a dynamic compensation force-electricity coupling control system. The jacking-self-locking synchronous construction process is shown in Figure 5 , (wherein, 30 is the surrounding rock, 31 is the hydraulic jack, 32 is the surrounding rock treatment, 33 is the misaligned joint, 34 is the through bolt hole, 35 is the expansion bolt, 36 is the steel plate, 37 is the electric tightening machine, 38 is the cooperative control system (i.e. computer equipment), 39 is the segment, 321 is the grouting pump, 322 is the soil digging claw, 391 is the misaligned segment, and 392 is the misaligned segment). The jacking force is always transmitted along the normal direction of the steel plate, avoiding lateral force inducing anchoring failure. The electric tightening machine adaptively matches the spatial posture of the bolt, and the technical core lies in solving the millimeter-level precise docking problem in the narrow tunnel space, providing a millisecond-level response basis for subsequent synchronous control.

[0068] Step a43, start the hydraulic jack to apply a radial thrust force, and strictly control the thrust force within the safety range determined by the digital twin simulation. During the thrust process, simultaneously use the grouting pump to perform grouting reinforcement or use the soil excavation claw to excavate and relieve pressure: At the same time, real-time monitoring of the misaligned joint reset amount is performed by a high-precision displacement sensor, and when the reset amount approaches the target displacement determined by simulation, the synchronous control system starts the electrically controlled tightening machine according to the dynamic construction principle of "grouting / excavation, pushing, and twisting", and applies an incremental bolt pretightening force according to the preset program.

[0069] It can be understood that this step realizes the precise controllability of the thrusting-self-locking synchronous control system in the reset process through real-time coupling of mechanical parameters. The hydraulic jack applies a radial load according to the thrust force safety range determined by simulation, and the displacement sensor monitors the reset amount at a high frequency sampling frequency. When the reset amount approaches the target value determined by simulation, the electrically controlled tightening machine applies a bolt pretightening force according to the preprogrammed pretightening force gradient. The system realizes the proportional linkage of the thrust force and the pretightening force through the controller, ensures that the structural system completes the rigid conversion at the moment of completing the reset, and eliminates the stress relaxation risk caused by traditional step-by-step construction.

[0070] Step a44, the thrust force and the pretightening force are increased proportionally and synchronously until the reset is completed, and the steel plate and the segment form a rigid connection body, and the jack is unloaded according to the preset program.

[0071] It can be understood that this step realizes the qualitative transition of the structural system from the reset state to the bearing state through the displacement-force cooperative control mechanism. The thrust force dominates the macro displacement of the misaligned segment, and the pretightening force simultaneously builds the micro frictional constraint of the steel plate and the adjacent segment. When the cooperative loading reaches the final state, the force chain of the concrete-steel plate interface is reorganized to form a true rigid connection body.

[0072] Further, the method for actively resetting and reinforcing the misaligned joint of the shield tunnel segment further comprises: Step 207, after completing the reset construction based on the optimal reset scheme, three-dimensional point cloud data of the repaired area is obtained again, and based on the three-dimensional point cloud data of the repaired area, a reset misalignment calculation result is calculated, and based on the reset misalignment calculation result, a reinforcement effect is evaluated; the reinforcement effect is used to determine whether a supplementary measure scheme needs to be generated.

[0073] It can be understood that the step forms a closed-loop quality control of accurate repair through the quantitative evaluation technology of repair effect. The high-precision three-dimensional point cloud data obtained by the secondary scanning is accurately matched with the data before the repair in the same coordinate system. The essence is to quantitatively evaluate the accuracy of the reset construction and the effectiveness of the reinforcement system by comparing the data before and after the construction. Calculating the residual displacement amount can not only verify whether the design reset target is achieved, but also reveal the deformation potential that is not completely released through micron-level deviation analysis. The effect evaluation based on objective data provides a scientific basis for deciding whether to take supplementary measures such as local reinforcement, ensuring the long-term safety and stability of the tunnel structure.

[0074] Therefore, the application utilizes the shield tunnel segment joint dislocation active reset reinforcement technology described above, based on the whole-process closed-loop control system of "diagnosis-treatment-reset-verification", realizes the systematic operation from identification, analysis to reset reinforcement and effect verification, significantly improves the overall effect of shield tunnel segment joint reset reinforcement, and guarantees the tunnel construction quality and long-term operation safety. The steel plate and the segment form a rigid connection body at the moment of reset completion, which is beneficial to the bearing capacity of the segment itself, can be applied to actual engineering, provides a theoretical basis and construction guidance for the thrust setting during shield tunneling, has significant engineering benefits and excellent engineering utilization value.

[0075] The application also provides an application scenario of the shield tunnel segment joint dislocation active reset reinforcement method. Specifically, the shield tunnel segment joint dislocation active reset reinforcement method provided by the embodiment can be applied in a shield tunnel repair scene. The shield tunnel repair scene includes an optimal reset scheme generation link and a reset reinforcement link. The optimal reset scheme generation link is used to generate an optimal reset scheme according to the overall three-dimensional point cloud data of the shield tunnel. The reset reinforcement link is used to obtain a cooperative control instruction based on the optimal reset scheme, and control the reset reinforcement assembly to reset and reinforce the dislocated segment through the cooperative control instruction. The video tag processing method provided by the embodiment belongs to the optimal reset scheme generation link and the reset reinforcement link.

[0076] In an exemplary embodiment, a computer device, which can be a server or a terminal, is provided, and an internal structure diagram of the computer device can be as shown in FIG. 1. Figure 6As shown in the figure. The computer device includes a processor, a memory, an Input / Output (I / O) interface, and a communication interface. Among them, the processor, the memory and the input / output interface are connected through the system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capability. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store processing data. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through network connection. The computer program is executed by the processor to implement a shield tunnel segment joint dislocation active reset reinforcement method.

[0077] Those skilled in the art can understand that, Figure 6 The structure shown in the figure is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device to which the scheme of the present application is applied. The specific computer device can include more or fewer components than those shown in the figure, or combine certain components, or have a different component arrangement. In one exemplary embodiment, a computer device is provided, including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the steps in each of the above method embodiments.

[0078] In one exemplary embodiment, a computer readable storage medium is provided, storing a computer program, which is executed by a processor to implement the steps in each of the above method embodiments.

[0079] In one exemplary embodiment, a computer program product is provided, including a computer program, which is executed by a processor to implement the steps in each of the above method embodiments.

[0080] It should be noted that the user information (including but not limited to user equipment information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in the present application are all information and data authorized by the user or authorized by all parties, and the collection, use and processing of related data need to comply with relevant regulations.

[0081] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the processes of the above-mentioned embodiments of the methods can be included. Any reference to a memory, a database or other medium used in the embodiments provided in the present application can include at least one of a non-volatile and a volatile memory. The non-volatile memory can include a read-only memory (ROM), a magnetic tape, a floppy disk, a flash memory, an optical storage, a high-density embedded non-volatile memory, a resistive random access memory (ReRAM), a magnetoresistive random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, etc. The volatile memory can include a random access memory (RAM) or an external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as a static random access memory (SRAM) or a dynamic random access memory (DRAM), etc.

[0082] The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a blockchain, etc., without being limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0083] The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the present application.

[0084] The principles and implementation modes of the present application are described by using specific examples in the present application. The above embodiments are only used to help understand the method and its core idea of the present application; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation mode and application range can be changed. In conclusion, the content of the present application should not be understood as a limitation.

Claims

1. A method for actively repositioning and reinforcing misaligned joints of shield tunnel segments, characterized in that, The active repositioning and reinforcement method for misaligned shield tunnel segment joints includes: Obtain the overall three-dimensional point cloud data of the shield tunnel; Based on the overall 3D point cloud data, an adaptive point cloud segmentation algorithm is used to perform segment joint identification and segment separation operations on the shield tunnel, obtaining the point cloud data of each segment. Based on the point cloud data of the benchmark segment without misalignment, all existing misalignment joints are gradually identified. The point cloud data of the benchmark segment without misalignment is selected from the point cloud data of all segments. The benchmark segment without misalignment is a segment with complete point cloud geometry and high curvature continuity. First, a local coordinate system is constructed at the misaligned joint, and the point cloud data of the adjacent pipe segments corresponding to the misaligned joint are accurately matched. Then, based on the point cloud data of the adjacent pipe segments and the local coordinate system, the normal offset and tangential deflection angle between the adjacent pipe segments are calculated to obtain the misalignment calculation result. A three-dimensional model of the shield tunnel is constructed based on the overall three-dimensional point cloud data. Based on the misalignment calculation results, three-dimensional model, segment size information, joint location information, geological condition data, and load and mechanical data, a digital twin model is constructed, and multi-parameter numerical simulation is performed using the digital twin model to obtain the optimal repositioning scheme. Based on the optimal reset scheme, a collaborative control command is obtained; the collaborative control command is used to control the reinforcement and reset component to reset and reinforce the misaligned tube segment.

2. The active repositioning and reinforcement method for misaligned shield tunnel segment joints according to claim 1, characterized in that, Based on the overall 3D point cloud data, an adaptive point cloud segmentation algorithm is used to perform segment joint identification and segment separation operations on the shield tunnel, obtaining the point cloud data of each segment, specifically including: Based on the overall 3D point cloud data, the rate of curvature change and the deviation of the normal vector angle for each point are calculated. Based on the rate of change of curvature and the deviation of the angle between the normal vectors, the joint feature points are determined; Based on the overall 3D point cloud data and joint feature points, the region growing algorithm is used to identify the joints between pipe segments, thus obtaining the joints between all pipe segments. Based on the joints between all segments, a segment separation operation is performed on the overall 3D point cloud data to obtain the point cloud data of each segment.

3. The active repositioning and reinforcement method for misaligned shield tunnel segment joints according to claim 1, characterized in that, Based on the point cloud data of the baseline misaligned segments, all existing misaligned joints are gradually identified, specifically including: Based on the point cloud data of all segments, at least one reference segment without misalignment is determined. The point cloud data of the reference segment without misalignment is fitted with least squares to obtain the reference surface model. The point cloud data of the segment to be evaluated is fitted with least squares to obtain the surface model to be evaluated; the segment to be evaluated is the segment adjacent to the benchmark segment without misalignment. The displacement deviation between the reference surface model and the surface model to be evaluated is calculated to obtain the displacement deviation value; Determine whether the displacement deviation value is greater than the preset misalignment threshold; if so, the joint between the reference misaligned segment and the segment to be evaluated is taken as the misaligned joint; if not, the segment to be evaluated is taken as the new reference misaligned segment, and the surface model to be evaluated of the segment to be evaluated is determined as the reference surface model of the new reference misaligned segment, and return to the step "perform least squares fitting on the point cloud data of the reference misaligned segment to obtain the reference surface model", until the segments to be evaluated in the shield tunnel are traversed.

4. The active repositioning and reinforcement method for misaligned shield tunnel segment joints according to claim 1, characterized in that, For example, after constructing a three-dimensional model of the shield tunnel based on the overall three-dimensional point cloud data, the active repositioning and reinforcement method for misaligned shield tunnel segment joints further includes: mapping the misalignment calculation results to the three-dimensional model to obtain a segment misalignment distribution map; the segment misalignment distribution map is obtained by encoding the misalignment calculation results using different colors.

5. The active repositioning and reinforcement method for misaligned shield tunnel segment joints according to claim 1, characterized in that, Based on the misalignment calculation results, 3D model, segment size information, joint location information, geological condition data, and load and mechanical data, a digital twin model is constructed. Multi-parameter numerical simulations are then performed using this digital twin model to obtain the optimal repositioning scheme, specifically including: Based on the misalignment calculation results, segment size information, joint location information, and geological condition data, a parametric model is constructed. The parametric model is a model composed of the design parameters of the reinforcement and repositioning components, including steel plate size, bolt arrangement, and hydraulic jack placement. By fusing parametric models, 3D models, and load and mechanical data, a digital twin model is obtained. The optimal reset scheme is determined by using a digital twin model for multi-parameter numerical simulation. The optimal reset scheme includes the optimal drilling scheme, the precise grouting or soil removal volume, the segment reset displacement, the jack thrust range, and the final configuration scheme of steel plates and bolts.

6. The active repositioning and reinforcement method for misaligned shield tunnel segment joints according to claim 1, characterized in that, The coordinated control commands include: Based on the optimal drilling plan, the drilling machine is used to precisely drill holes in the tunnel segments; Based on the precise grouting volume, grouting pumps are used to inject filling grout into the back wall of the tunnel segment through boreholes; or, based on the precise soil removal volume, soil removal claws are used to remove the corresponding volume of soil through boreholes. Set up the steel plates and bolts according to the final configuration scheme; Based on the segment reset displacement and the jack thrust range, the hydraulic jack and the electric tightening machine are controlled to work together so that the thrust and bolt preload increase synchronously according to the preset program ratio.

7. The active repositioning and reinforcement method for misaligned shield tunnel segment joints according to claim 1, characterized in that, The active repositioning and reinforcement method for misaligned shield tunnel segment joints also includes: After completing the reset construction based on the optimal reset scheme, the three-dimensional point cloud data of the repair area is acquired again. Based on the 3D point cloud data of the repair area, the misalignment amount after resetting is calculated, and the reinforcement effect is evaluated based on the misalignment amount after resetting; the reinforcement effect is used to determine whether supplementary measures need to be generated.

8. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that the processor executes the computer program to implement the active repositioning and reinforcement method for misaligned shield tunnel segment joints as described in any one of claims 1-7.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the active repositioning and reinforcement method for misaligned shield tunnel segment joints as described in any one of claims 1-7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the active repositioning and reinforcement method for misaligned shield tunnel segment joints as described in any one of claims 1-7.

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