A method and related device for active reset and reinforcement of misalignment of a shield tunnel segment joint

Abstract

The application discloses a shield tunnel segment joint dislocation active resetting and reinforcing method and a related device, relates to the shield tunnel repairing technical field, and the method comprises the following steps: obtaining point cloud data of each segment based on overall three-dimensional point cloud data, and gradually identifying all existing dislocation joints based on the point cloud data of a reference dislocation-free segment selected from the point cloud data of all segments; firstly, constructing a local coordinate system at the dislocation joint, accurately matching the point cloud data of adjacent segments corresponding to the dislocation joint, and then calculating a dislocation amount calculation result based on the point cloud data of the adjacent segments and the local coordinate system; further constructing a digital twin model, and obtaining an optimal resetting scheme through multi-parameter numerical simulation by using the digital twin model; and obtaining a cooperative control instruction based on the optimal resetting scheme. The application significantly improves the resetting and reinforcing effect of the shield tunnel segment joint.

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-mentioned purpose, the present application provides the following solutions:

[0008] In a first aspect, the present application provides a shield tunnel segment joint misalignment active resetting reinforcement method, comprising:

[0009] Obtaining the overall three-dimensional point cloud data of the shield tunnel;

[0010] 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, obtaining the point cloud data of each segment, and based on the point cloud data of the reference non-misaligned segment, gradually identifying all existing misaligned joints; the point cloud data of the reference non-misaligned segment is selected 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;

[0011] First, 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;

[0012] Based on the overall three-dimensional point cloud data, a three-dimensional model of the shield tunnel is constructed;

[0013] Based on the misalignment amount calculation result, 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 using the digital twin model to obtain an optimal resetting scheme;

[0014] 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.

[0015] Optionally, based on the overall three-dimensional point cloud data, a segment joint recognition operation and a segment separation operation are performed on the shield tunnel using an adaptive point cloud segmentation algorithm to obtain point cloud data of each segment, specifically including:

[0016] Based on the overall three-dimensional point cloud data, the curvature change rate and the normal vector angle deviation of each point are calculated;

[0017] Based on the curvature change rate and the normal vector angle deviation, the joint feature points are determined;

[0018] Based on the overall three-dimensional point cloud data and the joint feature points, a region growing algorithm is used to perform a segment joint recognition operation to obtain the joints between all segments;

[0019] Based on the joints between all segments, a segment separation operation is performed on the overall three-dimensional point cloud data to obtain point cloud data of each segment.

[0020] Optionally, based on the point cloud data of the reference misalignment-free segment, all existing misalignment joints are gradually identified, specifically including:

[0021] Based on the point cloud data of all segments, point cloud data of at least one reference misalignment-free segment is determined;

[0022] The point cloud data of the reference misalignment-free segment is least squares fitted to obtain a reference surface model;

[0023] The point cloud data of the to-be-evaluated segment is least squares fitted to obtain a to-be-evaluated surface model; the to-be-evaluated segment is a segment adjacent to the reference misalignment-free segment;

[0024] The displacement deviation of the reference surface model and the to-be-evaluated surface model is calculated to obtain a displacement deviation value;

[0025] determining whether the displacement deviation value is greater than a preset misalignment threshold value; if yes, taking the joint between the reference misalignment-free segment and the to-be-evaluated segment as a misalignment joint; if no, taking the to-be-evaluated segment as a new reference misalignment-free segment, and determining the to-be-evaluated surface model of the to-be-evaluated segment as a reference surface model of the new reference misalignment-free segment, and returning to the step of performing least square fitting on the point cloud data of the reference misalignment-free segment to obtain a reference surface model, until all the to-be-evaluated segments of the shield tunnel are traversed.

[0026] Optionally, after the step of constructing a three-dimensional model of the shield tunnel based on the overall three-dimensional point cloud data, the method for active resetting and reinforcing of segment misalignment of the shield tunnel 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.

[0027] 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:

[0028] 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 reinforcement resetting component design parameters, and the reinforcement resetting component design parameters include steel plate size, bolt arrangement mode, and hydraulic jack arrangement position;

[0029] The parameterized model, the three-dimensional model, and the load and mechanical data are fused to obtain a digital twin model;

[0030] 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 range of jack jacking force, and a final configuration scheme of steel plates and bolts.

[0031] Optionally, the collaborative control instruction includes:

[0032] According to the optimal drilling scheme, a segment is precisely drilled using a drilling machine;

[0033] 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;

[0034] According to the final configuration scheme of steel plates and bolts, steel plates and bolts are set;

[0035] According to the pipe piece reset displacement amount and the range of the jack pushing force, the hydraulic jack and the electric control tightening machine are controlled to work cooperatively, so that the pushing force and the bolt pretightening force are proportionally and synchronously increased according to the preset program.

[0036] Optionally, the shield tunnel pipe piece joint dislocation active reset and reinforcement method further comprises:

[0037] After the reset construction based on the optimal reset scheme is completed, three-dimensional point cloud data of the repair area is acquired again;

[0038] Based on the three-dimensional point cloud data of the repair area, a dislocation amount calculation result after the reset is calculated, and a reinforcement effect is evaluated based on the dislocation amount calculation result after the reset; the reinforcement effect is used to determine whether a supplementary measure scheme needs to be generated.

[0039] 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 pipe piece joint dislocation active reset and reinforcement method in any one of the above.

[0040] In a third aspect, the present application provides a computer readable storage medium, which stores a computer program, and the computer program is executed by a processor to implement the shield tunnel pipe piece joint dislocation active reset and reinforcement method in any one of the above.

[0041] In a fourth aspect, the present application provides a computer program product, comprising a computer program, and the computer program is executed by a processor to implement the shield tunnel pipe piece joint dislocation active reset and reinforcement method in any one of the above.

[0042] According to the specific embodiments provided by the present application, the present application has the following technical effects:

[0043] The present application provides a shield tunnel pipe piece joint dislocation active reset and reinforcement method and related devices, by acquiring the overall three-dimensional point cloud data of the shield tunnel, and using the adaptive point cloud segmentation algorithm to identify and separate the pipe piece joint, the problem that the dislocation joint cannot be accurately identified in the traditional method is solved, and the accurate point cloud data acquisition of each pipe piece and the gradual identification of the dislocation joint are realized. Moreover, based on the point cloud data of the reference dislocation-free pipe piece, a local coordinate system is constructed and the accurate matching of the point cloud data of the adjacent pipe pieces at the dislocation joint is realized, the problem of inaccurate quantitative calculation of the dislocation joint is solved, the dislocation amount including the normal offset and the tangential deflection angle can be accurately calculated, and the calculation accuracy is significantly improved.

[0044] 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 resetting scheme, and quickly generating a refined optimal resetting scheme, significantly improving the reliability and pertinence of the resetting strategy.

[0045] By generating a collaborative control instruction based on the optimal resetting scheme, the problem of coordinated control in the reinforcement resetting operation is solved, so that through the resetting-bearing integrated collaborative control mechanism, the bearing capacity of the segment itself is fully utilized, the invalid reinforcement of the segment in the non-weak area by the traditional technology is effectively avoided, the problem of passive reinforcement starting point error is further solved, the accurate resetting and reinforcement of the dislocated segment are realized, and the precision of the reinforcement measures and the overall performance of the structure are significantly improved. BRIEF DESCRIPTION OF DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0047] Figure 1 An application environment diagram for a shield tunnel segment joint dislocation active resetting and reinforcement method in an embodiment of the present application;

[0048] Figure 2 A flowchart of a shield tunnel segment joint dislocation active resetting and reinforcement method provided in an embodiment of the present application;

[0049] Figure 3 A shield tunnel segment joint dislocation active resetting and reinforcement technical process flowchart provided in an embodiment of the present application;

[0050] Figure 4 A flowchart of a pushing-self-locking synchronous construction process in a collaborative control instruction provided in an embodiment of the present application;

[0051] Figure 5 A pushing-self-locking synchronous construction process diagram provided in an embodiment of the present application;

[0052] Figure 6 A structural diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] With reference to the accompanying drawings, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of the present application.

[0054] The above-mentioned purposes, features and advantages of the present application will be more apparent and understandable. The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0055] The shield tunnel segment joint misalignment active resetting and reinforcing method provided by the embodiments of the present application can be applied to an application environment as shown in Figure 1 The terminal 102 communicates with the server 104 through a network. The data storage system can store data required to be processed by the server 104. The data storage system can be separately arranged, integrated on the server 104, placed on a cloud or other servers. The terminal 102 can send the overall three-dimensional point cloud data of the shield tunnel to the server 104. 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 misalignment-free segment selected from the point cloud data of all segments. First, 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 the misalignment calculation result is calculated based on the point cloud data of the adjacent segments and the local coordinate system. Further, the optimal resetting scheme is obtained by utilizing the constructed digital twin model for multi-parameter numerical simulation. The server 104 can feed back the obtained collaborative control instruction to the terminal 102.

[0056] The terminal 102 can be, but is not limited to, various desktop computers, notebook computers, Internet of Things devices and reinforcing 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.

[0057] In an exemplary embodiment, as shown in Figures 2-3 A shield tunnel segment joint misalignment active resetting and reinforcing method is provided. The method is executed by a computer device, specifically by a terminal or a server, or by both a terminal and a server. In the embodiments of the present application, the method is applied to the server 104 in Figure 1 The method includes the following steps 201 to 206. Specifically:

[0058] Step 201, obtaining overall three-dimensional point cloud data of a shield tunnel.

[0059] In step 202, based on the overall three-dimensional point cloud data, the adaptive point cloud segmentation algorithm is used to identify the segment joint of the shield tunnel and separate the segments, to obtain the point cloud data of each segment, and based on the point cloud data of the reference segment without error, all existing error joints are identified step by step; the point cloud data of the reference segment without error is selected from the point cloud data of all segments, and the reference segment without error has complete point cloud geometry and high curvature continuity.

[0060] In step 203, a local coordinate system is first constructed at the error joint, and the point cloud data of the adjacent segments corresponding to the error 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 error calculation result.

[0061] In step 204, based on the overall three-dimensional point cloud data, a three-dimensional model of the shield tunnel is constructed.

[0062] In step 205, based on the error calculation result, the three-dimensional model, the segment size information, the joint position information, the geological condition data, the design parameters of the reinforcing and resetting component, and the load and mechanical data, a digital twin model is constructed, and a multi-parameter numerical simulation is performed using the digital twin model to obtain an optimal resetting scheme.

[0063] In step 206, based on the optimal resetting scheme, a cooperative control instruction is obtained; the cooperative control instruction is used to control the reinforcing and resetting component to reset the error segment.

[0064] By implementing the above steps 201 to 206, the present application acquires the overall three-dimensional point cloud data of the shield tunnel, and uses the adaptive point cloud segmentation algorithm to identify and separate the segment joints, solving the problem of inaccurate identification of error joints in traditional methods, and achieving accurate point cloud data acquisition of each segment and step-by-step identification of error joints. Moreover, based on the point cloud data of the reference segment without error, a local coordinate system is constructed and the accurate matching of the point cloud data of the adjacent segments at the error joint is realized, solving the problem of inaccurate quantitative calculation of error joints, and accurately calculating the error including the normal offset and the tangential deflection angle, significantly improving the calculation accuracy.

[0065] By constructing a three-dimensional model of the shield tunnel based on the overall three-dimensional point cloud data, combining the error, segment size, joint position information, geological condition data, etc., constructing a digital twin model and performing a multi-parameter numerical simulation, the problem of insufficient refinement and optimization of the resetting scheme is solved, and a refined optimal resetting scheme can be quickly generated, significantly improving the reliability and pertinence of the resetting strategy.

[0066] The coordination control problem in the reinforcement reset operation is solved by generating the cooperative control instruction based on the optimal reset scheme, so that the bearing capacity of the pipe segment is fully utilized through the reset-bearing integrated cooperative control mechanism, the invalid reinforcement of the pipe segment in the non-weak area by the traditional technology is effectively avoided, the passive reinforcement starting point error problem is further solved, the accurate reset reinforcement of the misaligned pipe segment is realized, and the precision of the reinforcement measures and the overall performance of the structure are significantly improved.

[0067] Further, in step 201, the shield tunnel is scanned by emitting laser light by the three-dimensional laser radar to obtain high-density overall three-dimensional point cloud data of the shield tunnel; wherein 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 shield tunnel segment joint area, and the point cloud non-occlusion rate of the segment joint area is not less than 95%, ensuring the integrity of the point cloud.

[0068] It can be understood that the three-dimensional laser radar is used to globally scan the shield tunnel segment in this step, and the laser beam emitted thereby can accurately capture the microscopic geometric distortion of the radial misaligned segment and the longitudinal misaligned segment, and realize the collection of ultrahigh-density point cloud with a point cloud spacing of ≤0.2 mm. The scanning range needs to ensure that the non-occlusion rate of the joint area is ≥95%, completely eliminating the visual blind area and providing complete and accurate data foundation for subsequent digital twin model construction. The integrity of the point cloud data determines the accuracy of damage identification and the reliability of the reset scheme, and is the primary guarantee for accurate repair.

[0069] Further, in step 202, based on the obtained overall three-dimensional point cloud data, the misaligned joint area is identified by using an adaptive point cloud segmentation algorithm. The segment joint is first identified and the point cloud data of each segment is separated, and the point cloud is clustered in the joint vicinity area by analyzing the geometric characteristics of the point cloud, such as curvature change and normal direction consistency. Taking a misaligned segment as a reference (i.e. a reference misaligned segment), the position difference between the reference misaligned segment and the adjacent segment is compared by fitting the surface model of the adjacent segment, and the misaligned segment joint is identified.

[0070] In step 202, based on the overall three-dimensional point cloud data, the adaptive point cloud segmentation algorithm is used to identify the segment joint and separate the segments of the shield tunnel, and the point cloud data of each segment is obtained, which specifically includes:

[0071] 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.

[0072] In step 2022, based on the curvature change rate and the normal vector angle deviation, the joint feature points are determined.

[0073] At step 2023, based on the overall three-dimensional point cloud data and the joint feature points, a region growing algorithm is used for joint identification between pipe segments to obtain joints between all pipe segments.

[0074] At step 2024, based on the joints between all pipe segments, a pipe segment separation operation is performed on the overall three-dimensional point cloud data to obtain point cloud data of each pipe segment.

[0075] At step 202, based on the point cloud data of the reference error-free pipe segment, all existing misalignment joints are identified step by step, including:

[0076] At step 2025, based on the point cloud data of all pipe segments, point cloud data of at least one reference error-free pipe segment is determined.

[0077] At step 2026, least squares fitting is performed on the point cloud data of the reference error-free pipe segment to obtain a reference surface model.

[0078] At step 2027, least squares fitting is performed on the point cloud data of the pipe segment to be evaluated to obtain an evaluation surface model; the pipe segment to be evaluated is a pipe segment adjacent to the reference error-free pipe segment.

[0079] At step 2028, displacement deviation between the reference surface model and the evaluation surface model is calculated to obtain a displacement deviation value.

[0080] At step 2029, it is determined whether the displacement deviation value is greater than a preset misalignment threshold; if yes, the joint between the reference error-free pipe segment and the pipe segment to be evaluated is regarded as a misalignment joint; if no, the pipe segment to be evaluated is regarded as a new reference error-free pipe segment, and the evaluation surface model of the pipe segment to be evaluated is determined as the reference surface model of the new reference error-free pipe segment, and the process returns to step "performing least squares fitting on the point cloud data of the reference error-free pipe segment to obtain a reference surface model" until all pipe segments to be evaluated of the shield tunnel are traversed.

[0081] 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. Using the region growing algorithm to expand along the discontinuous boundary with the joint feature points as the initial seed region, this process realizes the automatic separation of adjacent pipe segment point clouds. Least squares surface fitting is performed on the separated single pipe segment point cloud, and by comparing the spatial pose parameters of the reference error-free pipe segment and the corresponding adjacent pipe fitting surface, the displacement deviation of adjacent pipe segments can be essentially distinguished, providing a reliable topological basis for misalignment quantification. Using this algorithm can effectively solve the misclassification problem caused by uneven point cloud density or noise interference in traditional methods, significantly improving the robustness of misalignment identification.

[0082] Further, in step 203, based on the misaligned joint identification result, a local coordinate system is established at the misaligned joint, the point cloud data of the adjacent segments corresponding to the misaligned joint is accurately matched, the normal offset and the tangential deflection angle between the adjacent segments are calculated, and a misalignment calculation result is obtained, with an accuracy of 0.2 mm.

[0083] It can be understood that this step essentially solves the accurate spatial relationship reconstruction of misaligned segments through the local coordinate system. The local coordinate system converts the global problem into directional analysis of the joint neighborhood, and the Z-axis radial constraint ensures that the normal offset truly reflects the degree of segment voiding, and the X-axis ring constraint accurately captures the tangential twist. The point cloud matching uses the iterative closest point algorithm to achieve sub-millimeter registration by minimizing the root mean square error of the spatial distance of adjacent segment point clouds. This method overcomes the interference of overall tunnel deformation on local misalignment analysis, ensures that the output misalignment confidence reaches ±0.2 mm, and provides a reliable basis for repositioning construction.

[0084] Further, after obtaining the three-dimensional model of the shield tunnel based on the overall three-dimensional point cloud data in step 204, the method for active repositioning and reinforcement of misaligned shield tunnel segment joints further comprises: mapping the misalignment calculation result to the three-dimensional model to obtain a segment misalignment distribution map (i.e., a heat map), and marking the high misalignment area in the three-dimensional model; the segment misalignment distribution map is obtained by encoding the misalignment calculation result using different colors, wherein red represents a misalignment calculation result greater than 5 mm, yellow represents a misalignment calculation result between 2 mm and 5 mm, and green represents a misalignment calculation result less than 2 mm.

[0085] It can be understood that this step converts abstract misalignment calculation data into intuitive spatial risk distribution through a point cloud-model bidirectional mapping mechanism. The color classification (red / yellow / green) of the heat map is essentially a color coding of the structural safety state: red represents that the elastic deformation limit of the segment joint has been exceeded (the misalignment calculation result is greater than 5 mm), which is extremely likely to cause bearing capacity failure; yellow indicates that the joint is in the plastic deformation stage (the misalignment calculation result is between 2 mm and 5 mm), which needs to be prevented; and green indicates that the deformation is within the safety threshold (the misalignment calculation result is less than 2 mm). The continuous ring marking of the high misalignment area accurately reveals the chain instability risk caused by local damage of the tunnel, providing a scientific decision basis for targeted repair.

[0086] Further, in step 205, based on the misalignment 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 repositioning scheme, specifically including:

[0087] Step 2051: Based on the misalignment calculation results, segment size information, joint location information, and geological condition data, construct a parametric model. 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.

[0088] Step 2052: The parametric model, the three-dimensional model, and the load and mechanical data (i.e., the segment load distribution map and stress concentration factor analysis) are integrated to obtain a digital twin model.

[0089] Step 2053: Use a digital twin model to perform multi-parameter numerical simulation to determine the optimal reset scheme. 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, to ensure that the reset process is controllable and avoids secondary damage to the segments.

[0090] 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.

[0091] Furthermore, such as Figure 4 As shown, the cooperative control instructions in step 206 include:

[0092] 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.

[0093] It can be understood that this step creates a foundation for subsequent surrounding rock adjustment and resetting system construction through digital twin model driven precise drilling technology. The digital twin model integrates geological conditions, segment stress state and target resetting force and other multi-source information, and outputs the optimal drilling pose through finite element calculation. The essence is to avoid potential risk points such as segment internal reinforcement mesh, embedded parts and existing micro cracks. The drilling machine performs through drilling according to the parameterized instructions, and the depth control accuracy is ±1mm, which provides a precise operation channel for subsequent grouting / digging, ensures the mechanical compatibility of the new bolt hole and the existing structure system, eliminates secondary damage caused by blind drilling, and fundamentally solves the problem of incomplete surrounding rock intervention in traditional reinforcement technology. Surface cleaning to solid base is to rebuild the effective anchoring interface of segment concrete to avoid bolt pre-tightening force attenuation caused by broken layer.

[0094] Step a2, according to the accurate grouting amount, use the grouting pump to inject filling slurry into the segment wall through the drill hole; or according to the accurate soil removal amount, use the soil digging claw to remove the corresponding volume of soil through the drill hole; Specifically: according to the scheme determined by the digital twin model, the surrounding rock treatment is carried out, for the out-of-position situation of the segment caused by the wall behind the emptying, the grouting pump is used to inject filling slurry into the segment wall through the drill hole, and the slurry is solidified to form a support body to provide the support force required for the jacking reset; for the situation that the surrounding rock close to the segment wall causes excessive earth pressure and extrudes the segment inside, the soil digging claw is used to remove the corresponding volume of soil through the drill hole to form a local pressure release cavity to reduce the jacking reset resistance. The dynamic construction principle of "with injection / removal, with pushing, with twisting" is followed in implementation.

[0095] It can be understood that this step realizes the treatment of the root cause of the misalignment through differential mechanical intervention. The digital twin model provides quantitative decision basis for grouting amount, slurry pressure, soil removal amount and soil removal position based on accurate simulation of surrounding rock pressure distribution, emptying area morphology and target resetting force. The grouting operation not only fills the emptying area, but also converts the local concentrated load into surface load and uniformly transfers it to the deep surrounding rock through the support body formed by the grouting operation; the soil removal operation provides a controllable space for segment rebound by accurately unloading the surrounding pressure of a specific area. Strictly follow the principle of "with injection / removal, with pushing, with twisting", the core is to establish real-time dynamic balance of surrounding rock state-jacking force-structure response, break through the limitation of traditional "only reinforcement but not adjustment", and realize safe, accurate and efficient structure resetting.

[0096] 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 misaligned segment, according to the simulation scheme, implant the expansion bolt, and fix the steel plate of the selected size to the inner surface of the misaligned segment.

[0097] It can be understood that this step builds a rigid force transmission interface on the inner surface of the misaligned segment through the expansion bolt anchoring mechanism. The expansion bolt radially expands the bolt hole during tightening, forming a high-strength occlusal pressure with the hole wall concrete. Its essence is to transfer the steel plate load to the segment concrete and then to the surrounding rock through a three-dimensional force chain. The core value of the hierarchical torque loading strategy is to avoid stress-induced microcracks and allow full development of concrete creep. The flatness control of the steel plate ensures uniform distribution of the jacking force, eliminating the risk of anchoring failure caused by local stress concentration.

[0098] At the same time, the adjacent misaligned segment surface through bolt hole is positioned, and the high-strength expansion bolt is pre-installed in the bolt hole but not fastened.

[0099] It can be understood that this step creates key conditions for subsequent synchronous resetting through pre-installation technology. The essence of pre-installing the bolt only into 3 threads is to build a temporary slippable constraint boundary, preventing bolt shedding caused by construction vibration and allowing the misaligned segment to be freely adjusted along the tangent during jacking. The precise protrusion of 8mm of the bolt head ensures that the electric control tightening machine can be instantly occluded and loaded. Its technical core lies in balancing the contradiction between initial positioning reliability and resetting process adaptability, completely avoiding the risk of segment internal force locking caused by traditional full tightening.

[0100] Step a4, according to the segment resetting displacement and the range of jacking force, control the hydraulic jack and the electric control tightening machine to work cooperatively to make the jacking force and the bolt pre-tightening force increase synchronously according to the preset program ratio, specifically including:

[0101] Step a41, according to the simulation scheme, the hydraulic jack is supported by a tripod, and its reaction end is fixed in the grouting hole of the misaligned segment or a pre-set stable reaction point.

[0102] It can be understood that this step builds a stable jacking reaction force system in a narrow space through an adaptive anchoring mechanism. The torque optimization design of the tripod can avoid the overturning risk of traditional single-point support. Converting the grouting hole of the misaligned segment into a standard reaction interface avoids irreversible damage caused by secondary hole opening of the segment.

[0103] Step a42, the piston rod of the hydraulic jack abuts against the reinforced steel plate of the misaligned segment, and the electric control tightening machine connects the self-locking bolt.

[0104] It can be understood that this step realizes the control of the precise "jacking-self-locking" process of the resetting system through a dynamic compensation force-electricity coupling control system. The jacking-self-locking synchronous construction process diagram is as follows: Figure 5As shown (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 control 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 non-misaligned segment). The jacking force is always transmitted along the normal direction of the steel plate, avoiding lateral force components to induce anchoring failure. The electric control tightening machine adaptively cooperates with the spatial pose of the bolt, and its 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.

[0105] Step a43, start the hydraulic jack to apply radial jacking force, and strictly control the pushing force within the safety range determined by the digital twin model simulation. During the jacking process, the grouting pump is used to perform grouting reinforcement or the soil digging claw is used to excavate and relieve pressure: at the same time, the high-precision displacement sensor is used to monitor the misaligned joint reset amount in real time, and when the reset amount approaches the target displacement determined by simulation, the synchronous control system starts the electric control tightening machine according to the dynamic construction principle of "grouting / excavating with pushing and tightening", and applies increasing bolt pretightening force according to the preset program.

[0106] It can be understood that this step realizes the precise controllability of the jacking-self-locking synchronous control system in the reset process through real-time coupling of mechanical parameters. The hydraulic jack applies radial load according to the jacking force safety interval of the simulation result, 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 electric control tightening machine synchronously applies bolt pretightening force according to the preprogrammed pretightening force gradient. The system realizes the proportional linkage of jacking force and pretightening force through the controller, ensures that the structure 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.

[0107] Step a44, the jacking 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.

[0108] It can be understood that this step realizes the qualitative transition of the structure system from the reset state to the bearing state through the displacement-force cooperative control mechanism. The jacking force dominates the macro displacement of the misaligned segment, and the pretightening force synchronously constructs the micro frictional constraint between 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 truly rigid connection body.

[0109] Further, the method for actively resetting and reinforcing the misaligned joint of the shield tunnel segment further comprises:

[0110] In step 207, after the completion of the reset construction based on the optimal reset scheme, the three-dimensional point cloud data of the repair area is acquired again, and the dislocation amount calculation result after reset is calculated based on the three-dimensional point cloud data of the repair area, and the reinforcement effect is evaluated based on the dislocation amount calculation result after reset; the reinforcement effect is used to judge whether a supplementary measure scheme needs to be generated.

[0111] 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 repair in the same coordinate system, and 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 dislocation 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 local reinforcement and other supplementary measures, ensuring the long-term safety and stability of the tunnel structure.

[0112] Therefore, the shield tunnel segment joint dislocation active reset reinforcement technology is used, a whole-process closed-loop control system based on "diagnosis-treatment-reset-verification" is used, systematic operation from identification and analysis to reset reinforcement and effect verification is realized, the overall effect of shield tunnel segment joint reset reinforcement is significantly improved, and the tunnel construction quality and long-term operation safety are ensured. 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.

[0113] 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 in 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; and 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 in the embodiment belongs to the optimal reset scheme generation link and the reset reinforcement link.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] The principles and implementation modes of the present application are described by applying specific examples herein, and the above-mentioned 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 a baseline segment without misalignment, 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 if 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 all the segments to be evaluated in the shield tunnel are traversed; the point cloud data of the reference misaligned segment is selected from the point cloud data of all segments, and the reference misaligned segment 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, 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 was 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. 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, 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.

4. 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.

5. 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.

6. 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 1-5.

7. 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 1-5.

8. 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 1-5.

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