Shield tunnel monitoring method and device, electronic equipment and computer program product

Abstract

The invention discloses a shield tunnel monitoring method, and the method comprises the steps: obtaining the three-dimensional point cloud data of a measurement point in a shield tunnel, carrying out the coordinate transformation of the three-dimensional point cloud data, obtaining the target point cloud data, and enabling the target point cloud data to comprise the target point cloud data of the measurement point, the target point cloud data of the measurement point comprises the longitudinal coordinate, the azimuth angle coordinate and the radial coordinate of the measurement point, the structure of the shield tunnel is monitored based on the target point cloud data of the measurement point, and the monitoring result of the shield tunnel is obtained, so that the structure of the shield tunnel can be represented by the point cloud data of the longitudinal coordinate, the azimuth angle coordinate and the radial coordinate; the structure of the shield tunnel can be analyzed and monitored in the longitudinal direction, the radial direction and the rotation angle, and complex and indirect three-dimensional rectangular coordinate change analysis is simplified into direct comparison of longitudinal coordinates, radial coordinates and angle coordinates; and the intuition, accuracy and efficiency of longitudinal, circumferential, inter-ring slab staggering and torsional deformation identification are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of engineering surveying, and in particular to a shield tunnel monitoring method and device, an electronic device and a computer program product. BACKGROUND

[0002] The construction and post-operation maintenance of a shield tunnel requires monitoring the structure of the shield tunnel to identify whether the shield tunnel has a safety risk. Currently, the structure data of the shield tunnel can be obtained based on a total station, so as to perform structure analysis and monitoring based on the obtained structure data.

[0003] However, the structure data collected by the total station is usually data in a Cartesian coordinate system, and it is difficult to express whether the structure of the shield tunnel is deformed or twisted through the data in the Cartesian coordinate system. Additional data operation is required to analyze the structure of the shield tunnel, and there is a problem of low monitoring efficiency. SUMMARY

[0004] The purpose of the present application is to overcome the above-mentioned shortcomings of the prior art, and to provide a shield tunnel monitoring method, device, electronic device and computer program product.

[0005] In a first aspect, an embodiment of the present application provides a shield tunnel monitoring method, which comprises: obtaining three-dimensional point cloud data of a measurement point in a shield tunnel; performing coordinate conversion on the three-dimensional point cloud data to obtain target point cloud data; wherein the target point cloud data comprises target point cloud data of the measurement point, and the target point cloud data of the measurement point comprises longitudinal coordinates, azimuth coordinates and radial coordinates of the measurement point; monitoring the structure of the shield tunnel based on the target point cloud data of the measurement point to obtain a monitoring result of the shield tunnel.

[0006] In a possible implementation manner of the above-mentioned first aspect, the performing coordinate conversion on the three-dimensional point cloud data to obtain target point cloud data comprises: determining a reference center coordinate according to the three-dimensional point cloud data; performing coordinate conversion on the three-dimensional point cloud data based on the reference center coordinate to obtain target point cloud data.

[0007] In a possible implementation manner of the above-mentioned first aspect, the performing coordinate conversion on the three-dimensional point cloud data based on the reference center coordinate to obtain target point cloud data comprises: determining a radial offset value, an azimuth offset value and a longitudinal offset value of the measurement point relative to the reference center coordinate according to the three-dimensional point cloud data of the measurement point and the reference center coordinate; determine a longitudinal coordinate, an azimuthal coordinate and a radial coordinate of the measurement point based on the radial offset value, the azimuthal offset value and the longitudinal offset value of the measurement point, to obtain target point cloud data of the measurement point.

[0008] In a possible implementation manner of the first aspect, the three-dimensional point cloud data comprises initial point cloud data and real-time point cloud data, and the target point cloud data comprises first target point cloud data obtained by coordinate conversion of the initial point cloud data and second target point cloud data obtained by coordinate conversion of the real-time point cloud data. The monitoring of the structure of the shield tunnel based on the target point cloud data of the measurement point comprises: determining a deviation value between the first target point cloud data and the second target point cloud data of the measurement point, to obtain a deviation value of each measurement point; monitoring the structure of the shield tunnel according to the deviation value of each measurement point, to obtain a monitoring result of the shield tunnel.

[0009] In a possible implementation manner of the first aspect, the deviation value comprises a longitudinal deviation value, a radial deviation value and an azimuthal deviation value, and the monitoring of the structure of the shield tunnel according to the deviation value of each measurement point comprises: for each measurement point, determining a first comparison result between the longitudinal deviation value of the measurement point and a preset longitudinal deviation threshold value, and determining a second comparison result between the radial deviation value of the measurement point and a preset radial deviation threshold value; determining a first monitoring result of the measurement point according to the first comparison result and the second comparison result, wherein the first monitoring result indicates whether the structure of the shield tunnel has a risk of misalignment; determining a second monitoring result of the measurement point according to the azimuthal deviation value of the measurement point and a preset azimuthal deviation threshold value, wherein the second monitoring result indicates whether the structure of the shield tunnel has a risk of torsion; determining a monitoring result of the shield tunnel according to the first monitoring result and the second monitoring result of each measurement point.

[0010] In a possible implementation manner of the first aspect, the determining of the first monitoring result of the measurement point according to the first comparison result and the second comparison result comprises: for each measurement point, determining a neighboring deviation value between the radial deviation value of the measurement point and the radial deviation value of a neighboring measurement point; determining a third comparison result between the adjacent deviation value and the radial deviation value; determining a first monitoring result of the measurement point according to the first comparison result, the second comparison result and the third comparison result.

[0011] In a possible implementation of the first aspect, the method further includes: generating risk warning information of the shield tunnel according to the monitoring result of the shield tunnel, wherein the risk warning information is information for warning a risk area in the shield tunnel, the risk area is an area in the shield tunnel that has a risk of misalignment or a risk of twisting, and the risk area is determined based on the first monitoring result and the second monitoring result of each measurement point.

[0012] In a second aspect, an embodiment of the present application provides a shield tunnel monitoring device, and the device includes: an acquisition module configured to acquire three-dimensional point cloud data of measurement points in a shield tunnel; a conversion module configured to perform coordinate conversion on the three-dimensional point cloud data to obtain target point cloud data, wherein the target point cloud data includes target point cloud data of the measurement points, and the target point cloud data of the measurement points includes longitudinal coordinates, azimuth coordinates and radial coordinates of the measurement points; a monitoring module configured to monitor a structure of the shield tunnel based on the target point cloud data of the measurement points to obtain a monitoring result of the shield tunnel.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the shield tunnel monitoring method as described above when executing the computer program.

[0014] In a third aspect, an embodiment of the present application provides a computer program product, and the computer program product stores a computer program, and the computer program is executable on a processor to implement the shield tunnel monitoring method as described above.

[0015] The present application is implemented by the following technical solutions: The application discloses a kind of monitoring methods of shield tunnel, by obtaining the three-dimensional point cloud data of measuring point in shield tunnel, three-dimensional point cloud data is carried out coordinate conversion, obtain target point cloud data, target point cloud data includes the target point cloud data of measuring point, the target point cloud data of measuring point includes the longitudinal coordinate of measuring point, azimuth coordinate, radial coordinate, based on the target point cloud data of measuring point, the structure of shield tunnel is monitored, and the monitoring result of shield tunnel is obtained, so as to be able to with longitudinal coordinate, azimuth coordinate, radial coordinate point cloud data to express the structure of shield tunnel, and the structure of shield tunnel is monitored by longitudinal coordinate, azimuth coordinate, radial coordinate and so on point cloud data, it can be analyzed in longitudinal direction, radial direction and rotation angle to the structure of shield tunnel, it will complex, indirect three-dimensional rectangular coordinate change analysis, simplified to the direct comparison of longitudinal coordinate, radial coordinate and angle coordinate, improve the intuitiveness, accuracy and efficiency of longitudinal, annular, interring fault and torsional deformation identification, reduce the situation that the structure of underground tunnel can be analyzed by additional data operation, improve the efficiency of the structure of shield tunnel monitoring. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a step flow chart of the monitoring method of shield tunnel provided by an embodiment of the application; Figure 2 It is a schematic diagram of target point cloud data provided by an embodiment of the application; Figure 3 It is a step flow chart of another monitoring method of shield tunnel provided by an embodiment of the application; Figure 4 It is a structural schematic diagram of the monitoring device of shield tunnel provided by an embodiment of the application; Figure 5 It is a structural block diagram of electronic equipment provided by an embodiment of the application. DETAILED DESCRIPTION

[0017] In order to make the technical problems to be solved by the application, technical solutions and beneficial effects clearer, the application will be further described in detail below in combination with the drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the application, and not to limit the application.

[0018] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0019] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like, indicate directions or positions based on the directions or positions shown in the drawings, and are used for convenience of description and simplification of description only, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0020] In addition, the terms "first", "second", "third", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, the meaning of "multiple groups" is two groups or more, the meaning of "multiple pieces" is two pieces or more, and the meaning of "several" is one or more, unless otherwise explicitly and specifically limited.

[0021] The construction of a shield tunnel and the maintenance of the later operation require monitoring the structure of the shield tunnel to identify whether there is a safety risk in the shield tunnel. At present, the structure data of the shield tunnel can be obtained based on a total station or the like, so as to perform structure analysis and monitoring based on the obtained structure data.

[0022] Specifically, a plurality of observation points can be arranged in the shield tunnel, and a plurality of free stations can be arranged, and the relative coordinates of each observation point relative to the free stations are determined by a total station or the like, and then the relative coordinates of each observation point are converted into the same rectangular coordinate system, so as to calculate the horizontal displacement and the vertical displacement of each observation point in different periods in the same rectangular coordinate system, and then the structure of the shield tunnel is analyzed through the horizontal displacement and the vertical displacement of each observation point in different periods, so as to determine any region in the shield tunnel where deformation occurs and determine the deformation amount of the region, and to identify whether there is a safety risk in the shield tunnel based on the deformation amount of the region where deformation occurs.

[0023] However, when the segment of the shield tunnel is deformed under force, the direction of the force and deformation is usually along the radial direction, or along or around the axis direction of the shield tunnel, so the force analysis of the shield tunnel usually includes normal stress and shear stress, the normal stress is along the center direction of the shield circular section, and the shear stress is along the tangential direction of the shield circular section, and the structure data collected by the total station is usually data in the Cartesian coordinate system, the coordinate transformation in the Cartesian coordinate system is different from the actual force deformation direction of the shield tunnel, and the deformation of the shield tunnel in the radial direction and the axis direction cannot be reflected, it is difficult to express whether the structure of the shield tunnel is deformed, twisted or the like through the data in the Cartesian coordinate system, additional data operation is required to analyze the structure of the shield tunnel, and the monitoring efficiency is low.

[0024] Specifically, the structure of the shield tunnel has the risk of misalignment and the risk of twisting. The misalignment risk includes intra-ring misalignment, inter-ring misalignment and longitudinal misalignment, wherein the intra-ring misalignment or the inter-ring misalignment refers to the case that the inner walls of adjacent segments in the same ring or different rings of the shield tunnel have inconsistent heights, resulting in height deviation, and the longitudinal misalignment refers to the position deviation of segments in different rings along the axis direction of the tunnel, and the height deviation or position deviation of the internal part at different positions in the underground shield tunnel changes the force state of the shield tunnel, and uneven force exists, which reduces the risk of cracking and collapse of the structure of the shield tunnel. The twisting risk refers to the risk that the whole or part of the structure of the shield tunnel rotates and deviates around the axis due to uneven force or external stress interference, and the risk of cracking and even collapse of the structure of the shield tunnel due to twisting exists.

[0025] Based on this, the present application discloses a monitoring method for a shield tunnel, which obtains three-dimensional point cloud data of a measurement point in the shield tunnel, performs coordinate transformation on the three-dimensional point cloud data to obtain target point cloud data, the target point cloud data includes target point cloud data of the measurement point, the target point cloud data of the measurement point includes longitudinal coordinates, azimuth coordinates and radial coordinates of the measurement point, and the structure of the shield tunnel is monitored based on the target point cloud data of the measurement point to obtain a monitoring result of the shield tunnel, so that the structure of the shield tunnel can be represented by point cloud data of longitudinal coordinates, azimuth coordinates and radial coordinates, and the structure of the shield tunnel can be monitored by point cloud data of longitudinal coordinates, azimuth coordinates and radial coordinates, the structure of the shield tunnel can be analyzed in the longitudinal direction, the radial direction and the rotation angle, the case that the structure of the shield tunnel needs to be analyzed by additional data operation is reduced, the intuitiveness, accuracy and efficiency of longitudinal, ring, inter-ring misalignment and twisting deformation identification are improved, and the efficiency of monitoring the structure of the shield tunnel is improved.

[0026] Reference Figure 1 , Figure 1The following is a flowchart illustrating the steps of a monitoring method for a shield tunnel according to an embodiment of the present invention, which may specifically include the following steps: S101, acquire 3D point cloud data of measurement points in the shield tunnel.

[0027] In this context, a shield tunnel can be an excavation machine using a tunnel boring machine (TBM) and lined with reinforced concrete segments. Measurement points can be physical markers observed by instruments such as total stations, typically consisting of a fixed base and a target. Three-dimensional point cloud data can be the point cloud data of the measurement points in a Cartesian coordinate system. This data can include initial point cloud data and real-time point cloud data. Initial point cloud data is obtained when the shield tunnel structure is stable, while real-time point cloud data is obtained during shield tunnel construction or later operation, allowing for continuous observation of the measurement points.

[0028] Once a structurally stable shield tunnel is obtained, multiple measurement points can be set up on the inner wall of the shield tunnel, and the initial point cloud data of each measurement point can be recorded.

[0029] The construction of a shield tunnel may include the following process: prefabricating reinforced concrete segments, using a shield machine to cut the soil from the launching shaft and excavate towards the receiving shaft, until the receiving shaft is reached. During the excavation process of the shield machine, each segment is spliced ​​together in the space excavated by the shield machine to obtain the main body of the shield tunnel.

[0030] In practical applications, whenever the tunnel boring machine advances a certain distance toward the receiving shaft, a section of the tunnel segment is inserted into the soil for splicing. After splicing, multiple measurement points are set up in the segment so that the initial point cloud data of each measurement point in the segment can be recorded after the structure of the tunnel has stabilized.

[0031] Specifically, the structural stability of a shield tunnel refers to the state in which the deformation of the shield tunnel structure is within a preset deformation range when the external load is stable and the internal stress has been basically released. External loads include the self-weight of the shield tunnel structure, the pressure of the soil, and the loads brought about by operation, while internal stresses include the instantaneous stress generated during the splicing of tunnel segments and the instantaneous stress generated during the tunneling of the shield machine.

[0032] After obtaining the initial point cloud data for each measurement point, the point cloud data of the measurement points can be observed in real time during shield tunnel construction or later operation to obtain the real-time point cloud data for each measurement point.

[0033] It is important to understand that during shield tunnel construction, the tunnel boring machine (TBM) continuously excavates towards the receiving shaft. This continuous excavation causes changes in the soil structure due to constant vibration and cutting, leading to alterations in the pressure exerted by the surrounding soil on the tunnel and resulting in varying degrees of deformation. Similarly, when a shield tunnel is put into operation, it is subjected to constantly changing operational loads. These loads also alter the soil structure around the tunnel, causing further changes in pressure and deformation. Therefore, it is necessary to record data in real-time at each measurement point during construction and operation to obtain real-time point cloud data for each point.

[0034] For example, a total station can be used to acquire three-dimensional point cloud data of each measurement point in the shield tunnel, an industrial camera can be used to acquire three-dimensional point cloud data, or an integrated three-dimensional laser scanner can be used to acquire three-dimensional point cloud data of each measurement point in the shield tunnel. This invention does not limit the scope of the invention.

[0035] S102, perform coordinate transformation on the 3D point cloud data to obtain the target point cloud data.

[0036] The target point cloud data can include target point cloud data of measurement points, which includes the longitudinal coordinates, azimuth coordinates, and radial coordinates of the measurement points. The longitudinal coordinates can be the coordinates of the measurement point on the axis of the tunnel boring machine (TBM), the radial coordinates can be the distance from the measurement point to the TBM axis, the azimuth coordinates can be the angle between the line connecting the measurement point and the axis and the vertical direction, and the axis intersection point can be the intersection point of a plane passing through the measurement point and perpendicular to the TBM axis with the TBM axis. The target point cloud data includes first target point cloud data obtained by coordinate transformation of initial point cloud data, and second target point cloud data obtained by coordinate transformation of real-time point cloud data.

[0037] After obtaining the 3D point cloud data, the initial point cloud data can be transformed to obtain the first target point cloud data, and the real-time point cloud data can be transformed to obtain the second target point cloud data.

[0038] In practical applications, the axis of the shield tunnel can be predetermined. For each measurement point, its three-dimensional coordinates can be determined based on three-dimensional point cloud data. Based on these coordinates, a plane passing through the measurement point and perpendicular to the shield tunnel's axis can be identified. The intersection point of this plane with the shield tunnel can then be determined, yielding the axis intersection point corresponding to that measurement point. After obtaining the shield tunnel's axis and its intersection point with the measurement point, the distance of the measurement point along the axis can be determined (its longitudinal coordinate), as well as the distance between the measurement point and the axis (its radial coordinate), and the angle between the line connecting the measurement point and the axis intersection and the vertical direction (its azimuth coordinate). Thus, target point cloud data for all measurement points can be obtained.

[0039] In practical implementation, for shield tunnels, the three-dimensional coordinates of the centers of circles in multiple planes can be calculated based on the point cloud data of measurement points in multiple planes of the shield tunnel. Then, a continuous theoretical line segment can be fitted based on the three-dimensional coordinates of the centers of circles in multiple planes, which is the axis of the shield tunnel.

[0040] As an example, after obtaining the intersection of the axes, a local polar coordinate system can be established with the intersection of the axes as the origin and the vertically upward direction as the zero-degree angle. Then, the azimuth coordinates of the measurement point in the local polar coordinate system can be determined.

[0041] In one embodiment of the present invention, step S102 may include S1021 to S1022: S1021, Determine the coordinates of the reference circle center based on the 3D point cloud data.

[0042] Among them, the reference center coordinates can be the center coordinates of any plane in the shield tunnel. The reference center coordinates can be the reference coordinates for coordinate transformation of the point cloud data of the measurement point, that is, the point cloud data of the measurement point is transformed based on the reference center coordinates.

[0043] After obtaining the three-dimensional point cloud data, the center coordinates of each plane along the shield tunnel axis can be determined based on the three-dimensional point cloud data, and the center coordinates of any plane can be selected as the reference center coordinates.

[0044] In practical applications, for each measurement point, the center coordinates of the plane containing the measurement point can be determined as the reference center coordinates for coordinate transformation of the measurement point; alternatively, the center coordinates of the first plane in the shield tunnel construction can be determined as the reference center coordinates, that is, the center coordinates of the first plane that is manufactured during shield tunnel construction are the reference center coordinates.

[0045] S1022, based on the reference circle center coordinates, performs coordinate transformation on the 3D point cloud data to obtain the target point cloud data.

[0046] After obtaining the reference center coordinates, the 3D point cloud data can be transformed based on the reference center coordinates to obtain the target point cloud data.

[0047] In practical applications, when the reference center coordinates are the center coordinates of a specific plane in a shield tunnel, the relative coordinates of each measurement point with respect to the reference center coordinates can be determined using the reference center coordinates as a reference, which is the target point cloud data of that measurement point. When the reference center coordinates include the center coordinates of the plane where each measurement point is located, then for each measurement point, the center coordinates of the plane where the measurement point is located can be used as the reference center coordinates, and the relative coordinates of the measurement point with respect to the reference center coordinates can be determined, which is the target point cloud data of that measurement point, thus obtaining the target point cloud data of each measurement point.

[0048] In one embodiment of the present invention, step S1022 may include the following steps: Based on the 3D point cloud data of the measurement point and the coordinates of the reference circle center, the radial offset, azimuth offset, and longitudinal offset of the measurement point relative to the coordinates of the reference circle center are determined. Based on the radial offset, azimuth offset, and longitudinal offset of the measurement point, the longitudinal coordinates, azimuth coordinates, and radial coordinates of the measurement point are determined, and the target point cloud data of the measurement point is obtained.

[0049] Among them, the radial offset value can be the offset of the three-dimensional coordinates of the measurement point in the radial direction relative to the coordinates of the reference circle center; the azimuth offset value can be the offset of the line connecting the three-dimensional coordinates of the measurement point and the coordinates of the reference circle center relative to the vertical direction; and the longitudinal offset value can be the offset of the three-dimensional coordinates of the measurement point in the axial direction relative to the coordinates of the reference circle center.

[0050] After obtaining the coordinates of the reference center, for each measurement point, the offset values ​​of the three-dimensional coordinates of the measurement point relative to the coordinates of the reference center in the axial and radial directions can be determined based on the three-dimensional coordinates of the measurement point in the three-dimensional point cloud data. This yields the radial offset value and the longitudinal offset value of the measurement point. Based on the three-dimensional coordinates of the measurement point and the coordinates of the reference center, the line connecting the measurement point to the intersection with the axis is determined, and the angle between the line connecting the measurement point to the intersection with the axis and the vertical direction is determined, which is the azimuth offset value of the measurement point. Then, based on the radial offset value, azimuth offset value, and longitudinal offset value of the measurement point, the longitudinal coordinates, azimuth coordinates, and radial coordinates of the measurement point can be determined, thus obtaining the target point cloud data of the measurement point.

[0051] Specifically, the radial offset value of the plane containing the measurement point can be determined using the following formula:

[0052] The coordinates of the reference circle center can be (L, a, b), the three-dimensional coordinates of measurement point 1 can be (L1, y1, z1), and ρ1 can be represented as the radial deviation value of measurement point 1.

[0053] Specifically, the azimuth offset of the plane containing the measurement point can be determined using the following formula:

[0054] The coordinates of the reference circle center can be (L, a, b), the three-dimensional coordinates of measurement point 1 can be (L1, y1, z1), and θ1 can be represented as the azimuth deviation value of measurement point 1.

[0055] Specifically, the longitudinal offset value of measurement point 1 can be L1-L.

[0056] See Figure 2 , Figure 2 This diagram illustrates a target point cloud data according to an embodiment of the present invention, such as... Figure 2 As shown, axis a can be the axis of the shield tunnel, reference plane b can be a specific plane in the shield tunnel that passes through the reference center O and is perpendicular to axis a, the reference center coordinates of the reference center O are (L, a, b), measurement point 1 can be any measurement point laid out in the shield tunnel, the three-dimensional coordinates of measurement point 1 can be (L1, y1, z1), O` can be the center of plane c in the shield tunnel that passes through measurement point 1 and is perpendicular to axis a, ρ can be the distance between measurement point 1 and center O`, θ can be the angle between the line connecting measurement point 1 and center O` and the vertical direction, and the longitudinal offset value of measurement point 1 can be the distance between center O` and reference center O.

[0057] S103, based on the target point cloud data of the measurement points, monitors the structure of the shield tunnel and obtains the monitoring results of the shield tunnel.

[0058] Among them, the monitoring results can indicate whether there are safety risks in shield tunnels.

[0059] After obtaining the target point cloud data for each measurement point, the structure of the shield tunnel can be monitored based on the target point cloud data of one or more measurement points to obtain the monitoring results of whether there are safety risks in the shield tunnel.

[0060] In practical applications, the safety risks of the shield tunnel structure can be monitored based on the target point cloud data of each measurement point to obtain the monitoring results of the shield tunnel. Alternatively, one or more measurement points can be selected from multiple measurement points, and the safety risks of the shield tunnel structure can be monitored based on the target point cloud data of one or more measurement points to obtain the monitoring results of the shield tunnel.

[0061] In practice, risk areas in the shield tunnel can be pre-determined, and measurement points within these risk areas can be identified. Based on the target point cloud data of these measurement points in the risk area, the structural safety risks of the shield tunnel can be monitored, and the monitoring results of the shield tunnel can be obtained.

[0062] Specifically, the risk area can be an area in the shield tunnel where the probability of misalignment or torsion is greater than a preset probability value, or an area where the probability of deformation is greater than a preset value.

[0063] It is important to understand that monitoring the structure of a shield tunnel using only target point cloud data from measurement points in the risk areas of the tunnel reduces the computational load of data processing and improves the efficiency of structural monitoring compared to using target point cloud data from all measurement points.

[0064] In one embodiment of the present invention, step S103 may include S1031 to S1032: S1031, determine the deviation value between the first target point cloud data and the second target point cloud data of the measurement point, and obtain the deviation value of each measurement point.

[0065] The deviation values ​​can include longitudinal deviation values, radial deviation values, and azimuth deviation values. The longitudinal deviation value can be the deviation between the second target point cloud data and the first target point cloud data in the longitudinal direction. The radial deviation value can be the deviation between the second target point cloud data and the first target point cloud data in the radial direction. The azimuth deviation value can be the difference between the azimuth offset value in the second target point cloud data and the azimuth offset value in the first target point cloud data.

[0066] After obtaining the target point cloud data for each measurement point, for each measurement point, the deviation value between the first target point cloud data and the second target point cloud data at that measurement point can be determined, thus obtaining the deviation value of that measurement point, and thus obtaining the deviation value of each measurement point.

[0067] In practical applications, for each measurement point, the difference between the radial offset value in the second target point cloud data and the radial offset value in the first target point cloud data can be determined to obtain the radial deviation value of the measurement point; for each measurement point, the difference between the longitudinal offset value in the second target point cloud data and the longitudinal offset value in the first target point cloud data can be determined to obtain the longitudinal deviation value of the measurement point; for each measurement point, the difference between the azimuth offset value in the second target point cloud data and the azimuth offset value in the first target point cloud data can be determined to obtain the azimuth deviation value of the measurement point.

[0068] S1032, based on the deviation value of each measurement point, the structure of the shield tunnel is monitored to obtain the monitoring results of the shield tunnel.

[0069] After obtaining the deviation value of each measurement point, the structure of the shield tunnel can be monitored based on the deviation value of each measurement point, and the monitoring results of the shield tunnel can be obtained.

[0070] In this embodiment of the invention, by acquiring three-dimensional point cloud data of measurement points in a shield tunnel, and performing coordinate transformation on the three-dimensional point cloud data, target point cloud data is obtained. The target point cloud data includes the target point cloud data of the measurement points, which includes the longitudinal coordinates, azimuth coordinates, and radial coordinates of the measurement points. Based on the target point cloud data of the measurement points, the structure of the shield tunnel is monitored, and the monitoring results of the shield tunnel are obtained. Thus, the structure of the shield tunnel can be represented by point cloud data of longitudinal coordinates, azimuth coordinates, and radial coordinates. Furthermore, the structure of the shield tunnel can be analyzed and monitored in the longitudinal direction, radial direction, and rotation angle. It simplifies the complex and indirect analysis of three-dimensional rectangular coordinate changes into a direct comparison of longitudinal coordinates, radial coordinates, and angular coordinates, improving the intuitiveness, accuracy, and efficiency of identifying longitudinal, circumferential, inter-ring misalignment, and torsional deformation. It reduces the need for additional data calculations to analyze the structure of underground tunnels, thereby improving the efficiency of monitoring the structure of shield tunnels.

[0071] See Figure 3 , Figure 3 The present invention illustrates a flowchart of another method for monitoring a shield tunnel according to an embodiment of the present invention, which may specifically include the following steps: S301, acquire 3D point cloud data of measurement points in the shield tunnel.

[0072] S302 performs coordinate transformation on the 3D point cloud data to obtain the target point cloud data.

[0073] S303, determine the deviation value between the first target point cloud data and the second target point cloud data of the measurement point, and obtain the deviation value of each measurement point.

[0074] S304, for each measurement point, determine a first comparison result between the longitudinal deviation value of the measurement point and a preset longitudinal deviation threshold, and determine a second comparison result between the radial deviation value of the measurement point and a preset radial deviation threshold.

[0075] The first comparison result can be a comparison of whether the longitudinal deviation value is greater than the longitudinal deviation threshold, and the second comparison result can be a comparison of whether the radial deviation value is greater than the radial deviation threshold. Both the longitudinal deviation threshold and the radial deviation threshold can be user-defined values ​​or values ​​obtained based on experience.

[0076] After obtaining the deviation value of each measurement point, for each measurement point, the longitudinal deviation value of the measurement point can be compared with the longitudinal deviation threshold to obtain the first comparison result of the measurement point, and the radial deviation value of the measurement point can be compared with the radial deviation threshold to obtain the second comparison result of the measurement point. In this way, the first comparison result and the second comparison result of all measurement points can be obtained.

[0077] In practical applications, events of misalignment that occurred within a past period can be identified, and the longitudinal deviation value of each measurement point in each event of misalignment can be determined. Then, based on the longitudinal deviation values ​​of each measurement point at the time of misalignment, a longitudinal deviation threshold can be determined. Specifically, the longitudinal deviation threshold can be determined by averaging all longitudinal deviation values ​​at each measurement point at the time of misalignment, or it can be determined by finding the minimum value among all longitudinal deviation values.

[0078] Similarly, the radial deviation value of each measurement point in each misalignment event can be determined. Then, based on the radial deviation value of each measurement point when misalignment occurs over a period of time, the average value of all radial deviation values ​​can be determined as the radial deviation threshold, or the minimum value among all radial deviation values ​​can be determined as the radial deviation threshold.

[0079] S305, Based on the first comparison result and the second comparison result, determine the first monitoring result of the measurement point.

[0080] The first monitoring result can indicate whether there is a risk of misalignment in the structure of the shield tunnel.

[0081] After obtaining the first comparison result and the second comparison result, the first monitoring result of the measurement point can be determined based on the first comparison result and the second comparison result.

[0082] In practical applications, when the first comparison result of any measurement point is that the longitudinal deviation value is greater than the longitudinal deviation threshold, the measurement point can be determined to be a measurement point with a risk of misalignment. Similarly, when the second comparison result of any measurement point is that the radial deviation value is greater than the radial deviation threshold, the measurement point can be determined to be a measurement point with a risk of misalignment.

[0083] In one embodiment of the present invention, step S305 may include S3051 to S3053: S3051, For each measurement point, determine the adjacent deviation value between the radial deviation value of the measurement point and the radial deviation value of the adjacent measurement point.

[0084] Among them, the adjacent measurement point can be a measurement point in the shield tunnel that is adjacent to the measurement point, and the adjacent deviation value can be the difference between the radial deviation value of the measurement point and the radial deviation value of the adjacent measurement point.

[0085] After obtaining the first comparison result and the second comparison result for each measurement point, the adjacent measurement points in the shield tunnel can be determined for each measurement point.

[0086] In practical applications, since each measurement point is located in a different plane perpendicular to the shield tunnel, for any measurement point, the plane of the measurement point and the adjacent planes of the plane can be determined, and then the measurement points in the adjacent planes can be determined as the adjacent measurement points of the measurement point.

[0087] Specifically, for each plane, the adjacent plane can be the plane above or the plane below that plane in the axial direction of the shield tunnel.

[0088] After determining the adjacent measurement points, the radial deviation value of the adjacent measurement points can be determined, and then the difference between the radial deviation value of the measurement point and the radial deviation value of the adjacent measurement points can be determined to obtain the adjacent deviation value.

[0089] It is important to understand that since there is at least one measurement point in an adjacent plane, that is, for each measurement point, there is more than one adjacent measurement point, the adjacent deviation value between the measurement point and each adjacent measurement point can be determined.

[0090] S3052, determine the third comparison result between the adjacent deviation value and the radial deviation value.

[0091] The third comparison result can be a comparison of whether adjacent deviation values ​​are greater than the radial deviation threshold.

[0092] After obtaining the adjacent deviation values, the adjacent deviation values ​​can be compared with the radial deviation threshold, thus obtaining a third comparison result between the adjacent deviation values ​​and the radial deviation threshold.

[0093] In practical applications, for any measurement point, when the adjacent deviation values ​​between the measurement point and multiple adjacent measurement points are obtained, the largest adjacent deviation value can be selected from all adjacent deviation values, and the largest adjacent deviation value can be compared with the radial deviation threshold to obtain the comparison result of whether the adjacent deviation value is greater than the radial deviation threshold; alternatively, the average value of all adjacent deviation values ​​can be determined, and the average value of all adjacent deviation values ​​can be compared with the radial deviation threshold to obtain the comparison result of whether the adjacent deviation value is greater than the radial deviation threshold.

[0094] S3053, Based on the first comparison result, the second comparison result, and the third comparison result, determine the first monitoring result of the measurement point.

[0095] After obtaining the first comparison result, the second comparison result, and the third comparison result, if the first comparison result of any measurement point is a longitudinal deviation value greater than the longitudinal deviation threshold, then the measurement point can be determined to be a measurement point with a risk of misalignment. Similarly, if the second comparison result of any measurement point is a radial deviation value greater than the radial deviation threshold, then the measurement point can be determined to be a measurement point with a risk of misalignment. Furthermore, if the third comparison result of any measurement point is a comparison result where the adjacent deviation value is greater than the radial deviation threshold, then the measurement point can be determined to be a measurement point with a risk of misalignment. Thus, the first monitoring result for each measurement point can be obtained.

[0096] S306. Based on the azimuth deviation value of the measurement point and the preset azimuth deviation threshold, determine the second monitoring result of the measurement point.

[0097] The second monitoring result can indicate whether there is a risk of torsion in the shield tunnel structure. The azimuth deviation threshold can be a user-defined value or a value obtained based on experience.

[0098] After obtaining the azimuth deviation value of each measurement point, for each measurement point, the azimuth deviation value of that measurement point can be compared with the azimuth deviation threshold to obtain the second monitoring result of that measurement point, and thus the second monitoring result of each measurement point can be obtained.

[0099] In practical applications, events of torsion in the underground structure over a past period can be identified, and the azimuth deviation value of each measurement point during each torsion event can be determined. Then, based on the azimuth deviation values ​​of each measurement point during torsion events over a past period, an azimuth deviation threshold can be determined. Specifically, the azimuth deviation threshold can be determined by averaging all azimuth deviation values ​​at each measurement point during torsion events, or it can be determined by finding the minimum value among all azimuth deviation values.

[0100] S307. Based on the first and second monitoring results of each measurement point, the monitoring results of the shield tunnel are determined.

[0101] After obtaining the first and second monitoring results for each measurement point, the monitoring results of the shield tunnel can be determined based on the first and second monitoring results for each measurement point.

[0102] In practical applications, if, based on the first monitoring results of each measurement point, at least one measurement point is determined to be at risk of misalignment, then the shield tunnel is determined to have a risk of misalignment. Alternatively, the measurement points at risk of misalignment can be counted, and if the number of measurement points at risk of misalignment exceeds a preset threshold, then the shield tunnel is determined to have a risk of misalignment; otherwise, the shield tunnel is determined not to have a risk of misalignment. Alternatively, the locations of all measurement points at risk of misalignment within the shield tunnel can be determined, and based on the location of each measurement point at risk of misalignment, the areas at risk of misalignment within the shield tunnel can be determined, and the area of ​​each area at risk of misalignment within the shield tunnel can be determined. If the area of ​​the area at risk of misalignment exceeds a preset risk area threshold, then the shield tunnel is determined to have a risk of misalignment; otherwise, the shield tunnel is determined not to have a risk of misalignment.

[0103] Similarly, if, based on the second monitoring results of each measurement point, it is determined that at least one measurement point is at risk of torsion, then the shield tunnel is at risk of torsion; or, the measurement points at risk of torsion are counted, and if the number of measurement points at risk of torsion exceeds a preset threshold, the shield tunnel is at risk of torsion, otherwise, the shield tunnel is at risk of torsion; or, the locations of all measurement points at risk of torsion within the shield tunnel are determined, and based on the location of each measurement point at risk of torsion, the areas at risk of torsion within the shield tunnel are determined, and the area of ​​each area at risk of torsion within the shield tunnel is determined. If the area of ​​an area at risk of torsion exceeds another preset risk area threshold, the shield tunnel is at risk of torsion, otherwise, the shield tunnel is at risk of torsion.

[0104] In one embodiment of the present invention, the method may further include the following steps: Based on the monitoring results of the shield tunnel, risk warning information for the shield tunnel is generated.

[0105] Among them, the risk alarm information can be information that alarms the risk areas in the shield tunnel. The risk areas can be areas in the shield tunnel that have the risk of misalignment or torsion. The risk areas are determined based on the first monitoring results and the second monitoring results of each measurement point.

[0106] After obtaining the first and second monitoring results for each measurement point, risk areas with misalignment or torsion risks in the shield tunnel can be identified based on the first and second monitoring results for each measurement point. Risk alarm information is then generated to alert users based on the risk alarm information.

[0107] Specifically, risk alert information may be presented in the following ways, including but not limited to: images, voice, video, text, etc. Risk alert information may be issued through the following methods, including but not limited to: SMS, application notifications, email, call reminders, etc.

[0108] In this embodiment of the invention, three-dimensional point cloud data of measurement points in a shield tunnel is acquired, and coordinate transformation is performed on the three-dimensional point cloud data to obtain target point cloud data. The deviation value between the first target point cloud data and the second target point cloud data of the measurement point is determined, resulting in a deviation value for each measurement point. For each measurement point, a first comparison result is determined between the longitudinal deviation value of the measurement point and a preset longitudinal deviation threshold, and a second comparison result is determined between the radial deviation value of the measurement point and a preset radial deviation threshold. Based on the first and second comparison results, a first monitoring result for the measurement point is determined. Based on the azimuth deviation value of the measurement point and a preset azimuth deviation threshold, a second monitoring result for the measurement point is determined. As a result, based on the first and second monitoring results of each measurement point, the monitoring results of the shield tunnel are determined. This allows the structure of the shield tunnel to be represented by point cloud data in longitudinal, azimuth, and radial coordinates. Furthermore, the structure of the shield tunnel can be analyzed and monitored in the longitudinal, radial, and rotational directions. It simplifies the complex and indirect analysis of three-dimensional rectangular coordinate changes into a direct comparison of longitudinal, radial, and angular coordinates. This improves the intuitiveness, accuracy, and efficiency of identifying longitudinal, circumferential, inter-ring misalignment, and torsional deformation, reduces the need for additional data processing to analyze the structure of underground tunnels, and improves the efficiency of monitoring the shield tunnel structure.

[0109] See Figure 4 , Figure 4 The diagram shows a structural schematic of a monitoring device for a shield tunnel according to an embodiment of this application. The device may specifically include the following modules: The acquisition module 401 is used to acquire three-dimensional point cloud data of measurement points in the shield tunnel; The conversion module 402 is used to perform coordinate transformation on the three-dimensional point cloud data to obtain target point cloud data; wherein, the target point cloud data includes the target point cloud data of the measurement point, and the target point cloud data of the measurement point includes the longitudinal coordinate, azimuth coordinate, and radial coordinate of the measurement point; The monitoring module 403 is used to monitor the structure of the shield tunnel based on the target point cloud data of the measurement points and obtain the monitoring results of the shield tunnel.

[0110] In one implementation, the conversion module 402 described above can also be used for: Determine the coordinates of the reference circle center based on the 3D point cloud data; Based on the reference circle center coordinates, coordinate transformation is performed on the 3D point cloud data to obtain the target point cloud data.

[0111] In one implementation, the conversion module 402 described above can also be used for: Based on the 3D point cloud data of the measurement point and the coordinates of the reference circle center, determine the radial offset, azimuth offset, and longitudinal offset of the measurement point relative to the coordinates of the reference circle center. Based on the radial offset, azimuth offset, and longitudinal offset values ​​of the measurement points, the longitudinal coordinates, azimuth coordinates, and radial coordinates of the measurement points are determined, and the target point cloud data of the measurement points is obtained.

[0112] In one implementation, the three-dimensional point cloud data includes initial point cloud data and real-time point cloud data, and the target point cloud data includes first target point cloud data obtained by coordinate transformation of the initial point cloud data and second target point cloud data obtained by coordinate transformation of the real-time point cloud data. In one implementation, the monitoring module 403 described above can also be used for: Determine the deviation between the first target point cloud data and the second target point cloud data of the measurement point to obtain the deviation value for each measurement point; The structure of the shield tunnel is monitored based on the deviation value of each measurement point, and the monitoring results of the shield tunnel are obtained.

[0113] In one implementation, the deviation values ​​include longitudinal deviation, radial deviation, and azimuth deviation. The monitoring module 403 can also be used for: For each measurement point, a first comparison result is determined between the longitudinal deviation value of the measurement point and a preset longitudinal deviation threshold, and a second comparison result is determined between the radial deviation value of the measurement point and a preset radial deviation threshold. Based on the first comparison result and the second comparison result, the first monitoring result of the measurement point is determined; wherein, the first monitoring result indicates whether there is a risk of misalignment in the structure of the shield tunnel; Based on the azimuth deviation value of the measurement point and the preset azimuth deviation threshold, the second monitoring result of the measurement point is determined; wherein, the second monitoring result indicates whether there is a risk of torsion in the structure of the shield tunnel; The monitoring results of the shield tunnel are determined based on the first and second monitoring results of each measurement point.

[0114] In one implementation, the monitoring module 403 described above can also be used for: For each measurement point, determine the adjacent deviation value between the radial deviation value of the measurement point and the radial deviation value of the adjacent measurement point; Determine the third comparison result between adjacent deviation values ​​and radial deviation values; Based on the first comparison result, the second comparison result, and the third comparison result, the first monitoring result of the measurement point is determined.

[0115] In one implementation, the device further includes: The alarm module is used to generate risk alarm information for the shield tunnel based on the monitoring results of the shield tunnel. The risk alarm information is the information that alarms for risk areas in the shield tunnel. The risk area is the area in the shield tunnel where there is a risk of misalignment or torsion. The risk area is determined based on the first monitoring result and the second monitoring result of each measurement point.

[0116] In this embodiment of the invention, by acquiring three-dimensional point cloud data of measurement points in a shield tunnel, and performing coordinate transformation on the three-dimensional point cloud data, target point cloud data is obtained. The target point cloud data includes the target point cloud data of the measurement points, which includes the longitudinal coordinates, azimuth coordinates, and radial coordinates of the measurement points. Based on the target point cloud data of the measurement points, the structure of the shield tunnel is monitored, and the monitoring results of the shield tunnel are obtained. Thus, the structure of the shield tunnel can be represented by point cloud data of longitudinal coordinates, azimuth coordinates, and radial coordinates. Furthermore, the structure of the shield tunnel can be analyzed and monitored in the longitudinal direction, radial direction, and rotation angle. It simplifies the complex and indirect analysis of three-dimensional rectangular coordinate changes into a direct comparison of longitudinal coordinates, radial coordinates, and angular coordinates, improving the intuitiveness, accuracy, and efficiency of identifying longitudinal, circumferential, inter-ring misalignment, and torsional deformation. It reduces the need for additional data calculations to analyze the structure of underground tunnels, thereby improving the efficiency of monitoring the structure of shield tunnels.

[0117] It should be noted that the information interaction and execution process between the above-mentioned devices are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, which will not be repeated here.

[0118] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0119] SeeFigure 5 , Figure 5 This application provides a structural block diagram of an electronic device according to an embodiment of the present application, as shown below. Figure 5 As shown, this embodiment provides an electronic device 51, which includes at least one processor 511, a memory 512, and a computer program 5121 stored in the memory 512 and executable on at least one processor 511. When the processor 511 executes the computer program 5121, it implements the steps in any of the above-described method embodiments.

[0120] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can implement the steps in any of the above method embodiments.

[0121] This application provides a computer program product that, when run on a mobile terminal, enables the mobile terminal to implement the steps described in the various method embodiments.

[0122] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to a photographing device / terminal device, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium.

[0123] The above detailed description is a specific description of feasible embodiments of the present invention. These embodiments are not intended to limit the patent scope of the present invention. All equivalent implementations or modifications that do not depart from the present invention should be included in the patent scope of this case.

Claims

1. A monitoring method for shield tunnels, characterized in that, The method includes: Acquire 3D point cloud data of measurement points in a shield tunnel; The three-dimensional point cloud data is transformed by coordinate transformation to obtain target point cloud data; wherein, the target point cloud data includes the target point cloud data of the measurement point, and the target point cloud data of the measurement point includes the longitudinal coordinate, azimuth coordinate, and radial coordinate of the measurement point; Based on the target point cloud data of the measurement points, the structure of the shield tunnel is monitored, and the monitoring results of the shield tunnel are obtained.

2. The monitoring method for shield tunnels as described in claim 1, characterized in that, The step of performing coordinate transformation on the three-dimensional point cloud data to obtain target point cloud data includes: Based on the three-dimensional point cloud data, determine the coordinates of the reference circle center; Based on the reference center coordinates, the three-dimensional point cloud data is transformed to obtain the target point cloud data.

3. The monitoring method for shield tunnels as described in claim 2, characterized in that, The process of performing coordinate transformation on the 3D point cloud data based on the reference circle center coordinates to obtain the target point cloud data includes: Based on the three-dimensional point cloud data of the measurement point and the coordinates of the reference circle center, determine the radial offset, azimuth offset, and longitudinal offset of the measurement point relative to the coordinates of the reference circle center. Based on the radial offset value, azimuth offset value, and longitudinal offset value of the measurement point, the longitudinal coordinate, azimuth coordinate, and radial coordinate of the measurement point are determined to obtain the target point cloud data of the measurement point.

4. The monitoring method for shield tunnels as described in claim 1, characterized in that, The three-dimensional point cloud data includes initial point cloud data and real-time point cloud data. The target point cloud data includes first target point cloud data obtained by coordinate transformation of the initial point cloud data and second target point cloud data obtained by coordinate transformation of the real-time point cloud data. The monitoring of the shield tunnel structure based on the target point cloud data of the measurement points, and the resulting monitoring results of the shield tunnel, include: Determine the deviation value between the first target point cloud data and the second target point cloud data of the measurement point to obtain the deviation value of each measurement point; The structure of the shield tunnel is monitored based on the deviation value at each measurement point to obtain the monitoring results of the shield tunnel.

5. The monitoring method for shield tunnels as described in claim 4, characterized in that, The deviation values ​​include longitudinal deviation values, radial deviation values, and azimuth deviation values. The monitoring of the shield tunnel structure based on the deviation values ​​at each measurement point yields the monitoring results for the shield tunnel, including: For each measurement point, a first comparison result is determined between the longitudinal deviation value of the measurement point and a preset longitudinal deviation threshold, and a second comparison result is determined between the radial deviation value of the measurement point and a preset radial deviation threshold. Based on the first comparison result and the second comparison result, a first monitoring result of the measurement point is determined; wherein, the first monitoring result indicates whether there is a risk of misalignment in the structure of the shield tunnel; Based on the azimuth deviation value of the measurement point and the preset azimuth deviation threshold, a second monitoring result of the measurement point is determined; wherein, the second monitoring result indicates whether the structure of the shield tunnel has a risk of torsion; The monitoring results of the shield tunnel are determined based on the first monitoring results and the second monitoring results of each of the measurement points.

6. The monitoring method for shield tunnels as described in claim 5, characterized in that, Determining the first monitoring result of the measurement point based on the first comparison result and the second comparison result includes: For each measurement point, determine the adjacent deviation value between the radial deviation value of the measurement point and the radial deviation value of the adjacent measurement point; Determine a third comparison result between the adjacent deviation value and the radial deviation value; Based on the first comparison result, the second comparison result, and the third comparison result, the first monitoring result of the measurement point is determined.

7. The monitoring method for shield tunnels as described in claim 5, characterized in that, The method further includes: Based on the monitoring results of the shield tunnel, risk alarm information for the shield tunnel is generated; wherein, the risk alarm information is information that alarms for risk areas in the shield tunnel, and the risk area is an area in the shield tunnel where there is a risk of misalignment or torsion, and the risk area is determined based on the first monitoring result and the second monitoring result of each of the measurement points.

8. A monitoring device for a shield tunnel, characterized in that, The device includes: The acquisition module is used to acquire three-dimensional point cloud data of measurement points in the shield tunnel; The conversion module is used to perform coordinate transformation on the three-dimensional point cloud data to obtain target point cloud data; wherein, the target point cloud data includes the target point cloud data of the measurement point, and the target point cloud data of the measurement point includes the longitudinal coordinate, azimuth coordinate, and radial coordinate of the measurement point; The monitoring module is used to monitor the structure of the shield tunnel based on the target point cloud data of the measurement points, and obtain the monitoring results of the shield tunnel.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the shield tunnel monitoring method as described in any one of claims 1 to 7.

10. A computer program product, said computer program product storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the shield tunnel monitoring method as described in any one of claims 1 to 7.

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