A real-time correction method, system, terminal and storage medium for muck profile abnormalities on a shield horizontal conveyor belt based on a laser scanning system

Abstract

The present application relates to the technical field of data processing, and discloses a real-time correction method, system, terminal and storage medium for muck profile anomaly on a shield horizontal conveying belt based on a laser scanning system, the method comprising: acquiring muck surface profile data; identifying muck profile extension points and eliminating redundant data after the muck profile extension points, to obtain a corrected profile curve; identifying abnormal unmeasurable points and replacing the abnormal unmeasurable points with weighted mean values of adjacent points before and after the abnormal unmeasurable points, to obtain a repaired muck profile curve; dividing an area surrounded by the repaired muck profile curve and a horizontal conveying belt curve into multiple triangular micro-units, respectively calculating the areas of the micro-units and accumulating the areas, to obtain a corrected muck cross-sectional area; based on a scanning frequency, performing time integration, discretely accumulating the muck cross-sectional areas obtained by continuous scanning according to scanning time intervals, and continuously integrating and calculating the corrected muck volume in the tunneling process. The present application improves the detection accuracy of the muck volume.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method, system, terminal, and computer-readable storage medium for real-time correction of abnormal profiles of excavated soil on the horizontal conveyor belt of a tunnel boring machine based on a laser scanning system. Background Technology

[0002] With the increasing pace of urban construction and the continuous expansion of underground space development, tunnel boring machines (TBMs) are frequently used for subway tunneling. However, during the muck removal process, the current common practice in engineering projects is to install a weighing system at the bottom of the conveyor belt or muck truck to calculate the amount of muck discharged based on its weight.

[0003] To improve measurement accuracy, an increasing number of research and engineering projects in recent years have turned to 3D laser scanning technology to obtain the surface contour of excavated soil in a non-contact manner to estimate its volume. This technology offers advantages such as high scanning speed, high resolution, and strong real-time performance, providing a new approach for dynamic monitoring of excavated soil volume. However, the horizontal conveyor belt during tunnel boring is not an ideal stationary plane. It not only deforms vertically under the weight of the excavated soil, but also suffers from horizontal slippage of the conveyor belt and water accumulation on the soil surface, all of which exacerbate scanning errors. Furthermore, while laser scanning can accurately capture the contour of the excavated soil, using the original conveyor belt surface as the volume calculation benchmark inevitably leads to an overestimation of the volume, making it difficult to meet the accuracy requirements for construction control.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The main objective of this invention is to provide a method, system, terminal, and computer-readable storage medium for real-time correction of abnormal profiles of excavated soil on the horizontal conveyor belt of a tunnel boring machine (TBM) based on a laser scanning system. This invention aims to solve the problems in the prior art where monitoring the volume of excavated soil using laser scanning technology results in scanning errors, overestimation of volume, and difficulty in meeting the accuracy requirements for construction control. The goal is to address the influence of the conveyor belt, external environment, and algorithm on volume measurement, thereby enabling real-time correction of the TBM conveyor belt and refined volume management.

[0006] To achieve the above objectives, the present invention provides a real-time correction method for abnormal profiles of excavated soil on a horizontal conveyor belt of a tunnel boring machine based on a laser scanning system. The real-time correction method for abnormal profiles of excavated soil on a horizontal conveyor belt of a tunnel boring machine based on a laser scanning system includes the following steps: During the excavation and muck removal of the tunnel boring machine, a 3D laser scanner is used to scan the point cloud of the muck cross section on the horizontal conveyor belt of the tunnel boring machine to obtain the surface contour data of the muck. Calculate the slope change value and angle value of each data point in the surface contour data of the slag and soil, identify the inflection point of the outer edge of the conveyor belt, and when the slope change value and angle value of a certain point are both lower than the preset threshold, define the point as the outer extension point of the slag and soil contour, and remove the redundant data after the outer extension point of the slag and soil contour to obtain the corrected contour curve. The abnormal unmeasurable points caused by water film in the contour curve are identified by the neighboring point mean correction method, and the abnormal unmeasurable points are replaced by the weighted mean of the preceding and following neighboring points to achieve local contour repair and obtain the repaired slag contour curve. The area enclosed by the contour curve of the repaired slag and the curve of the horizontal conveyor belt is divided into multiple triangular micro-units. The area of ​​each micro-unit is calculated and summed to obtain the corrected cross-sectional area of ​​the slag. Based on the scanning frequency, time integration is performed, and the cross-sectional area of ​​the slag obtained by continuous scanning is discretely accumulated according to the scanning time interval. The corrected slag discharge volume during the tunneling process is calculated by continuous integration.

[0007] Optionally, the real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of the tunnel boring machine based on a laser scanning system, wherein the step of using a 3D laser scanner to scan the point cloud of the excavated soil cross-section on the horizontal conveyor belt of the tunnel boring machine to obtain the surface profile data of the excavated soil during the tunnel boring machine's excavation and muck removal specifically includes: During the muck removal process of the tunnel boring machine (TBM), a 3D laser scanner is used to scan the point cloud of the muck cross-section on the horizontal conveyor belt of the TBM, acquiring point cloud data. The distance between the 3D laser scanner and the object being measured is then obtained. and deflection angle data ; Through calculation formula and Real-time distance and deflection angle data Convert to horizontal position value and vertical position value The data on the surface profile of the slag and waste soil at a certain moment are obtained from the representation of the soil and waste soil. .

[0008] Optionally, the real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system, wherein the calculation of the slope change value and angle value of each data point in the excavated soil surface profile data, the identification of the outer edge inflection point of the conveyor belt, and when the slope change value and angle value of a certain point are both lower than a preset threshold, defining the point as the outer extension point of the excavated soil profile, and removing redundant data after the outer extension point of the excavated soil profile to obtain the corrected profile curve, specifically includes: Based on the surface contour data of the slag soil Calculate the slope change value of each data point in the surface contour data of the slag and soil. With angle value : ; ; in, Indicates the first i The horizontal position value of the point. Indicates the first i The vertical position value of the point. Indicates the first The horizontal position value of the point. Indicates the first The vertical position value of the point. Indicates the first The horizontal position value of the point. Indicates the first The vertical position value of the point. Indicates the first i Vector notation of a point Indicates the first Vector notation of a point Indicates the first Vector notation of a point; Determine the curvature change threshold based on the unloaded belt curve. and the angle threshold When the slope change value calculated at a certain point Less than the curvature change threshold And the angle value Less than the corner threshold At that time, this point is defined as the outer extension point of the slag contour. ; Remove the outer edge of the slag contour. The redundant data is then used to obtain the corrected contour curve.

[0009] Optionally, the real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system, wherein the step of identifying abnormal unmeasurable points caused by water film in the profile curve through a neighboring point mean correction method, and replacing the abnormal unmeasurable points with the weighted mean of the preceding and following neighboring points to achieve local profile repair and obtain the repaired excavated soil profile curve, specifically includes: Based on the corrected profile curve, calculate the first difference for each data point. : ; According to the first difference The value identifies abnormal, unmeasurable points in the contour curve caused by water film. Calculate the weighted average of the preceding and following neighboring points : ; Use the weighted average of the preceding and following neighboring points. The abnormal, unmeasurable points are replaced to achieve local contour repair, resulting in the repaired slag contour curve.

[0010] Optionally, the real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system, wherein dividing the area enclosed by the corrected excavated soil profile curve and the horizontal conveyor belt curve into multiple triangular micro-units, calculating the area of ​​each micro-unit and summing them to obtain the corrected cross-sectional area of ​​the excavated soil, specifically includes: The area enclosed by the contour curve of the repaired slag and the curve of the horizontal conveyor belt is divided into several small intervals, and each small interval is segmented and fitted using double triangular units. For interval The ordinates of the two endpoints on the curve are respectively and Construct four vertices within this region: ; Divide this area into two triangles: Vertex is ,triangle Vertex is The two triangles together cover the area below the curve within this region; For any triangle, the area can be calculated by subtracting its determinant. At this point, the interval... area Represented as: ; The entire contour curve is divided into M intervals, and the complete cross-sectional area S of the slag is calculated by continuously accumulating these intervals.

[0011] Optionally, the real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunneling machine based on a laser scanning system, wherein the step of time integration based on the scanning frequency, discretely accumulating the cross-sectional area of ​​the excavated soil obtained by continuous scanning according to the scanning time interval, and calculating the corrected excavated soil volume during the tunneling process through continuous integration, specifically includes: Based on the scanning frequency, the cross-sectional area S of the slag obtained from continuous scanning is discretely accumulated according to the scanning time interval: ; in, Indicates the volume of slag discharge. Indicates the first The corrected cross-sectional area obtained from the second scan. Indicates the number of scans. Indicates the time interval between adjacent scans. , Indicates the scan frequency. Indicates the conveyor belt speed; The corrected slag discharge volume is obtained by integrating the cross-sectional area of ​​the slag over the tunneling cycle.

[0012] Optionally, in the real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system, the curvature change threshold is... The value range is 0.012-0.02; the angle threshold. The value range is 4°-7°.

[0013] Furthermore, to achieve the above objectives, the present invention also provides a real-time correction system for abnormal profiles of excavated soil on a shield tunneling horizontal conveyor belt based on a laser scanning system, wherein the real-time correction system for abnormal profiles of excavated soil on a shield tunneling horizontal conveyor belt based on a laser scanning system includes: The cross-section point cloud scanning module is used to scan the cross-section point cloud of the excavated soil on the horizontal conveyor belt of the tunnel boring machine during the excavation and muck removal process, and to obtain the surface contour data of the excavated soil. The contour curve correction module is used to calculate the slope change value and angle value of each data point in the contour data of the slag surface, identify the inflection point of the outer edge of the conveyor belt, and define the point as the outer extension point of the slag contour when the slope change value and angle value of a certain point are both lower than the preset threshold. The redundant data after the outer extension point of the slag contour is removed to obtain the corrected contour curve. The contour local repair module is used to identify abnormal unmeasurable points caused by water film in the contour curve by means of neighboring points, and replace the abnormal unmeasurable points with the weighted mean of neighboring points to achieve contour local repair and obtain the repaired slag contour curve. The slag cross-sectional area calculation module is used to divide the area enclosed by the contour curve of the repaired slag and the curve of the horizontal conveyor belt into multiple triangular micro-units, calculate the area of ​​each micro-unit and sum them up to obtain the corrected slag cross-sectional area. The slag discharge volume calculation module is used to perform time integration based on the scanning frequency. It discretely accumulates the cross-sectional area of ​​the slag obtained by continuous scanning according to the scanning time interval, and calculates the corrected slag discharge volume during the tunneling process through continuous integration.

[0014] Furthermore, to achieve the above objectives, the present invention also provides a terminal, wherein the terminal includes: a memory, a processor, and a real-time correction program for abnormal profiles of excavated soil on a shield horizontal conveyor belt based on a laser scanning system, stored in the memory and executable on the processor. When the real-time correction program for abnormal profiles of excavated soil on a shield horizontal conveyor belt based on a laser scanning system is executed by the processor, it implements the steps of the real-time correction method for abnormal profiles of excavated soil on a shield horizontal conveyor belt based on a laser scanning system as described above.

[0015] Furthermore, to achieve the above objectives, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a real-time correction program for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system, and when the real-time correction program for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system is executed by a processor, it implements the steps of the real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system as described above.

[0016] In this invention, during the muck removal process of a tunnel boring machine (TBM), a 3D laser scanner is used to scan the point cloud of the muck cross-section on the horizontal conveyor belt of the TBM to obtain the muck surface contour data. The slope change value and angle value of each data point in the muck surface contour data are calculated, and the outer edge inflection point of the conveyor belt is identified. When the slope change value and angle value of a certain point are both lower than a preset threshold, the point is defined as the muck contour extension point, and redundant data after the muck contour extension point is removed to obtain the corrected contour curve. The abnormal unmeasurable points caused by water film in the contour curve are identified by the neighboring point mean correction method, and the abnormal unmeasurable points are replaced by the weighted mean of the preceding and following neighboring points to achieve local contour repair, resulting in the repaired muck contour curve. The area enclosed by the repaired muck contour curve and the horizontal conveyor belt curve is divided into multiple triangular micro-units, and the area of ​​each micro-unit is calculated and accumulated to obtain the corrected muck cross-sectional area. Time integration is performed based on the scanning frequency, and the muck cross-sectional area obtained by continuous scanning is discretely accumulated according to the scanning time interval. The corrected muck discharge volume during the tunneling process is calculated by continuous integration. This invention discretizes the closed area formed by the slag contour and the conveyor belt into multiple double-triangular units to reduce integral approximation error and improve volume estimation accuracy. It can effectively overcome the influence of factors such as belt slippage, water film refraction and curve integration error, improve the accuracy of slag volume detection, and provide a reliable theoretical basis and engineering guidance for tunneling control, slag removal efficiency assessment and ground parameter feedback during shield tunneling. Attached Figure Description

[0017] Figure 1 This is a flowchart of a preferred embodiment of the method for real-time correction of abnormal profiles of excavated soil on the horizontal conveyor belt of a tunnel boring machine based on a laser scanning system according to the present invention. Figure 2 This is a flowchart of the entire process of calculating the slag discharge volume in a preferred embodiment of the method for real-time correction of abnormal slag contours on the horizontal conveyor belt of a shield tunnel based on a laser scanning system according to the present invention. Figure 3 This is a schematic diagram of the soil outline before the outer extension of the soil outline is cut off in a preferred embodiment of the real-time correction method for abnormal soil outline on the horizontal conveyor belt of a shield tunnel based on a laser scanning system of the present invention. Figure 4This is a schematic diagram of the outer extension of the excavated soil contour after the real-time correction method for abnormal soil contour on the horizontal conveyor belt of a shield tunneling machine based on a laser scanning system according to the present invention. Figure 5 This is a schematic diagram of the soil contour before water film repair in a preferred embodiment of the real-time correction method for abnormal soil contour on the horizontal conveyor belt of a shield tunnel based on a laser scanning system according to the present invention. Figure 6 This is a schematic diagram of the contour water film repair after a preferred embodiment of the real-time correction method for abnormal contour of slag on the horizontal conveyor belt of a shield tunnel based on a laser scanning system according to the present invention. Figure 7 This is a schematic diagram of the area division of the triangular region of the slag in a preferred embodiment of the real-time correction method for abnormal slag contours on the horizontal conveyor belt of a shield tunnel based on a laser scanning system according to the present invention. Figure 8 This is a structural diagram of a preferred embodiment of the real-time correction system for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system, according to the present invention. Figure 9 This is a structural diagram of a preferred embodiment of the terminal of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0019] The preferred embodiment of the present invention describes a real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a tunnel boring machine based on a laser scanning system. Figure 1 and Figure 2 As shown, the real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system includes the following steps: Step S10: When the tunnel boring machine is excavating and removing slag, a 3D laser scanner is used to scan the point cloud of the slag cross section on the horizontal conveyor belt of the tunnel boring machine to obtain the slag surface contour data.

[0020] Specifically, when the tunnel boring machine is not tunneling, a 3D laser scanner is placed above the conveyor belt. The 3D laser scanner is a precision measuring instrument that uses laser beams to emit laser beams and receive their reflected signals to acquire massive amounts of 3D point coordinates (point cloud) of the target object's surface at high speed and with high accuracy. It ensures that the accuracy of the 3D laser scanner will not change due to the operation of the tunnel boring machine during the scanning process. The 3D laser scanner operates at a scanning frequency of 50 Hz and an angular resolution of 0.333°. When the tunnel boring machine is tunneling at a speed of 3 m / s, it will continuously acquire point cloud data of the cross-sectional contour of the excavated soil.

[0021] During the muck removal process of the tunnel boring machine (TBM), a 3D laser scanner is used to scan the point cloud of the muck cross-section on the horizontal conveyor belt of the TBM, acquiring point cloud data. The distance between the 3D laser scanner and the object being measured is then obtained. and deflection angle data ; through calculation formula and Real-time distance and deflection angle data Convert to horizontal position value and vertical position value The data on the surface profile of the slag and waste soil at a certain moment are obtained from the representation of the soil and waste soil. .

[0022] Step S20: Calculate the slope change value and angle value of each data point in the slag surface contour data, identify the outer edge inflection point of the conveyor belt, and when the slope change value and angle value of a certain point are both lower than the preset threshold, define the point as the outer extension point of the slag contour, and remove the redundant data after the outer extension point of the slag contour to obtain the corrected contour curve.

[0023] Specifically, based on the surface contour data of the slag... The belt slipped horizontally, causing some laser points to hit outside the horizontal conveyor belt, such as... Figure 3 As shown, the data points need to be sorted according to the horizontal scanning direction. To accurately identify the inflection point of the outer edge of the conveyor belt, the slope change value of each data point in the slag surface contour data is calculated. With angle value : ; ; in, Indicates the first i The horizontal position value of the point. Indicates the first i The vertical position value of the point. Indicates the first The horizontal position value of the point. Indicates the first The vertical position value of the point. Indicates the first The horizontal position value of the point. Indicates the first The vertical position value of the point. Indicates the first i Vector notation of a point Indicates the first Vector notation of a point Indicates the first The vector form of a point, i.e. .

[0024] Determine the curvature change threshold based on the unloaded belt curve. and the angle threshold For a common shield tunneling environment with a conveyor belt width of 1.2m and a slag particle size of less than 30 mm, the curvature change threshold was determined experimentally. The value range is 0.012-0.02, and the angle threshold is... The value range is 4°-7° to ensure that the main outline of the slag is not mistakenly deleted when identifying the extended redundant area; when the slope change value calculated at a certain point Less than the curvature change threshold And the angle value Less than the corner threshold At that time, this point is defined as the outer extension point of the slag contour. .

[0025] Remove the outer edge of the slag contour. The redundant data is used to obtain the corrected contour curve, such as... Figure 4 As shown, this is achieved by extending the determined slag contour from the outermost point. The system retrieves data that does not belong to the waste soil outline and obtains new waste soil outline data.

[0026] The first inflection point that meets the condition is selected as the starting position of the anomaly, and all subsequent points are removed, thus achieving accurate positioning.

[0027] Step S30: Identify the abnormal unmeasurable points caused by water film in the contour curve by means of neighboring points, and replace the abnormal unmeasurable points with the weighted mean of neighboring points to achieve local contour repair and obtain the repaired slag contour curve.

[0028] Specifically, such as Figure 5 As shown, when the acquired slag surface contour data ( Figure 5 When the blue curve in the image shows a long extension, it is necessary to calculate the first-order difference for each data point based on the corrected contour curve. : ; This is because when an unmeasurable point appears, the value of its first-order difference will tend to infinity. Therefore, when the first-order difference at that point tends to infinity, it is considered that the point may be affected by water film refraction, i.e., according to the first-order difference... The value identifies abnormal, unmeasurable points in the contour curve caused by water film.

[0029] Calculate the weighted average of the preceding and following neighboring points : ; Use the weighted average of the preceding and following neighboring points. The abnormal, unmeasurable points are replaced to achieve local contour repair, resulting in the repaired spoil contour curve, as shown in the figure. Figure 6 As shown.

[0030] Compared to the original outline of the slag and soil, this step only corrects localized, single-point anomalies, avoiding excessive smoothing of normal data.

[0031] Step S40: Divide the area enclosed by the repaired slag contour curve and the horizontal conveyor belt curve into multiple triangular micro-units, calculate the area of ​​each micro-unit and sum them up to obtain the corrected slag cross-sectional area.

[0032] Specifically, the area enclosed by the contour curve of the repaired slag and the horizontal conveyor belt curve is divided into several small intervals, and each small interval is piecewise fitted using double triangular units (i.e., local approximation using double triangular units).

[0033] With interval For example, the ordinates of the two endpoints of the curve on the curve are respectively and Four vertices can be constructed within this area: This area is divided into two triangles: triangle Vertex is ,triangle Vertex is Two triangles together cover the area below the curve within this region; for any triangle, the area is obtained by subtracting its determinant, and the interval is then... area Represented as: ; The entire contour curve is divided into M intervals, and the complete cross-sectional area S of the slag is calculated by continuously accumulating these intervals. The division of each region is as follows: Figure 7 As shown.

[0034] By discretizing the closed area enclosed by the slag contour and the horizontal conveyor belt into a large number of tiny triangular elements for integral solution, the geometric error caused by the laser beam not being able to accurately land on the vertices on both sides of the contour is avoided, and the accuracy of volume calculation is effectively improved.

[0035] Step S50: Perform time integration based on the scanning frequency, and discretely accumulate the cross-sectional area of ​​the slag obtained from continuous scanning according to the scanning time interval. Calculate the corrected slag discharge volume during the tunneling process through continuous integration.

[0036] Specifically, based on scanning frequency By performing time integration, the cross-sectional area S of the slag obtained from continuous scanning is discretely accumulated according to the scanning time interval: ; in, Indicates the volume of slag discharge. Indicates the first The corrected cross-sectional area obtained from the second scan. Indicates the number of scans. Indicates the time interval between adjacent scans. , Indicates the scan frequency. This indicates the conveyor belt speed.

[0037] The corrected slag discharge volume is obtained by integrating the cross-sectional area of ​​the slag over the tunneling cycle.

[0038] In this invention, a 3D laser scanner is used to acquire real-time contour data of the excavated soil surface of the horizontal conveyor belt during shield tunneling and muck removal. First, inflection point identification is used to correct the outward extension error of the excavated soil contour caused by belt slippage. By calculating the slope change and angle characteristics of the cross-sectional data, the inflection points of the outer edge of the conveyor belt are automatically identified based on a preset threshold, and redundant point clouds after them are truncated, thereby eliminating the volume deviation caused by slippage and restoring the true position of the contour boundary. Second, for laser-unmeasurable points caused by water film on the excavated soil surface, this invention introduces a local compensation strategy based on the mean of neighboring points. Anomalies are detected by first-order difference and replaced with the weighted mean of preceding and following neighboring points, achieving anomaly repair while preserving local details. Furthermore, this invention proposes a volume calculation method based on triangular inter-cell partitioning, discretizing the closed region formed by the excavated soil contour and the conveyor belt into multiple double-triangular units to reduce integral approximation errors and improve volume estimation accuracy. This method can effectively overcome the influence of factors such as belt slippage, water film refraction, and curve integration errors, and is suitable for real-time volume measurement and precise monitoring during shield tunneling muck removal.

[0039] Furthermore, such as Figure 8 As shown, based on the above-mentioned real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunneling machine based on a laser scanning system, the present invention also provides a real-time correction system for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunneling machine based on a laser scanning system, wherein the real-time correction system for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunneling machine based on a laser scanning system includes: The cross-section point cloud scanning module 51 is used to scan the cross-section point cloud of the slag on the horizontal conveyor belt of the shield machine during the slag removal process using a three-dimensional laser scanner to obtain the surface contour data of the slag. The contour curve correction module 52 is used to calculate the slope change value and angle value of each data point in the contour data of the slag surface, identify the inflection point of the outer edge of the conveyor belt, and when the slope change value and angle value of a certain point are both lower than the preset threshold, the point is defined as the outer extension point of the slag contour, and the redundant data after the outer extension point of the slag contour is removed to obtain the corrected contour curve. The contour local repair module 53 is used to identify abnormal unmeasurable points caused by water film in the contour curve by means of neighboring points, and replace the abnormal unmeasurable points by means of weighted means of neighboring points to achieve contour local repair and obtain the repaired slag contour curve. The slag cross-sectional area calculation module 54 is used to divide the area enclosed by the repaired slag outline curve and the horizontal conveyor belt curve into multiple triangular micro-units, calculate the area of ​​each micro-unit and sum them up to obtain the corrected slag cross-sectional area. The slag discharge volume calculation module 55 is used to perform time integration based on the scanning frequency, discretely accumulate the cross-sectional area of ​​the slag obtained by continuous scanning according to the scanning time interval, and calculate the corrected slag discharge volume during the tunneling process through continuous integration.

[0040] Furthermore, such as Figure 9 As shown, based on the above-mentioned real-time correction method and system for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system, the present invention also provides a terminal, which includes a processor 10, a memory 20 and a display 30. Figure 9 Only some of the terminal components are shown; however, it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0041] In some embodiments, the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory. In other embodiments, the memory 20 may be an external storage device of the terminal, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc., equipped on the terminal. Further, the memory 20 may include both internal and external storage devices. The memory 20 is used to store application software and various types of data installed on the terminal, such as the program code installed on the terminal. The memory 20 can also be used to temporarily store data that has been output or will be output. In one embodiment, the memory 20 stores a real-time correction program 40 for abnormal soil contours on the shield horizontal conveyor belt based on a laser scanning system. This real-time correction program 40 for abnormal soil contours on the shield horizontal conveyor belt based on a laser scanning system can be executed by the processor 10, thereby implementing the real-time correction method for abnormal soil contours on the shield horizontal conveyor belt based on a laser scanning system in this application.

[0042] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in the memory 20 or process data, such as executing the real-time correction method for abnormal profiles of slag on the shield horizontal conveyor belt based on the laser scanning system.

[0043] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display 30 is used to display information on the terminal and to display a visual user interface. The terminal's processor 10, memory 20, and display 30 communicate with each other via a system bus.

[0044] In one embodiment, when the processor 10 executes the real-time correction program 40 for abnormal profiles of excavated soil on the horizontal conveyor belt of the tunnel boring machine based on the laser scanning system stored in the memory 20, the following steps are performed: During the excavation and muck removal of the tunnel boring machine, a 3D laser scanner is used to scan the point cloud of the muck cross section on the horizontal conveyor belt of the tunnel boring machine to obtain the surface contour data of the muck. Calculate the slope change value and angle value of each data point in the surface contour data of the slag and soil, identify the inflection point of the outer edge of the conveyor belt, and when the slope change value and angle value of a certain point are both lower than the preset threshold, define the point as the outer extension point of the slag and soil contour, and remove the redundant data after the outer extension point of the slag and soil contour to obtain the corrected contour curve. The abnormal unmeasurable points caused by water film in the contour curve are identified by the neighboring point mean correction method, and the abnormal unmeasurable points are replaced by the weighted mean of the preceding and following neighboring points to achieve local contour repair and obtain the repaired slag contour curve. The area enclosed by the contour curve of the repaired slag and the curve of the horizontal conveyor belt is divided into multiple triangular micro-units. The area of ​​each micro-unit is calculated and summed to obtain the corrected cross-sectional area of ​​the slag. Based on the scanning frequency, time integration is performed, and the cross-sectional area of ​​the slag obtained by continuous scanning is discretely accumulated according to the scanning time interval. The corrected slag discharge volume during the tunneling process is calculated by continuous integration.

[0045] Specifically, during the muck removal process of the tunnel boring machine (TBM), a 3D laser scanner is used to scan the point cloud of the muck cross-section on the horizontal conveyor belt of the TBM to obtain the surface contour data of the muck. This includes: During the muck removal process of the tunnel boring machine (TBM), a 3D laser scanner is used to scan the point cloud of the muck cross-section on the horizontal conveyor belt of the TBM, acquiring point cloud data. The distance between the 3D laser scanner and the object being measured is then obtained. and deflection angle data ; Through calculation formula and Real-time distance and deflection angle data Convert to horizontal position value and vertical position value The data on the surface profile of the slag and waste soil at a certain moment are obtained from the representation of the soil and waste soil. .

[0046] Specifically, the calculation of the slope change value and angle value of each data point in the slag surface contour data, the identification of the outer edge inflection point of the conveyor belt, and the definition of the slag contour extension point as the point where both the slope change value and angle value are lower than a preset threshold, and the removal of redundant data after the slag contour extension point to obtain the corrected contour curve, includes: Based on the surface contour data of the slag soil Calculate the slope change value of each data point in the surface contour data of the slag and soil. With angle value : ; ; in, Indicates the first i The horizontal position value of the point. Indicates the first i The vertical position value of the point. Indicates the first The horizontal position value of the point. Indicates the first The vertical position value of the point. Indicates the first The horizontal position value of the point. Indicates the first The vertical position value of the point. Indicates the first i Vector notation of a point Indicates the first Vector notation of a point Indicates the first Vector notation of a point; Determine the curvature change threshold based on the unloaded belt curve. and the angle threshold When the slope change value calculated at a certain point Less than the curvature change threshold And the angle value Less than the corner threshold At that time, this point is defined as the outer extension point of the slag contour. ; Remove the outer edge of the slag contour. The redundant data is then used to obtain the corrected contour curve.

[0047] Specifically, the method of identifying abnormal unmeasurable points caused by water film in the contour curve using the neighboring point mean correction method, and replacing these abnormal unmeasurable points with the weighted mean of preceding and following neighboring points to achieve local contour repair and obtain the repaired slag contour curve, includes: Based on the corrected profile curve, calculate the first difference for each data point. : ; According to the first difference The value identifies abnormal, unmeasurable points in the contour curve caused by water film. Calculate the weighted average of the preceding and following neighboring points : ; Use the weighted average of the preceding and following neighboring points. The abnormal, unmeasurable points are replaced to achieve local contour repair, resulting in the repaired slag contour curve.

[0048] Specifically, dividing the area enclosed by the contour curve of the repaired slag and the curve of the horizontal conveyor belt into multiple triangular micro-units, calculating the area of ​​each micro-unit and summing them to obtain the corrected cross-sectional area of ​​the slag, includes: The area enclosed by the contour curve of the repaired slag and the curve of the horizontal conveyor belt is divided into several small intervals, and each small interval is segmented and fitted using double triangular units. For interval The ordinates of the two endpoints on the curve are respectively and Construct four vertices within this region: ; Divide this area into two triangles: Vertex is ,triangle Vertex is The two triangles together cover the area below the curve within this region; For any triangle, the area can be calculated by subtracting its determinant. At this point, the interval... area Represented as: ; The entire contour curve is divided into M intervals, and the complete cross-sectional area S of the slag is calculated by continuously accumulating these intervals.

[0049] Specifically, the step of time integration based on scanning frequency, which involves discretely accumulating the cross-sectional area of ​​the excavated soil obtained from continuous scanning according to the scanning time interval, and calculating the corrected excavated volume during the tunneling process through continuous integration, includes: Based on the scanning frequency, the cross-sectional area S of the slag obtained from continuous scanning is discretely accumulated according to the scanning time interval: ; in, Indicates the volume of slag discharge. Indicates the first The corrected cross-sectional area obtained from the second scan. Indicates the number of scans. Indicates the time interval between adjacent scans. , Indicates the scan frequency. Indicates the conveyor belt speed; The corrected slag discharge volume is obtained by integrating the cross-sectional area of ​​the slag over the tunneling cycle.

[0050] Wherein, the curvature change threshold The value range is 0.012-0.02; the angle threshold. The value range is 4°-7°.

[0051] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a real-time correction program for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system. When the real-time correction program for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system is executed by a processor, it implements the steps of the real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system as described above.

[0052] In summary, this invention provides a method, system, terminal, and computer-readable storage medium for real-time correction of abnormal profiles of excavated soil on the horizontal conveyor belt of a tunnel boring machine (TBM) based on a laser scanning system. The method includes: during TBM excavation and muck removal, using a 3D laser scanner to scan the point cloud of the excavated soil cross-section on the horizontal conveyor belt of the TBM to obtain excavated soil surface profile data; calculating the slope change value and angle value of each data point in the excavated soil surface profile data; identifying the inflection point at the outer edge of the conveyor belt; and defining the point as the excavated soil profile extension point when both the slope change value and angle value are lower than a preset threshold, and removing redundant data after the excavated soil profile extension point. The process involves obtaining a corrected profile curve; identifying abnormal unmeasurable points caused by water film in the profile curve using the neighboring point mean correction method, and replacing these abnormal unmeasurable points with the weighted mean of the preceding and following neighboring points to achieve local profile repair, resulting in a repaired slag profile curve; dividing the area enclosed by the repaired slag profile curve and the horizontal conveyor belt curve into multiple triangular micro-units, calculating the area of ​​each micro-region and summing them to obtain the corrected slag cross-sectional area; performing time integration based on the scanning frequency, and discretely summing the slag cross-sectional areas obtained from continuous scanning according to the scanning time interval, and calculating the corrected slag discharge volume during the tunneling process through continuous integration. This invention discretizes the closed area formed by the slag profile and the conveyor belt into multiple double triangular units to reduce integration approximation errors and improve volume estimation accuracy. It can effectively overcome the influence of factors such as belt slippage, water film refraction, and curve integration errors, improve the accuracy of slag volume detection, and provide a reliable theoretical basis and engineering guidance for tunneling control, slag discharge efficiency evaluation, and ground parameter feedback during shield tunneling construction.

[0053] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal that includes that element.

[0054] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.). The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The computer-readable storage medium can be a memory, magnetic disk, optical disk, etc.

[0055] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for real-time correction of abnormal profiles of excavated soil on a shield tunneling horizontal conveyor belt based on a laser scanning system, characterized in that, The real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system includes: During the excavation and muck removal of the tunnel boring machine, a 3D laser scanner is used to scan the point cloud of the muck cross section on the horizontal conveyor belt of the tunnel boring machine to obtain the surface contour data of the muck. Calculate the slope change value and angle value of each data point in the surface contour data of the slag and soil, identify the inflection point of the outer edge of the conveyor belt, and when the slope change value and angle value of a certain point are both lower than the preset threshold, define the point as the outer extension point of the slag and soil contour, and remove the redundant data after the outer extension point of the slag and soil contour to obtain the corrected contour curve. The abnormal unmeasurable points caused by water film in the contour curve are identified by the neighboring point mean correction method, and the abnormal unmeasurable points are replaced by the weighted mean of the preceding and following neighboring points to achieve local contour repair and obtain the repaired slag contour curve. The area enclosed by the contour curve of the repaired slag and the curve of the horizontal conveyor belt is divided into multiple triangular micro-units. The area of ​​each micro-unit is calculated and summed to obtain the corrected cross-sectional area of ​​the slag. Based on the scanning frequency, time integration is performed, and the cross-sectional area of ​​the slag obtained by continuous scanning is discretely accumulated according to the scanning time interval. The corrected slag discharge volume during the tunneling process is calculated by continuous integration.

2. The real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunneling machine based on a laser scanning system, as described in claim 1, is characterized in that... During the muck removal process of the tunnel boring machine (TBM), a 3D laser scanner is used to scan the point cloud of the muck cross-section on the horizontal conveyor belt of the TBM to obtain the surface contour data of the muck. Specifically, this includes: During the muck removal process of the tunnel boring machine (TBM), a 3D laser scanner is used to scan the point cloud of the muck cross-section on the horizontal conveyor belt of the TBM, acquiring point cloud data. The distance between the 3D laser scanner and the object being measured is then obtained. and deflection angle data ; Through calculation formula and Real-time distance and deflection angle data Convert to horizontal position value and vertical position value The data on the surface profile of the slag muck at a certain moment are obtained from the representation of the slag muck. .

3. The real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunneling machine based on a laser scanning system, as described in claim 2, is characterized in that... The calculation of the slope change value and angle value of each data point in the slag surface contour data, identification of the outer edge inflection point of the conveyor belt, and definition of the slag contour extension point when both the slope change value and angle value of a certain point are lower than a preset threshold, and the redundant data after the slag contour extension point are removed to obtain the corrected contour curve, specifically including: Based on the surface contour data of the slag soil Calculate the slope change value of each data point in the surface contour data of the slag and soil. With angle value : ； ； in, Indicates the first i The horizontal position value of the point. Indicates the first i The vertical position value of the point. Indicates the first The horizontal position value of the point. Indicates the first The vertical position value of the point. Indicates the first The horizontal position value of the point. Indicates the first The vertical position value of the point. Indicates the first i Vector notation of a point Indicates the first Vector notation of a point Indicates the first Vector notation of a point; Determine the curvature change threshold based on the unloaded belt curve. and the angle threshold When the slope change value calculated at a certain point Less than the curvature change threshold And the angle value Less than the corner threshold At that time, this point is defined as the outer extension point of the slag contour. ; Remove the outer edge of the slag contour. The redundant data is then used to obtain the corrected contour curve.

4. The real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunneling machine based on a laser scanning system, as described in claim 3, is characterized in that... The method of identifying abnormal unmeasurable points caused by water film in the contour curve through the neighboring point mean correction method, and replacing the abnormal unmeasurable points with the weighted mean of the preceding and following neighboring points to achieve local contour repair, resulting in a repaired slag contour curve, specifically includes: Based on the corrected profile curve, calculate the first difference for each data point. : ； According to the first difference The value identifies abnormal, unmeasurable points in the contour curve caused by water film. Calculate the weighted average of the preceding and following neighboring points : ； Use the weighted average of the preceding and following neighboring points. The abnormal, unmeasurable points are replaced to achieve local contour repair, resulting in the repaired slag contour curve.

5. The real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunneling machine based on a laser scanning system, as described in claim 4, is characterized in that... The process of dividing the area enclosed by the contour curve of the repaired slag and the curve of the horizontal conveyor belt into multiple triangular micro-units, calculating the area of ​​each micro-unit and summing them up to obtain the corrected cross-sectional area of ​​the slag, specifically includes: The area enclosed by the contour curve of the repaired slag and the curve of the horizontal conveyor belt is divided into several small intervals, and each small interval is segmented and fitted using double triangular units. For interval The ordinates of the two endpoints on the curve are respectively and Construct four vertices within this region: ; Divide this area into two triangles: Vertex is ,triangle Vertex is The two triangles together cover the area below the curve within this region; For any triangle, the area can be calculated by subtracting its determinant. At this point, the interval... area Represented as: ； The entire contour curve is divided into M intervals, and the complete cross-sectional area S of the slag is calculated by continuously accumulating these intervals.

6. The real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunneling machine based on a laser scanning system, as described in claim 5, is characterized in that... The time integration based on the scanning frequency involves discretely accumulating the cross-sectional area of ​​the excavated soil obtained from continuous scanning according to the scanning time interval, and calculating the corrected excavated volume during the tunneling process through continuous integration. Specifically, this includes: Based on the scanning frequency, the cross-sectional area S of the slag obtained from continuous scanning is discretely accumulated according to the scanning time interval: ； in, Indicates the volume of slag discharge. Indicates the first The corrected cross-sectional area obtained from the second scan. Indicates the number of scans. Indicates the time interval between adjacent scans. , Indicates the scan frequency. Indicates the conveyor belt speed; The corrected slag discharge volume is obtained by integrating the cross-sectional area of ​​the slag over the tunneling cycle.

7. The real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunneling machine based on a laser scanning system, as described in claim 3, is characterized in that... The curvature change threshold The value range is 0.012-0.02; the angle threshold. The value range is 4°-7°.

8. A real-time correction system for abnormal profiles of excavated soil on a shield tunneling horizontal conveyor belt based on a laser scanning system, characterized in that, The real-time correction system for abnormal profiles of excavated soil on the horizontal conveyor belt of the tunnel boring machine based on a laser scanning system includes: The cross-section point cloud scanning module is used to scan the cross-section point cloud of the excavated soil on the horizontal conveyor belt of the tunnel boring machine during the excavation and muck removal process, and to obtain the surface contour data of the excavated soil. The contour curve correction module is used to calculate the slope change value and angle value of each data point in the contour data of the slag surface, identify the inflection point of the outer edge of the conveyor belt, and define the point as the outer extension point of the slag contour when the slope change value and angle value of a certain point are both lower than the preset threshold. The redundant data after the outer extension point of the slag contour is removed to obtain the corrected contour curve. The contour local repair module is used to identify abnormal unmeasurable points caused by water film in the contour curve by means of neighboring points, and replace the abnormal unmeasurable points with the weighted mean of neighboring points to achieve contour local repair and obtain the repaired slag contour curve. The slag cross-sectional area calculation module is used to divide the area enclosed by the contour curve of the repaired slag and the curve of the horizontal conveyor belt into multiple triangular micro-units, calculate the area of ​​each micro-unit and sum them up to obtain the corrected slag cross-sectional area. The slag discharge volume calculation module is used to perform time integration based on the scanning frequency. It discretely accumulates the cross-sectional area of ​​the slag obtained by continuous scanning according to the scanning time interval, and calculates the corrected slag discharge volume during the tunneling process through continuous integration.

9. A terminal, characterized in that, The terminal includes: a memory, a processor, and a real-time correction program for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system, which is stored in the memory and can run on the processor. When the processor executes the real-time correction program for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system, it implements the steps of the real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a real-time correction program for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system. When the real-time correction program for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system is executed by a processor, it implements the steps of the real-time correction method for abnormal profiles of excavated soil on the horizontal conveyor belt of a shield tunnel based on a laser scanning system as described in any one of claims 1-7.

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