CN106767402B - Shield tunnel apparent quality detection method and system - Google Patents
Shield tunnel apparent quality detection method and system Download PDFInfo
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- CN106767402B CN106767402B CN201611085345.7A CN201611085345A CN106767402B CN 106767402 B CN106767402 B CN 106767402B CN 201611085345 A CN201611085345 A CN 201611085345A CN 106767402 B CN106767402 B CN 106767402B
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Abstract
The invention discloses a method for detecting the apparent quality of a shield tunnel, which comprises the following steps: (1) Acquiring point cloud data in real time by scanning a tunnel segment entity through laser; (2) generating a tunnel entity point cloud model according to the point cloud data; (3) Comparing the tunnel center of the tunnel entity point cloud model with the tunnel design BIM model center to obtain a tunnel center line deviation value; (4) Calculating according to a tunnel entity point cloud model to obtain a wrong station value; (5) Calculating and acquiring ellipticity according to the tunnel entity point cloud model; (6) Analyzing the defects of the tunnel entity point cloud model, including recognizing the defect area, judging the defect type and calculating the defect numerical value; (7) And judging the detection value according to a preset apparent quality evaluation standard, and evaluating the apparent quality condition of the tunnel. The invention can rapidly acquire the three-dimensional coordinate data of the surface of the measured object in a large area and high resolution manner, rapidly acquire a large amount of space point location information, and has high efficiency and high precision.
Description
Technical Field
The invention belongs to the technical field of tunnel detection, and particularly relates to a method and a system for detecting apparent quality of a shield tunnel based on a laser scanning technology and a BIM technology, which are mainly used for detecting and diagnosing a shield tunnel structure.
Background
In the construction process of a shield tunnel, as the assembling quality of duct pieces is often difficult to control completely, the phenomena of slab staggering, duct piece damage, ovality exceeding a specified value and the like occur, and the problems of cracks, leakage, block falling and the like in the tunnel operation period occur, and the apparent quality problems of the tunnels seriously threaten the safety of a tunnel structure body. In the traditional control of the segment splicing quality, engineering detection personnel regularly check segment by segment inside a tunnel, and when a segment with a large staggered platform is found in the checking process, a ruler method is used for judging whether the staggered platform exceeds the standard or not; for the detection of the ovality, the long axis and the short axis of the tunnel are determined together by adopting a method of matching a leather measuring tape with a hanging plumb, and then the ovality of the tunnel is calculated. In the operation period, the total mileage of the tunnel is long, the defects are scattered, and the requirement of daily maintenance of the tunnel cannot be met by manual detection.
The traditional detection method is greatly influenced by a detection main body, detection frequency and detection efficiency, and automatic detection of the apparent mass of the duct piece cannot be realized. How to detect the condition that the quality of the shield tunnel does not reach the standard as early as possible and take remedial measures in time to avoid causing more accidents becomes a difficult point of tunnel shield construction. Therefore, a new detection and diagnosis technology is required to realize real-time accurate and comprehensive detection of the apparent mass of the segment.
Disclosure of Invention
The invention aims to provide a shield method tunnel apparent mass detection method based on a laser scanning technology and a BIM technology according to the defects of the existing tunnel structure state detection and diagnosis method, which can realize the rapid and accurate detection and intelligent diagnosis of the shield method tunnel structure.
In order to achieve the purpose, the invention provides a method for detecting the apparent quality of a shield tunnel, which comprises the following steps:
(1) Scanning a tunnel segment entity through laser to obtain point cloud data in real time;
(2) Generating a tunnel entity point cloud model according to the point cloud data;
(3) Comparing the tunnel center of the tunnel entity point cloud model with the center of a tunnel design BIM model to obtain a tunnel center line deviation value;
(4) Calculating according to a tunnel entity point cloud model to obtain a wrong station value;
(5) Calculating and obtaining ellipticity according to the tunnel entity point cloud model;
(6) Carrying out disease analysis on the tunnel entity point cloud model, including disease area identification, disease category judgment and disease numerical value calculation;
(7) And judging the detection value according to a preset apparent quality evaluation standard, and evaluating the apparent quality condition of the tunnel.
Further, the step (2) comprises the following steps:
(2.1) transforming the coordinates of all point clouds into a coordinate system adopted by calculation through coordinate transformation;
(2.2) eliminating non-key points by setting the value range of the z coordinate;
(2.3) judging whether the point in the point cloud is a point on the side line by adopting a vector summation algorithm, and extracting the side line of the point cloud;
and (2.4) fitting the center of the tunnel by adopting a least square method, and calculating the coordinate of the center point M.
Further, in step (2.1), the coordinate system is set as follows:
calculating the direction vector of the central axis of the tunnel by adopting a least square method, and for point cloud data of a ring pipe, performing neighborhood solution on each point to obtain a vector, wherein the product of one vector and all normal vectors is minimum, namely the axial direction; and the direction is defined as a z axis, and the xy plane is perpendicular to the z axis, so that the establishment of a coordinate system is completed.
Further, in the step (2.2), the value range of the z coordinate of the non-key point which can be eliminated by the nth ring along the positive direction of the z axis is as follows:
aμ+(N-1)(l+2)+b≤z ni ≤Nl+2(N-1)-aμ+b
where N =1,2, μ is the distance between two adjacent points in the same point cloud, l is the length of a tube sheet loop, a is a constant, and b is the minimum of the z-axis coordinates of all points.
Further, in step (2.3), it is assumed that there is any point P in the point cloud obtained by one laser scanning i And 8 neighboring points P i 1 ，P i 2 ，...，P i 8 Form 8 vectors
The sum V (P) of these 8 vectors i ) It can be calculated as follows:
points on the boundary of an idealized point cloud, in P ie It is shown that the process of the present invention,
V(P ie )＝5μ
where μ is the minimum distance between two points;
p for points in the middle of the point cloud ii It is shown that the process of the present invention,
V(P ii )＝0
if V (P) i ) Greater than 2.5 μ, then P i Is P ie I.e. P i Is a point on the point cloud boundary, otherwise P i Is P ii I.e. P i Is the point in the middle of the point cloud.
Further, in step (2.4), let the coordinates of the center M be (a, b, c), and a point P on the edge i Has the coordinates (x, y, z), M and P i Is equal, i.e. c = z, we have thus:
f (x，y) ＝g (x，y) +ε (x，y)
in the above formula, y = g (x，y) Is a fitting function, y = ε (x，y) Is an error function, y = f (x，y) Is P i The real-valued function of (a), in addition,
g (x，y) ＝(x-a) 2 +(y-b) 2 ＝r 2
so we get ε (x，y) ＝f (x，y) -g (x，y) And P i Error of (e) i ＝f i -g i Let us order
S is a quadratic function about a and b, and when S takes the minimum value, an ideal fitting equation g can be calculated (x，y) And the center M of the corresponding ring edge.
Further, the step (4) comprises the following steps;
(4.1) calculation of toroidal dislocation of monocyclic segment
6 pairs of edge points are taken for calculation, and each pair of edge points Q i (x 1i ，y 1i ) And Q' i (x 2i ，y 2i ) Comparing the x value of one of the two sets with the x values of the other 5 pairs, and respectively taking the values of i corresponding to the 6 x values from small to large from 1 to 6, thereby determining the position of the wrong station;
if the central point of the simulated ring plane is M (a, b), the dislocation value L between adjacent pipe sheets in the ring plane i1 Can be calculated according to the following formula:
dislocation value L of the other side i2 The dislocation values of other rings can also be calculated by the same algorithm;
(4.2) calculation of axial dislocation of single-ring duct piece
Taking six groups of edge points (x) when dislocation exists in the axial line direction 1i ，y 1i ，z 1i ) And (x) 2i ，y 2i ，z 2i ) Dislocation value L 'between adjacent segments in the direction of the normal to the ring plane' i It can be calculated as follows:
L′ i ＝Δz＝|z 1i -z 2i |，i＝1，2，...，6
(4.3) calculation of inter-Ring staggering
Get A L And B F Two edges, projected to the xy plane, A L Center M of edge A Emitting a ray and A L And B F The intersection of the two edges in the xy plane produces a line segment P iA P iB (ii) a Through an exhaustive process of 360 deg., in M A Forming 72P for every 0.05 degree iA P iB And the calculated length is recorded as D iAB (ii) a At M A In rectangular coordinate system of origin, all P iA P iB The line segments are distributed in four quadrants, representing four different directions, named + X + Y, -X + Y, -X-Y and + X-Y, D of each quadrant iAB Maximum value such as (D) iAB |+X+Y) MAX In the form of (a); at the edge B F Center M of B Calculating the line segment P by the same exhaustion method iB P iA To obtain four D iBA Maximum value of (D) iBA |+X+Y) MAX (ii) a The staggering values for adjacent rings in the four quadrants are as follows:
the particular stagger position in the four quadrants is represented by the angle between the longest line segment and the positive x-direction, which is as follows:
coordinate x i1 ，y i1 And x i2 ，y i2 Are the two end points of the longest line segment and coordinates a and b are the coordinates of the center of the edge ring.
Further, in the step (5), for an elliptical ring, the two side extracted edges of the elliptical ring are used for calculating the ellipticity, and the average value is used as the ellipticity of the ring; the ovality of the single-sided edge is calculated as follows:
having a point P on the edge i Distance to z-axis r i Central point of symmetry P i ' distance to z-axis r i '; another point P j And its central point of symmetry P j The distances from the' z-axis are r j And r j '; the center point of the plane of the edge ring is M (a, b), vector
And
is 90 °; ovality of the oval edge is denoted T k Then, there are:
T k ＝MAX{|(r i +r i ′)-(r j +r j ′)|}，k＝1，2
in the above formula, the first and second carbon atoms are,
major axis D 1 ＝MAX{(r i +r i ′)，(r j +r j ′)}，k＝1，2，
Minor axis D 2 ＝MIN{(r i +r i ′)，(r j +r j ′)}，k＝1，2，
Further, in the step (6), comparing the BIM model central point and the point cloud central point of each ring of pipe pieces to obtain a vector from the BIM model central point O (D, E, F) to the actual central point M (a, B, C) of the point cloud data fitting, wherein the deviation distance Δ S between the two centers is the center line deviation of the ring, and the calculation is performed according to the following formula:
in order to achieve the above object, the present invention further provides a system for detecting apparent quality of a shield tunnel, comprising: an apparent part scanning unit, an analysis and diagnosis unit, and a data storage unit;
the apparent part scanning unit comprises a laser transmitter, a laser receiver and a segment assembly point cloud model processor; the segment assembly point cloud model processor comprises a laser trigger port and a signal receiving port, the laser trigger port is connected with a laser transmitter, and the signal receiving port is connected with a laser receiver;
the analysis and diagnosis unit comprises an analysis and diagnosis processor and a model integration processor; the data input end of the analysis and diagnosis processor is connected with the data output end of the model integration processor; the analysis and diagnosis processor comprises a preset source data module, wherein the preset source data module comprises characteristic data of segment assembly;
the data storage unit comprises a segment BIM model memory and a segment assembling point cloud model memory; the data output ends of the BIM model memory and the segment assembly point cloud model memory are connected with the model integration processor; the data input end of the segment assembly point cloud model memory is connected with the segment assembly point cloud model processor;
the laser receiver is used for receiving laser signals reflected by the segment walls and sending the received reflected laser signals to the segment assembly point cloud model processor, and the segment assembly point cloud model processor is used for processing the received reflected laser signals to obtain a segment assembly point cloud model;
the model integration processor is used for integrating the segment BIM model and the segment assembly point cloud model;
and the analysis and diagnosis processor is used for analyzing and calculating the detection data to obtain each actual parameter of the segment, and comparing the parameters with the data in the preset source data module to generate a diagnosis report.
Generally, compared with the prior art, the technical scheme of the invention adopts a laser scanning technology, and a high-speed laser scanning measurement method is adopted, so that the three-dimensional coordinate data of the surface of the measured object can be rapidly acquired in a large area and high resolution manner, the spatial point location information can be rapidly and massively acquired, and a brand-new technical means is provided for efficiently and highly accurately establishing a three-dimensional image model of the object. And the three-dimensional image model obtained in real time is compared with the BIM model in real time, so that the tunnel structure body surface appearance quality can be timely, efficiently and accurately detected and diagnosed.
Drawings
FIG. 1 is a flow diagram of a pretreatment process according to the present invention;
FIG. 2 is a schematic representation of a transformed coordinate system according to the present invention;
FIG. 3 is a schematic diagram of edge points and interior points in the edge extraction vector summation algorithm according to the present invention;
FIG. 4 is a schematic illustration of the four-ring duct pieces and the numbering of the edges of the various ring duct pieces according to the present invention;
FIG. 5 is a numbered schematic view of 6 segments of tubing comprising a ring according to the present invention;
FIG. 6 is a schematic view of a single ring segment normal staggering according to the present invention;
FIG. 7 is a schematic view of the segment-to-segment staggering of the present invention;
FIG. 8 is a schematic view of the major and minor axes of an ovality calculation in accordance with the present invention;
FIG. 9 is a schematic diagram of the comparison between the center line of the point cloud model and the center line of the BIM model for tunnel design according to the present invention;
fig. 10 is a structural diagram of the shield tunnel apparent mass detection system of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further 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. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
The point cloud data preprocessing will be described in detail with reference to fig. 1,2 and 3
Before calculating the dislocation value and the ellipticity, the point cloud data of the multi-ring duct piece needs to be preprocessed. Assuming that N points are obtained by scanning and detecting the data of the 4-ring segment once, the point cloud data needs to be preprocessed through 4 steps shown in fig. 1.
(1) Coordinate system establishment
As shown in fig. 2, we specify that the z-axis is along the central axis of the tunnel. Therefore, to establish a coordinate system, a central axis direction vector is first calculated. The vector of the central axis of the tunnel is calculated by adopting a least square method, each point is subjected to neighborhood solution vector for point cloud data of a ring pipe, ideally, the normal vectors of the points on the ring pipe are all diverged outwards from the circle center, and the product of one vector and all normal vectors is required to be solved to be minimum, namely the axial direction. Set the point coordinate as (a) i ,b i ,c i ) The axial vector is (x, y, z) and satisfies a i x+b i y+c i z =0. For n points, the formula has no unique solution, and the least squares method is adopted, so that (a) 1 x+b 1 y+c 1 z) 2 ......+(a i x+b i y+c i z) 2 +.....(a n x+b n y+c n z) 2 With a minimum value T.
It is not assumed that z =1,y = kx in the vector (x, y, z). The equation that calculates the minimum value of T is converted to:
(a 1 x+b 1 kx+c 1 ) 2 ......+(a i x+b i kx+c i ) 2 +.....(a n x+b n kx+c n ) 2
this formula can be simplified as A (x-B) 2 And + C, wherein A, B and C are all related to the value of k, the minimum value of C is the minimum value, only k is an unknown number in C, and the value of k at the minimum value can be obtained. Similarly, the above formula has the minimum value when x = B, and after obtaining the k value, B can also be obtained, so that x and y can be obtained, i.e. axial vectors can be obtained, the direction is defined as the z axis, and the xy plane is perpendicular to the z axis, thereby completing the establishment of the coordinate system.
(2) Non-keypoint culling
After the coordinate system is established, the coordinates of all point clouds of the four-ring duct pieces can be immediately used for calculation. Non-key points, namely points in the point cloud boundary surface, can be removed by setting the value range of the z coordinate. We consider here the laser scanning accuracy, i.e. the distance between two adjacent points in the same point cloud, to be μ. One segment ring has a length l and the width of the gap between adjacent rings is about 2mm.
Therefore, the value range of the z coordinates of the i non-key points which can be eliminated by the first ring along the positive direction of the z axis is as follows:
aμ+b≤z 1i ≤l-aμ+b；
in the above equation, a is a constant (generally 6 as a rule of thumb), and b is the minimum value of the z-axis coordinates of all points. The value range of z coordinates of i non-key points which can be eliminated along the positive direction of the z axis by the second ring is as follows:
aμ+l+2+b≤z 2i ≤2l+2-aμ+b；
by analogy, the value range of the z coordinate of the non-key point which can be eliminated by the Nth ring along the positive direction of the z axis is as follows:
aμ+(N-1)(l+2)+b≤z ni ≤Nl+2(N-1)-aμ+b，N＝1，2...
the non-key points are removed according to the rule, so that the subsequent calculation work can be reduced to the greatest extent.
(3) Edge line extraction
Sideline extraction adoptsAnd (4) a vector summation algorithm. It is assumed that there is an arbitrary point P in the point cloud obtained by one laser scan i And 8 neighboring points P i 1 ，P i 2 ，...，P i 8 Form 8 vectors
The sum V (P) of these 8 vectors i ) Can be calculated as follows:
points on the boundary of an idealized point cloud, in P ie Is represented by V (P) ie ) =5 μ (μ is the minimum distance between two points). P for points in the middle of the point cloud ii Is represented by V (P) ii ) =0. These two equations are used to distinguish P ie And P ii Two points, as shown in fig. 3. In fact, for non-uniform spots, 2.5 μ is considered to be the difference P ie And P ii Is measured. We specify if V (P) i ) > 2.5 mu, then P i Is P ie I.e. P i Is a point on the point cloud boundary, otherwise P i Is P ii I.e. P i Is the point in the middle of the point cloud.
(4) Fitting of ring centers
In practice, the ring of tunnel segments is an irregular ring that approximates a circular ring. Therefore, the least squares method is applied to the optimized circle fitting process to find the centers of the two side edges of the segment ring. Taking a ring edge as an example, assuming that the coordinates of the center M of the determined circular ring plane are (a, b, c), a point P on the edge i Is (x, y, z). Since the fitting process is done in the plane of the circle, M and P i The z-axis coordinate values of (a) are equal, i.e. c = z. Or, considering only the x-axis and the y-axis, we have:
f (x，y) ＝g (x，y) +ε (x，y)
in the above formula, y = g (x，y) Is a fitting function, y = ε (x，y) Is an error function, y = f (x，y) Is P i The real-valued function of (a), in addition,
g (x，y) ＝(x-a) 2 +(y-b) 2 ＝r 2
so we get ε (x，y) ＝f (x，y) -g (x，y) And P i Error of (e) i ＝f i -g i Let us
The above equation can be substituted for the true coordinates of all points, S being a quadratic function with respect to a and b. When S takes the minimum value, an ideal fitting equation g can be calculated (x，y) And the center M of the corresponding ring edge. The center point M coordinates will be applied to the calculation of the inter-ring stagger values, ovality and centerline deviations.
The following describes the calculation of the dislocation value in detail with reference to fig. 4, 5, 6, and 7
As shown in FIG. 4, the 4-ring pipe pieces are named A, B, C and D according to the assembly sequence. The edges of 8 tube sheet rings have been extracted by pretreatment, and the edges are named as A according to the ring where the edges are located F /A L ，B F /B L ，C F /C L And D F /D L . According to different positions of the dislocation, the dislocation is divided into a dislocation in a single ring and a dislocation between two rings, wherein the dislocation comprises the dislocation on the ring surface and the dislocation in the axial direction. Due to the pushing movement of the shield machine jacking oil cylinder, the dislocation in the axial direction rarely occurs in the actual engineering, but a calculation method is also provided. All dislocations can be calculated using these eight edge rings as an example.
(1) Calculation of dislocation of single-ring segment ring surface
Assuming that 6 segments form a ring, both sides of the ring need to be staggered. The algorithm is explained here with the calculation of one side as an example. As shown in fig. 5, the edge-generated ring plane is divided into 6 segments and numbered sequentially. Similar to edge extraction, we use a vector summation algorithm to extract the ends of 6-segment ring edgesAnd (4) point. In edge extraction with evenly distributed points, distance from arbitrary point P ie Two closest points
And
the vector sum is calculated as:
naming the endpoint as P iee Other points are named as P iei By the equation
the end points can be found from all points of the edge. When V (P) ie ) When μ, we specify P ie Is P iee I.e. P ie Are endpoints.
According to the algorithm, 12 end points are found which have exactly the same z-coordinate value in the ring plane in the corresponding coordinate system, so that only xy-coordinates need to be considered. Each end point calculates the distance to the other 11 end points to find the nearest point. If an endpoint is Q i And the closest point thereto is Q' i Then, it is
|Q i Q′ i |＝min{|Q i Q j |，i，j＝1，2，...，12，i≠j}；
Thus, 6 pairs of edge points are used to calculate the staggering value for 6 positions on the ring plane. Each pair of edge points Q i (x 1i ，y 1i ) And Q' i (x 2i ，y 2i ) The x value of one of them is compared with the other 5 pairs of x values. And (3) respectively taking the values of i corresponding to the 6 x values arranged from small to large from 1 to 6, thereby determining the position of the occurrence of the wrong station. If the central point of the simulated ring plane is M (a, b), the dislocation value L between adjacent pipe sheets in the ring plane i1 Can be calculated according to the following formula:
dislocation value L of the other side of the tube sheet ring i2 And the dislocation values of other rings can also be calculated by the same algorithm.
(2) Axial dislocation calculation of single-ring duct piece
When there is a dislocation in the axial direction, as shown in FIG. 6, the same z-coordinate value is no longer present on the same ring edge. Six groups of edge points (x) are identified and located using the same method as described above 1i ，y 1i ，z 1i ) And (x) 2i ，y 2i ，z 2i ) Dislocation value L 'between adjacent segments in the direction of the normal to the ring plane' i Can be calculated as follows:
L′ i ＝Δz＝|z 1i -z 2i |，i＝1，2，...，6
(3) Inter-ring stagger calculation
Using A in FIG. 7 L And B F Two edges, for example, in the corresponding coordinate system, projected onto the xy plane, A L Center M of edge A Emitting a ray and A L And B F The intersection of the two edges in the xy plane produces a line segment P iA P iB . Through an exhaustive process of 360 deg., in M A Forming 72P for every 0.05 degree iA P iB And the calculated length is recorded as D iAB . At M A All P in rectangular coordinate system as origin iA P iB The line segments are distributed in four quadrants, representing four different directions, designated + X + Y, -X + Y, -X-Y and + X-Y. D of each quadrant iAB Maximum value such as (D) iAB |+X+Y) MAX In the form of (1). At the edge B F Center M of B Calculating the line segment P by the same exhaustion method iB P iA Likewise, four D's will be generated iBA Maximum value of (D) iBA |+X+Y) MAX . The staggering values for adjacent rings in the four quadrants can be calculated as follows:
the particular dislocation position in the four quadrants is represented by the longest line segment and the angle in the positive x-direction, which can be calculated as follows:
coordinate x i1 ，y i1 And x i2 ，y i2 Are the two endpoints of the longest line segment. Coordinates a and b are the coordinates of the center of the edge ring.
The ellipticity calculation is described in detail below with reference to FIG. 8
For an elliptical ring, both side extracted edges are used to calculate the ellipticity, and the average is taken as the ellipticity of the ring. The calculation of the ovality of the one-sided edge is explained below. At one point P on the edge i Distance to z-axis r i Center point of symmetry P' i Distance r to z axis i '. Another point P j And its central point of symmetry P j The distances from the' z-axis are r j And r j '. Center point of the plane of the edge ring is M (a, b), vector
And
is 90 deg.. Ovality of the oval edge is denoted T k The following calculation can be made:
T k ＝MAX{|(r i +r i ′)-(r j +r j ′)|}，k＝1，2
in the above formula, the first and second carbon atoms are,
major axis D 1 ＝MAX{(r i +r i ′)，(r j +r j ') }, k =1,2, short axis D 2 ＝MIN{(r i +r i ′)，(r j +r j ') }, k =1,2, and
the tunnel centerline deviation calculation will be described in detail with reference to fig. g
In order to obtain the center line of the tunnel point cloud model, the point cloud data of the multi-ring pipe piece is preprocessed to extract a side line for center fitting, the fitting center points are connected into a line to form the actual center line of the tunnel, and in the calculation process, the adopted coordinate is an absolute coordinate (namely a geodetic coordinate).
Design coordinates of center points of the circular rings of the cross sections of all the tunnel BIM models are known according to the whole tunnel BIM model, and the design coordinates are absolute coordinates. In an absolute coordinate system, the central point of the end face circle of each ring of pipe sheets is used for representing the central point of the section of the whole ring (such as A in FIG. 4) F ，B F ，C F And D F ). Comparing the BIM model central point and the point cloud central point of each ring of pipe piece, and comparing the BIM model central point and the point cloud central point to obtain a vector from the BIM model central point O (D, E, F) to the actual central point M (A, B, C) of point cloud data fitting, wherein the deviation distance delta S between the two centers is the central line deviation of the ring, and the calculation is carried out according to the following formula:
referring to fig. 10, the system for detecting apparent quality of a shield tunnel according to the present invention includes: an apparent part scanning unit, an analysis and diagnosis unit and a data storage unit.
The apparent part scanning unit comprises a laser transmitter, a laser receiver and a segment assembly point cloud model processor; the segment assembly point cloud model processor comprises a laser trigger port and a signal receiving port, the laser trigger port is connected with a laser transmitter, and the signal receiving port is connected with a laser receiver.
The analysis and diagnosis unit comprises an analysis and diagnosis processor and a model integration processor; the data input end of the analysis and diagnosis processor is connected with the data output end of the model integration processor; the analysis and diagnosis processor comprises a preset source data module, and the preset source data module comprises characteristic data of segment assembling.
The data storage unit comprises a segment BIM model memory and a segment assembly point cloud model memory; the data output ends of the BIM model memory and the segment assembly point cloud model memory are connected with the model integration processor; and the data input end of the segment assembly point cloud model memory is connected with the segment assembly point cloud model processor.
The laser transmitter transmits laser to the segment wall, the laser receiver is used for receiving laser signals reflected back by the segment wall and sending the received reflected laser signals to the segment assembling point cloud model processor, and the segment assembling point cloud model processor is used for processing the received reflected laser signals to obtain a segment assembling point cloud model.
The model integration processor is used for integrating the segment BIM model and the segment assembly point cloud model; the analysis and diagnosis processor is used for analyzing and calculating the detection data to obtain each actual parameter of the segment, and comparing the parameters with the data in the preset source data module to generate a diagnosis report.
The analysis and diagnosis unit also comprises a display, and the analysis and diagnosis processor and the model integration processor are provided with image output ports so as to be connected with the display and output integrated models and diagnosis reports. The model integration processor also comprises a data input port connected with the analysis and diagnosis processor and a data output port connected with the segment assembly point cloud storage; the model integration processor is used for receiving the analysis and diagnosis results of the analysis and diagnosis processor, integrating the analysis and diagnosis results into each model, storing the analysis and diagnosis results into each model memory, and outputting the model integrated with the diagnosis results to the display.
In this embodiment, all the data and models are transmitted to the display for display after passing through the model integration processor, and the display result may be a model with integrated detection and diagnosis results or an original model in each memory.
In other embodiments, the segment BIM model storage and the segment assembly point cloud model storage are provided with image output ports, and are respectively connected with a display to directly display the model. The analysis and diagnosis processor also comprises a data port which is connected with the segment assembling point cloud model memory and the segment grouting distribution model memory so as to directly call the segment assembling point cloud model for analysis and diagnosis.
It will be understood by those skilled in the art that the foregoing is only an exemplary embodiment of the present invention, and is not intended to limit the invention to the particular forms disclosed, since various modifications, substitutions and improvements within the spirit and scope of the invention are possible and within the scope of the appended claims.
Claims (8)
1. A shield method tunnel apparent mass detection method is characterized by comprising the following steps:
(1) Acquiring point cloud data in real time by scanning a tunnel segment entity through laser;
(2) Generating a tunnel entity point cloud model according to the point cloud data;
(3) Comparing the tunnel center of the tunnel entity point cloud model with the center of a tunnel design BIM model to obtain a tunnel center line deviation value;
(4) Calculating according to a tunnel entity point cloud model to obtain a wrong station value;
(5) Calculating and obtaining ellipticity according to the tunnel entity point cloud model;
(6) Analyzing the defects of the tunnel entity point cloud model, including recognizing the defect area, judging the defect type and calculating the defect numerical value;
(7) Judging the detection value according to a preset apparent quality evaluation standard, and evaluating the apparent quality condition of the tunnel;
the step (2) comprises the following steps:
(2.1) transforming the coordinates of all point clouds into a coordinate system adopted by calculation through coordinate transformation;
(2.2) eliminating non-key points by setting the value range of the z coordinate;
(2.3) judging whether the point in the point cloud is a point on the side line by adopting a vector summation algorithm, and extracting the side line of the point cloud;
in step (2.3), it is assumed that there is any point P in the point cloud obtained by one laser scan i And 8 neighboring points P i 1 ，P i 2 ，...，P i 8 Form 8 vectors
The sum V (P) of these 8 vectors i ) It can be calculated as follows:
points on the boundary of an idealized point cloud, in P ie It is shown that,
V(P ie )＝5μ
where μ is the minimum distance between two points;
p for points in the middle of the point cloud ii It is shown that,
V(P ii )＝0
if V (P) i ) > 2.5 mu, then P i Is P ie I.e. P i Is a point on the point cloud boundary, otherwise P i Is P ii I.e. P i Is a point in the middle of the point cloud;
and (2.4) fitting the center of the tunnel by adopting a least square method, and calculating the coordinate of the central point M.
2. The method for detecting the apparent mass of the shield tunnel according to claim 1, wherein in the step (2.1), the coordinate system is set as follows:
calculating the direction vector of the central axis of the tunnel by adopting a least square method, and for point cloud data of a ring pipe, performing neighborhood solution on each point to obtain a vector, wherein the product of one vector and all normal vectors is minimum, namely the axial direction; and the direction is defined as a z axis, and the xy plane is vertical to the z axis, so that the establishment of a coordinate system is completed.
3. The method for detecting the apparent quality of the shield tunnel according to claim 1, wherein in the step (2.2), the value range of the z coordinate of the non-key point which can be removed by the nth ring along the positive direction of the z axis is as follows:
aμ+(N-1)(l+2)+b≤z ni ≤Nl+2(N-1)-aμ+b
wherein N =1,2, μ is the distance between two adjacent points in the same point cloud, l is the length of a tube sheet ring, a is a constant, and b is the minimum value of z-axis coordinates of all points.
4. The method for detecting apparent mass of a shield tunnel according to claim 1, wherein in step (2.4), let the coordinates of the center M be (a, b, c), and let a point P on the edge be i Has the coordinates of (x, y, z), M and P i Is equal, i.e. c = z, we have:
f (x，y) ＝g (x，y) +ε (x，y)
in the above formula, y = g (x，y) Is a fitting function, y = ε (x，y) Is an error function, y = f (x，y) Is P i The real-valued function of (a), in addition,
g (x，y) ＝(x-a) 2 +(y-b) 2 ＝r 2
so we get ε (x，y) ＝f (x，y) -g (x，y) And P i Error of (e) i ＝f i -g i Let us order
S is a quadratic function about a and b, and when S takes the minimum value, an ideal fitting equation g can be calculated (x，y) And the center M of the corresponding ring edge.
5. The method for detecting the apparent mass of the shield tunnel according to claim 1, wherein the step (4) comprises the following steps;
(4.1) calculation of dislocation of annular surface of monocyclic segment
6 pairs of edge points are taken for calculation, and each pair of edge points Q i (x 1i ，y 1i ) And Q' i (x 2i ，y 2i ) Comparing the x value of one of the two sets of the optical fiber with the x values of the other 5 pairs, and respectively taking the values of i corresponding to the 6 x values from small to large from 1 to 6, thereby determining the position of the wrong station;
if the central point of the simulated ring plane is M (a, b), the dislocation value L between adjacent pipe sheets in the ring plane i1 It can be calculated as follows:
dislocation value L of the other side i2 The dislocation values of other rings can also be calculated by the same algorithm;
(4.2) calculation of axial dislocation of single-ring duct piece
Taking six groups of edge points (x) when dislocation exists in the axial line direction 1i ，y 1i ，z 1i ) And (x) 2i ，y 2i ，z 2i ) Dislocation value L 'between adjacent segments in the direction of the normal to the ring plane' i It can be calculated as follows:
L′ i ＝Δz＝|z 1i -z 2i |，i＝1，2，...，6
(4.3) calculation of inter-Ring staggering
Get A L And B F Two edges, projected onto the xy plane, A L Center M of edge A Emitting a ray and A L And B F The intersection of the two edges in the xy plane produces a line segment P iA P iB (ii) a By exhaustive processing through 360 deg., in M A Forming 72P for every 0.05 degree iA P iB And the calculated length is recorded as D iAB (ii) a At M A All P in rectangular coordinate system as origin iA P iB The line segments are distributed in four quadrants and representFour different orientations, named + X + Y, -X + Y, -X-Y and + X-Y, D of each quadrant iAB Maximum value such as (D) iAB |+X+Y) MAX In the form of (a); at the edge B F Center M of B Calculating the line segment P by the same exhaustion method iB P iA To obtain four D iBA Maximum value of (D) iBA |+X+Y) MAX (ii) a The staggering values for adjacent rings in the four quadrants are as follows:
the particular stagger position in the four quadrants is represented by the angle between the longest line segment and the positive x-direction, which is as follows:
coordinate x i1 ，y i1 And x i2 ，y i2 Are the two end points of the longest line segment and coordinates a and b are the coordinates of the center of the edge ring.
6. The method for detecting apparent quality of a shield tunnel according to claim 1, wherein in the step (5), for an elliptical ring, the extracted edges at both sides of the elliptical ring are used for calculating ellipticity, and the average value is used as the ellipticity of the ring; the ovality of the one-sided edge is calculated as follows:
at one point P on the edge i Distance to z-axis r i Central point of symmetry P i ' distance to z-axis r i '; another point P j And its central point of symmetry P j The distances from the' z-axis are r j And r j '; center point of the plane of the edge ring is M (a, b), vector
And
is 90 °; ovality of the oval edge is denoted T k Then, there are:
T k ＝MAX{|(r i +r i ′)-(r j +r j ′)|}，k＝1，2
in the above formula, the first and second carbon atoms are,
major axis D 1 ＝MAX{(r i +r i ′)，(r j +r j ′)}，k＝1，2，
Minor axis D 2 ＝MIN{(r i +r i ′)，(r j +r j ′)}，k＝1，2，
7. The method for detecting the apparent mass of the shield tunnel according to claim 1, wherein in the step (6), the BIM model center point and the point cloud center point of each ring of segments are compared to each other to obtain a vector from the BIM model center point O (D, E, F) to the actual center point M (a, B, C) of the point cloud data fitting, and the deviation distance Δ S between the two centers is the center line deviation of the ring, which is calculated according to the following formula:
8. a shield method tunnel apparent mass detection system for realizing the shield method tunnel apparent mass detection method of any one of claims 1 to 7, characterized by comprising: an apparent part scanning unit, an analysis and diagnosis unit and a data storage unit;
the apparent part scanning unit comprises a laser transmitter, a laser receiver and a segment splicing point cloud model processor; the segment assembly point cloud model processor comprises a laser trigger port and a signal receiving port, the laser trigger port is connected with a laser transmitter, and the signal receiving port is connected with a laser receiver;
the analysis and diagnosis unit comprises an analysis and diagnosis processor and a model integration processor; the data input end of the analysis and diagnosis processor is connected with the data output end of the model integration processor; the analysis and diagnosis processor comprises a preset source data module, wherein the preset source data module comprises characteristic data of segment assembly;
the data storage unit comprises a segment BIM model memory and a segment assembling point cloud model memory; the data output ends of the BIM model memory and the segment assembly point cloud model memory are connected with the model integration processor; the data input end of the segment assembly point cloud model memory is connected with the segment assembly point cloud model processor;
wherein the content of the first and second substances,
the laser transmitter is used for transmitting laser to the segment wall, the laser receiver is used for receiving laser signals reflected by the segment wall and sending the received reflected laser signals to the segment assembling point cloud model processor, and the segment assembling point cloud model processor is used for processing the received reflected laser signals to obtain a segment assembling point cloud model;
the model integration processor is used for integrating the segment BIM model and the segment assembly point cloud model;
and the analysis and diagnosis processor is used for analyzing and calculating the detection data to obtain each actual parameter of the segment, and comparing the parameters with the data in the preset source data module to generate a diagnosis report.
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| CN108230442A (en) * | 2018-01-24 | 2018-06-29 | 上海岩土工程勘察设计研究院有限公司 | A kind of shield tunnel three-dimensional emulation method |
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