基于激光雷达的土压平衡盾构出渣量动态测量系统

王付利; 王建鑫; 朱国力

doi:10.3973/j.issn.2096-4498.2022.S2.062

隧道建设 >

2022 , Vol. 42 >Issue S2: 494 - 501

DOI: https://doi.org/10.3973/j.issn.2096-4498.2022.S2.062

施工机械

基于激光雷达的土压平衡盾构出渣量动态测量系统

王付利 ,
王建鑫 ,
朱国力

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（1. 中铁工程装备集团技术服务有限公司，河南郑州 450016； 2. 华中科技大学机械科学与工程学院，湖北武汉 430074）

王付利(1979—)，男，杭州萧山人，2003年毕业于郑州大学，机械设计制造及其自动化专业，本科，高级工程师，主要从事盾构制造领域研究。 Email： 21486085@qq.com。 *通信作者：王建鑫， Email： 1754560337@qq.com。

网络出版日期: 2023-03-26

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LidarBased Dynamic Measuring System for Earth Pressure Balance Shield Mucking

WANG Fuli ,
WANG Jianxin ,
ZHU Guoli

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(1. China Railway Engineering Equipment Group Technology Service Co., Ltd., Zhengzhou 450016, Henan, China; 2. School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan 430074, Hubei, China)

Online published: 2023-03-26

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摘要

为解决土压平衡盾构掘进过程中出渣量测量精度低、实时性差的问题，开发一套基于激光雷达的非接触带式出渣量测量系统，测量系统由二维激光雷达、编码器和PC机组成。首先，通过雷达和编码器获取三维轮廓点云数据，其次，通过异常点去除、滤波与根据拉依达准则的传送带点云判断等方法对数据进行预处理，最后，构建扇形网格计算截面积并采用基于面元积分的建模方法计算出渣体积。通过试验结果可知，当雷达置于传送带正上方1 m的位置、传送带以1.0~2.0 m/s的速度运行时，系统的测量误差在5%以内，数据重复性可以达到97%。

关键词： 点云处理; 传送带运输; 体积测量; 拉依达准则; 激光雷达; 盾构法; 土压平衡盾构

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王付利 , 王建鑫 , 朱国力 . 基于激光雷达的土压平衡盾构出渣量动态测量系统[J]. 隧道建设, 2022 , 42(S2) : 494 -501 . DOI: 10.3973/j.issn.2096-4498.2022.S2.062

Abstract

Problems such as low accuracy and poor realtime performance of mucking measurement exist in earth pressure balance shield tunneling. Hence, a noncontact belt conveyor mucking measurement system based on lidar is developed. The measuring system is composed of twodimensional lidar, encoder, and personal computer. First, the threedimensional contour point cloud data is obtained using radar and encoder. Then, the data is preprocessed by outlier removal, filtering, and point cloud judgment of conveyor belt according to the Pauta criterion. Finally, the sector grid is constructed to calculate the crosssectional area and the slag volume is calculated using the modeling method based on surface integral. The test results show that when the radar is placed 1 m above the conveyor belt and the conveyor belt runs at a speed of 1.0~2.0 m/s, the measurement error of the system is within 5%, and the data repeatability can reach 97%.

Key words：

point cloud processing

; conveyor belt transport; volume measurement; Pauta criterion; lidar; shield tunneling method; earth pressure balanced shield

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