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