CN-121977437-A - Slurry balance shield machine sand monitoring method based on two-stage curve alignment algorithm and three-dimensional laser scanner

CN121977437ACN 121977437 ACN121977437 ACN 121977437ACN-121977437-A

Abstract

The invention provides a slurry balance shield machine sand monitoring method based on a two-stage curve alignment algorithm and a three-dimensional laser scanner, which comprises the steps of processing and obtaining an actual sand output curve f a (t) and a real-time theoretical sand output curve f t (t) at a cutter head, and comparing the data alignment and the sand output of the same ring.

Inventors

WANG XIN
PAN YI
Gan Jiatong
CHENG WENFENG
DING RUI
ZHENG LILONG
Gao Lecai
DU YANGPING
XU XIN

Assignees

中电建铁路建设投资集团有限公司
中电建(广州)轨道交通建设有限公司
浙江数宇交通科技有限公司
中国电建集团华东勘测设计研究院有限公司

Dates

Publication Date: 20260505
Application Date: 20251202

Claims (7)

1. The muddy water balance shield machine sand monitoring method based on the two-stage curve alignment algorithm and the three-dimensional laser scanner is characterized by comprising the following steps: Step (1), sand information acquisition Real-time scanning three-dimensional point cloud data of the sand pile at the sand outlet by using a three-dimensional laser scanning instrument; Step (2), scanning data processing Acquiring sand volume data at each moment to form an actual sand output curve f a (t) of a scanning position; Step (3), calculating theoretical sand yield; Obtaining a real-time theoretical sand output curve f t (t) at a cutter head of the shield machine; Step (4), primarily eliminating time delay Calculating the time delay of an actual sand output curve f a (t) and a real-time theoretical sand output curve f t (t), and performing coarse alignment on data; step (5), accurate alignment of data On the basis of completing coarse alignment, performing fine registration on the two curves to obtain a more accurate point-to-point corresponding relation, and realizing high-precision data alignment; Step (6), comparing the sand output of the same ring; after aligning the data, calculating theoretical sand output and actual sand output in each ring respectively through working information of the shield machine among the ring numbers, and comparing the data; wherein, the step (1) and the step (2) are combined and the step (3) are not sequentially carried out.
2. The slurry balance shield machine sand monitoring method based on the two-stage curve alignment algorithm and the three-dimensional laser scanner according to claim 1, wherein the three-dimensional laser scanner is arranged on a sand stacking site of a sand outlet on the slurry circulation shield machine.
3. The slurry balance shield machine sand monitoring method based on the two-stage curve alignment algorithm and the three-dimensional laser scanner according to claim 1, wherein in the step (2), three-dimensional point cloud data S (x, y, z) are fitted to obtain a curved surface f (x, y, z), the volume of sand can be obtained by performing triple integration on the curved surface in the three directions of x, y and z, and an actual sand output curve f a (t) at an outlet can be formed according to the sand volume data at each moment.
4. The slurry balance shield machine sand monitoring method based on the two-stage curve alignment algorithm and the three-dimensional laser scanner according to claim 1, wherein in the step (4): For a given actual sand yield curve f a (t) and theoretical sand yield curve f t (t), their cross-correlation is defined as: Wherein the method comprises the steps of The Fourier transform is inverse, F a (ω),F t (omega) is Fourier transform of F a (t),f t (t), F t * (omega) is conjugate complex of F t (t), all cross-correlation values can be obtained by performing Fourier transform, dot multiplication and inverse transformation, and the rough estimation of the time delay of the two curves can be obtained by taking the peak value of the cross-correlation values.
5. The slurry balance shield machine sand monitoring method based on the two-stage curve alignment algorithm and the three-dimensional laser scanner according to claim 1, wherein in the step (5), a dynamic time alignment method is adopted to carry out fine registration on the two curves.
6. The slurry balance shield machine sand monitoring method based on the two-stage curve alignment algorithm and the three-dimensional laser scanner according to claim 5, wherein the step (5) specifically comprises the following specific steps: Step 5.1, for two discrete curves, namely a given actual sand yield curve f a (t) and a theoretical sand yield curve f t (t), defining a distance between sampling points as D (i, j) = |f a (i)-f t (j) |, wherein i represents the discrete point of the actual sand yield curve, j is the discrete point of the theoretical sand yield curve, i=1:n, j= 1:M, and thus obtaining a matrix of n×m; Step 5.2, calculating an accumulated cost matrix, wherein C (i, j) =D (i, j) +min (C (i-1, j), C (i, j-1), C (i-1, j-1)), and calculating to obtain the total cost for aligning the two curves; step 5.3, selecting the minimum total cost, and tracing back from the end point (N, M) to the end point (1, 1) to obtain a path P= { (i 1 ,j 1 ),(i 2 ,j 2 ),...,(i K ,j K ) }, wherein the path P= { (i 1 ,j 1 ),(i 2 ,j 2 ),...,(i K ,j K ) } indicates the corresponding relation of the point coordinates between the two curves.
7. The slurry balance shield machine sand monitoring method based on the two-stage curve alignment algorithm and the three-dimensional laser scanner according to claim 5, further comprising: Step (7), early warning information pushing And for obvious differences between the theoretical sand yield and the actual sand yield in the same ring number, generating an abnormal data report alert manager through a report generating function.

Description

Slurry balance shield machine sand monitoring method based on two-stage curve alignment algorithm and three-dimensional laser scanner Technical Field The invention relates to a method for monitoring sand of a slurry balance shield machine. Background At present, the sand monitoring technology is mainly applied to the earth pressure balance shield machine, and the common method is to install a weighing system at the bottom of a conveyor belt or a sand vehicle or calculate the discharge amount and volume of sand by adopting a laser scanner. In contrast, for sand monitoring of the slurry balance shield machine, the sand amount is calculated by a multi-dependence flowmeter and a density sensor, which is disclosed in the Chinese patent literature, namely a shield muck volume scanning measurement system and method CN111780671A, a shield muck superdischarge prevention early warning method CN114485391A based on a three-dimensional laser scanning technology, and a measurement system CN215524501U for accurately measuring muck volume. For the slurry balance shield machine, the three-dimensional laser scanner can accurately measure the sand output of the sand outlet of the slurry balance shield machine, but the three-dimensional laser scanner has the problems in practical application that firstly, a shield tunneling point is connected with the sand outlet through a slurry circulation pipe network with a length of hundreds of meters, so that obvious time delay exists between the tunneling point and the sand outlet, secondly, the three-dimensional laser scanner is limited by the treatment efficiency of the sand outlet, and when the tunneling speed is too high, the sand speed entering a slurry circulation system is higher than the discharge speed of the sand outlet, so that the sand output curve is in nonlinear stretching on a time axis relative to the tunneling curve. And the equipment precision is low when the flowmeter and the density sensor calculate the sand amount. Disclosure of Invention The invention aims to provide a sand monitoring method for a slurry balance shield machine, which can obtain a detection result more accurately. The inventor finds that the defects in the prior art are caused by the fact that slurry generated in the tunneling process of the slurry balance shield machine cannot accurately evaluate the soil discharge amount of each ring, the reasons which are not considered are that blank exists in the technical field of calculating soil content through the slurry, sand discharged from a sand outlet cannot be accurately reflected to each ring, the inventor finds that the defects can be solved through a similar signal alignment method through exploring and researching the technical field of signals, and the sand outlet and sand outlet efficiency of the slurry are different from a shield section, and a pipeline for circulating the slurry can reach thousands of meters, so that the theoretical curve at the sand outlet curve and the section of the slurry outlet has shape and time deformation and hysteresis, and the curve can be roughly aligned and accurately aligned based on a comparison processing method for the similar curve in the technical field of signals, so that the sand discharge amount of each ring of the slurry balance shield machine is evaluated, and the super-discharge early warning is achieved. For achieving the purpose of the invention, the invention provides the following technical scheme: the muddy water balance shield machine sand monitoring method based on the two-stage curve alignment algorithm and the three-dimensional laser scanner is characterized by comprising the following steps: Step (1), sand information acquisition Real-time scanning three-dimensional point cloud data of the sand pile at the sand outlet by using a three-dimensional laser scanning instrument; Step (2), scanning data processing Acquiring sand volume data at each moment to form an actual sand output curve f a (t) of a scanning position; and (3) calculating the theoretical sand yield. Obtaining a real-time theoretical sand output curve f t (t) at a cutter head of the shield machine; Step (4) of preliminarily eliminating time delay Calculating the time delay of an actual sand output curve f a (t) and a real-time theoretical sand output curve f t (t), and performing coarse alignment on data; Step (5) data accurate alignment On the basis of completing coarse alignment, performing fine registration on the two curves to obtain a more accurate point-to-point corresponding relation, and realizing high-precision data alignment; And (6) comparing the sand output of the same ring. After aligning the data, calculating theoretical sand output and actual sand output in each ring respectively through working information of the shield machine among the ring numbers, and comparing the data; wherein, the step (1) and the step (2) are combined and the step (3) are not sequentially carried out. On the basis of adopting the technical s