CN-121977461-A - Hidden double-shield TBM shield tail gap monitoring device and method

CN121977461ACN 121977461 ACN121977461 ACN 121977461ACN-121977461-A

Abstract

The invention discloses a hidden double-shield TBM shield tail gap monitoring device and a method, wherein the device comprises a plurality of laser range finders, a relay box and an industrial personal computer; the method comprises the steps of installing a shield tail clearance monitoring device, monitoring a shield tail clearance, carrying out data processing on a shield tail clearance value, and optimizing a double-shield TBM propulsion parameter. The invention provides a high-efficiency and reliable shield tail gap monitoring solution for double-shield TBM construction by combining a hidden design and a laser ranging technology, and by embedding a laser range finder into a shield shell prefabricated mounting groove and fixing the shield shell by adopting a grooving welding blocking steel plate, the interference to the assembly construction of a pipe piece is avoided, meanwhile, the pollution and damage to equipment caused by dust, water vapor and the like in the construction are effectively prevented, and the laser is vertically projected to the outer wall of the pipe piece by adopting a non-contact laser ranging technology through a 45-degree refractive prism, so that the measuring precision is high, and the abrasion and error caused by mechanical contact are avoided.

Inventors

Sang Zhaocai
ZHANG YAO
SUN MINGHAO
LIU DONGXIN
FU JIANGHAN
ZHANG GUANG
LI DONGWEI
GONG QIUMING
Yu Xilei
SONG QING
LI XIAOYONG
JIA ZHAONAN
SUN SHIKUN

Assignees

中国水利水电第三工程局有限公司
北京工业大学

Dates

Publication Date: 20260505
Application Date: 20260330

Claims (9)

1. The hidden double-shield TBM shield tail gap monitoring device is characterized by comprising a plurality of laser range finders which are all arranged on a double-shield TBM shield tail (1), a relay box which is arranged in the double-shield TBM and an industrial personal computer which is arranged in a main control room of the double-shield TBM shield tail (1), wherein the laser range finders are connected with the relay box through wires, and the relay box is connected with the industrial personal computer through wires; the laser range finders are respectively distributed along the circumferential direction of the double-shield TBM tail (1) at 60-degree intervals, the laser range finders are not installed at the bottom of the double-shield TBM tail (1), the double-shield TBM tail (1) is provided with a mounting groove, the laser range finders are installed in the mounting groove, and the notch of the mounting groove is provided with a baffle.
2. The hidden double-shield TBM tail gap monitoring device according to claim 1, wherein the laser range finder comprises an integrated protective shell (5), the laser range finding sensor (3) is arranged in the integrated protective shell (5), a 45-degree refractive prism (6) is further arranged in the integrated protective shell (5), and laser emitted by the laser range finding sensor (3) is vertically projected to the outer wall surface of the duct piece (2) after the direction of the laser is changed through the 45-degree refractive prism (6).
3. The hidden double-shield TBM tail gap monitoring device according to claim 2 is characterized in that a circuit board is arranged in the industrial personal computer, a controller (4) is integrated on the circuit board, and a signal output end of the laser ranging sensor (3) is connected with a signal input end of the controller (4).
4. A method for monitoring a double shield TBM tail gap by a hidden double shield TBM tail gap monitoring device according to claim 3, comprising the steps of: step one, installing a shield tail gap monitoring device, wherein the process is as follows: step 101, taking the position right above the tunnel section as a reference, namely a 0-degree position, and arranging mounting grooves at equal intervals along the circumferential direction of a double-shield TBM tail (1), wherein the difference between two adjacent mounting grooves is 60 degrees, and the bottom of the double-shield TBM tail (1) does not need to be provided with a mounting groove; 102, welding a relay box in the double-shield TBM, and connecting the relay box with a laser range finder through an electric wire; Step 103, placing an industrial personal computer in a main control room of the double-shield TBM shield tail (1), and connecting the industrial personal computer with the relay box by utilizing an electric wire; Step two, monitoring the shield tail clearance, wherein the process is as follows: Step 201, after two groups of cylinders of a double-shield TBM main propulsion system shrink and reset, a controller (4) firstly controls a laser ranging sensor (3) at a 0-degree point position to work, continuously sends out 5 laser ranging signals to obtain 5 ranging data at the 0-degree point position, and calculates an arithmetic average value of the ranging data after removing abnormal values to serve as a shield tail clearance value of a reference position; Step 202, along the clockwise direction of the tunnel section, a controller (4) sequentially controls a laser ranging sensor (3) at 60 DEG, 120 DEG, 240 DEG and 300 DEG point positions on the tunnel tail (1) of the double-shield TBM to work, each point position continuously sends out 5 times of laser ranging signals to obtain 5 times of ranging data of the point position, and arithmetic average value of the ranging data of the point position is calculated after abnormal values are removed to be used as the gap value of the tunnel tail of the point position; step 203, according to the 5 actual measurement points obtained in step 201 and step 202, respectively, is 、、、、 And 1 virtual point location According to the fitted circle center coordinates and the radius, calculating the theoretical position of a 180-degree point on the shield tail (1) of the double-shield TBM, and obtaining the calculated difference between the theoretical position of the 180-degree point on the outer wall of the segment and the designed radius of the shield tail as the virtual shield tail clearance value of the 180-degree point; 204, comparing and verifying the measurement point data of 6 points, starting rechecking measurement when the difference value of two adjacent measurement points exceeds a set threshold value, and finally outputting verified shield tail gap distribution data; Step three, data processing is carried out on the shield tail clearance value, and the process is as follows: Step 301, respectively obtaining 5 actual measurement points as 、、、、 And 1 virtual point location The gap value of the shield tail gap is converted into three-dimensional coordinates, fitting of an external virtual circle is carried out, and an objective fitting function of the shield tail gap external circle is established, namely Wherein, n takes the values of 0,1, 2, 3,4 and 5, (a, b) is the center coordinates of the circumscribing circle, and r is the fitting radius of the circumscribing circle; Step 302, respectively solving partial derivatives of a, b and r in the objective fitting function, so as to obtain an optimal solution by solving the following equation set: ; Obtaining the fitting circle center offset Shield tail integrated clearance value Δr=r-R, roundness deviation ; Step 303, judging whether fitting according to the point location data is effective, if the fitting result meets the checking condition, executing step four, otherwise, executing step 304; step 304, eliminating the point data with the largest deviation, repeating step 203, re-fitting the data with the rest point data to obtain the eliminated point data, and repeating steps 301 to 303 until the point data meets the inspection condition. And step four, optimizing the propulsion parameters of the TBM of the double shields, namely transmitting the processed point position data to a main control room in real time, and adjusting the propulsion parameters of the TBM of the double shields in real time according to the data of each point position.
5. The device and method for hidden double shield TBM tail gap monitoring as claimed in claim 4, wherein in step 201 and step 202, the outlier is determined according to 3δ criterion, and the data exceeding the normal range in the ranging data of the 5-time point is regarded as the outlier and removed.
6. The hidden double shield TBM tail gap monitoring apparatus and method as claimed in claim 4, wherein in step 204, the threshold is set to five thousandths of the tunnel design diameter.
7. The hidden double shield TBM tail gap monitoring apparatus and method as claimed in claim 4, wherein when fitting the circumscribed virtual circle in step 203 and step 301, the 5 actual measurement points obtained in the previous pass are respectively 、、、、 And 1 virtual point location The gap value of (2) is converted into three-dimensional coordinates, the center of the shield tail is set as the origin (0, 0), and the coordinates of each point position are expressed as Then, an objective fitting function of the shield tail clearance circumcircle is established, namely Wherein R is the design radius of the shield tail, θ is the azimuth angle of each point, and the values of n are 180 degrees, 0 degrees, 60 degrees, 120 degrees, 240 degrees and 300 degrees respectively.
8. The device and method for hidden double shield TBM tail gap monitoring as in claim 4, wherein in step 303, the test conditions include correlation coefficient, maximum residual error and center offset, and the correlation coefficient is satisfied at the same time Maximum residual error Center offset 。
9. The device and method for hidden double shield TBM tail gap monitoring of claim 4 wherein in step four, the double shield TBM propulsion parameters comprise line structured light emission times, same point location test intervals, and different point location test intervals.

Description

Hidden double-shield TBM shield tail gap monitoring device and method Technical Field The invention belongs to the technical field of TBM shield tail monitoring, and particularly relates to a hidden double-shield TBM shield tail gap monitoring device and method. Background In the construction process of the double-shield TBM, the shield tail gap refers to an annular gap between the inner wall of the shield tail of the TBM and the outer wall of the assembled duct piece, and reasonable control of the annular gap directly relates to construction safety, engineering quality and economic benefit, so that real-time monitoring and control of the shield tail gap has become a key technical problem in modern tunnel engineering. From engineering practices, there are two key thresholds for shield tail clearance control, a lower threshold and an upper threshold. When the lower threshold value is broken (i.e. the gap is too small), the segment assembly is difficult, and when the upper threshold value is broken (i.e. the gap is too large), quality accidents such as incompact grouting, stratum settlement and even tunnel axis deviation are easily caused. More seriously, in a water-rich stratum, an oversized shield tail gap can become a passage for groundwater to flow in, so that serious safety accidents such as water burst, mud burst and the like are caused. At present, the mode of monitoring the shield tail clearance comprises manual measurement, mechanical monitoring, image visual monitoring and the like, but the traditional manual measurement method has the inherent defects of low measurement efficiency, unstable data precision, high safety risk and the like although the operation is simple, and cannot meet the requirements of intelligent development of tunnel engineering. Although the mechanical automatic monitoring system realizes measurement automation, the continuous abrasion of mechanical transmission parts directly influences measurement precision and shortens equipment service life due to the measurement principle of mechanical contact, the reliability of a sealing structure is difficult to ensure in a high-pressure, high-humidity and dusty construction environment, and the installation, debugging and maintenance of a mechanical device can also interfere with normal construction flow. The non-contact image visual monitoring technology avoids the mechanical abrasion problem, but still faces significant technical bottlenecks that slurry adhesion, water mist interference and mechanical vibration in a complex construction environment seriously affect measurement stability, the calculation efficiency of an image processing and three-dimensional reconstruction algorithm is insufficient, real-time monitoring requirements are difficult to meet, the system deployment cost is high, the installation and debugging are complex, and popularization and application of the system in engineering practice are limited. Disclosure of Invention Aiming at the defects in the prior art, the invention provides a hidden double-shield TBM shield tail gap monitoring device, which solves the defects of the traditional monitoring method in the aspects of precision, real-time performance, environmental adaptability, engineering practicability and the like by innovatively combining a hidden design with a laser ranging technology, provides an efficient and reliable shield tail gap monitoring solution for double-shield TBM construction, prevents the interference of pipe splicing construction by embedding a laser range finder into a shield shell prefabricated mounting groove and adopting a grooving welding blocking steel plate, effectively prevents the pollution and damage of dust, water vapor and the like to equipment in construction, and realizes the vertical projection of laser to the outer wall of a pipe piece by adopting a non-contact laser ranging technology by a 45-degree refractive prism, thereby having high measurement precision and avoiding abrasion and error caused by mechanical contact. The technical scheme includes that the device and the method for monitoring the shield tail gap of the hidden double-shield TBM comprise a plurality of laser rangefinders arranged on the shield tail of the double-shield TBM, a relay box arranged in the double-shield TBM and an industrial personal computer arranged in a main control room of the shield tail of the double-shield TBM, wherein the laser rangefinder is connected with the relay box through an electric wire, and the relay box is connected with the industrial personal computer through an electric wire; the laser range finders are respectively distributed at 60-degree intervals along the circumferential direction of the tail of the double-shield TBM, the laser range finders are not installed at the bottom of the tail of the double-shield TBM, the tail of the double-shield TBM is provided with an installation groove, the laser range finders are installed in the installation groove, and the notch of