CN113550752B - Automatic tunnel profiler and construction method based on galvanometer - Google Patents

Abstract

The invention provides an automatic tunnel profiler based on vibrating mirrors. The tunnel profiler includes an X/Y vibrating mirror assembly, a detection light source, a display light source, a drive circuit, a light detection and ranging module, and a signal processing and control assembly. The detection light source and The display light source is electrically connected to the signal processing and control component; the signal processing and control component is electrically connected to the drive circuit, and the drive circuit is electrically connected to the X/Y vibrating mirror component for driving the X/Y vibrating mirror component to reflect the light source to a preset position; The light detection and ranging module is electrically connected with the signal processing and control component, and is used to send the received point cloud information of the light source to the signal processing and control component; there is also a light beam combiner, and the detection light source points to the first input port of the light beam combiner , the display light source points to the second input port of the optical beam combiner, and the output port of the optical beam combiner points to the X/Y galvanometer assembly, so that both the detection light source and the display light source provide light sources from the optical beam combiner to the X/Y galvanometer assembly. The invention unifies the contour information of the tunnel section and the auxiliary marked graphics.

Description

Automatic Tunnel Profiler and Construction Method Based on Galvanometer

technical field

The invention relates to light source measuring equipment, in particular to an automatic tunnel profiler based on vibrating mirrors and a construction method.

Background technique

In the process of tunnel construction, manual operations are used to drill holes on the tunnel surface according to the design drawings and to position the grid steel frame during the initial support. The existing problem is that due to the irregular contour and surface of the face, the precision of manual operation is insufficient. If the positioning is not accurate, it is easy to cause safety accidents, and the construction efficiency is low. Chinese patent document CN105716576A describes a remote projection light source profiler and its method, which can superimpose and project design data onto the tunnel section on the basis of scanning the tunnel section, so that construction personnel can accurately drill holes and install grid steel accurately shelf. However, in this scheme, the light source rangefinder and the galvanometer system are two devices, that is, there is a distance between the emission center point of the collected tunnel section and the emission center point of the projected image, resulting in data errors. The matching work between the X/Y scanning galvanometer and the light source rangefinder is to determine the divergence angle θ of the scanning galvanometer, and the device cannot be placed at a position other than the centerline of the tunnel, which increases the actual use limit. At the same time, the default tunnel section in this scheme is An ideal plane, without surface unevenness, cannot correct errors caused by uneven cross-sections. CN110455260 A describes a method, device and electronic equipment for determining the contour of a tunnel section. The method and device determine the coordinates of the center point through a light source image locator, and then transform and process the contour image data corresponding to the current tunnel section. error problem. CN 108844522 A describes a method for extracting the section center of a shield tunnel based on three-dimensional light source scanning, and proposes a method of directly intercepting the section based on absolute coordinates and performing space circle fitting on the section point cloud in the absolute coordinate system. This method is to cooperate with the above-mentioned technical solution, and the overall implementation is relatively complicated, and the restrictive conditions are relatively large.

Contents of the invention

The technical problem to be solved by the present invention is to provide an automatic tunnel profiler based on a galvanometer, which can overcome the error problem between the acquisition equipment and the projection equipment in the prior art, improve the accuracy of superimposed projection, and has small use restrictions, and does not need to determine the tunnel Section centerline.

Another technical problem to be solved by the present invention is to provide a construction method of an automatic tunnel profiler based on a vibrating mirror, which can improve construction efficiency while ensuring construction accuracy, and can correct errors caused by uneven surfaces of tunnel sections .

In order to solve the above-mentioned technical problems, the technical solution adopted in the present invention is: an automatic tunnel profiler based on a vibrating mirror. Distance module and signal processing and control components, detection light source and display light source are electrically connected with signal processing and control components;

The signal processing and control component is electrically connected to the drive circuit, and the drive circuit is electrically connected to the X/Y vibrating mirror component for driving the X/Y vibrating mirror component to reflect the light source to a preset position;

The light detection and ranging module is electrically connected to the signal processing and control component, and is used to send the received point cloud information of the light source to the signal processing and control component;

There is also an optical beam combiner, the detection light source points to the first input port of the optical beam combiner, the display light source points to the second input port of the optical beam combiner, the output port of the optical beam combiner points to the X/Y vibrating mirror assembly, and the detection output from the output port The light from the light source and the display light source are coaxial, so that both the detection light source and the display light source provide light from the light beam combiner to the X/Y galvanometer assembly.

In a preferred solution, the structure of the optical beam combiner is that the Wuling crystals are connected to the triangular crystals, and an interface is formed on the surface where the Wuling crystals and the triangular crystals are connected.

In a preferred solution, no detection light source is provided in the light detection and ranging module.

In a preferred solution, the tunnel profiler is located at a position aligned with the midpoint or deviated from the tunnel midpoint.

A kind of construction method that adopts above-mentioned a kind of automatic tunnel section instrument based on galvanometer, comprises the following steps:

S1. Select the working position of the tunnel profiler, the signal processing and control component controls the detection light source to project to the tunnel section through the optical beam combiner and the X/Y vibrating mirror component in turn, and the signal processing and control component controls the drive circuit to control the X/Y vibrating mirror The component scans, and the light detection and ranging module collects the light point signal of the light source and sends it to the signal processing and control component to obtain the tunnel profile information at the tunnel section;

S2. The signal processing and control component matches the tunnel profile information with the auxiliary annotation graphics to obtain the coordinate information that needs to be projected on the tunnel section;

S3. The signal processing and control component controls the display light source to project to the tunnel section through the optical beam combiner and the X/Y vibrating mirror component in turn, and the signal processing and control component controls the drive circuit to project the X/Y vibrating mirror component according to the coordinate information;

Through the above steps, the required labeling information can be accurately projected on the tunnel section.

In a preferred solution, the tunnel profiler is located at a position aligned with the midpoint or deviated from the tunnel midpoint.

In a preferred solution, in step S1, the optimal display area is projected from the tunnel profiler, and the optimal display area completely covers the tunnel section to be marked when placed;

The optimal display area mentioned above refers to an area where distortion can be corrected.

In a preferred solution, the tunnel profiler is arranged on a tripod or a vehicle.

In a preferred solution, in step S2, the signal processing and control component converts the obtained light source light point signal into three-dimensional matrix data, performs numerical calculation of the data on the uneven position of the tunnel section, and obtains the planarization data of the tunnel section through calculation, And store the data, superimpose the data of the auxiliary marked graphics and the planarized tunnel section data to obtain the coordinate information to be projected, and take out the correction data to correct the projected coordinate information for the projection points of the concave-convex section that affect the projection accuracy, and finally Project the corrected 3D matrix data to the tunnel section.

In a preferred solution, the signal processing and control component is connected to the input device to manually fine-tune, correct or confirm the local position of the marked information.

The invention provides a vibrating mirror-based automatic tunnel profiler and construction method, compared with the prior art, it has the following beneficial effects:

1. The tunnel profiler of the present invention uses the same X/Y vibrating mirror assembly to complete data collection and graphic projection operations, so that the contour information of the tunnel section and the auxiliary label graphic information are unified, that is, the emission center point and the emission of the projected image The error between the center points is eliminated, and the labeling accuracy is improved.

2. The tunnel profiler of the present invention saves one X/Y vibrating mirror assembly, reducing system cost.

3. The method of the present invention automatically scans the outline of the tunnel section after fully covering the tunnel section with the best display area, and after merging the labeling information of the auxiliary label graphics with the outline information of the tunnel section, automatically Displayed on the cross-section, the entire process is automatically carried out by the system, and there is no need to determine the center line of the tunnel where the center point of the tunnel is located again, which improves construction efficiency.

4. The method of the present invention can reduce the convex-concave regular plane caused by the construction of the tunnel section to correct the projection coordinates, and further improve the construction accuracy.

Description of drawings

Below in conjunction with accompanying drawing and embodiment the present invention will be further described:

Fig. 1 is a schematic layout diagram of the present invention.

Fig. 2 is a structural schematic diagram of the present invention.

Fig. 3 is a schematic structural view of the optical beam combiner of the present invention.

In the figure: tunnel profiler 1, tunnel section 2, tunnel midpoint 3, tunnel profile 4, X/Y galvanometer assembly 5, optical beam combiner 6, Wuling crystal 61, triangular crystal 62, interface 63, first input port 64, a second input port 65, an output port 66, a light detection and ranging module 7, a drive circuit 8, a detection light source 9, a display light source 10, a signal processing and control component 11, and an auxiliary labeling figure 12.

Detailed ways

Example 1:

As shown in Figures 1 and 2, an automatic tunnel profiler based on a galvanometer, the tunnel profiler 1 includes an X/Y galvanometer assembly 5, a detection light source 9, a display light source 10, a drive circuit 8, and a light detection and ranging module 7 And signal processing and control assembly 11, detection light source 9 and display light source 10 are electrically connected with signal processing and control assembly 11;

The signal processing and control assembly 11 is electrically connected to the drive circuit 8, and the drive circuit 8 is electrically connected to the X/Y oscillating mirror assembly 5 for driving the X/Y oscillating mirror assembly 5 to reflect the light source to a preset position; in a preferred solution, the The aforementioned X/Y vibrating mirror assembly (5) is provided with a plurality of reflectors with variable inclination angles to reflect the light source to a preset position. Preferably, the light source is a laser light source.

The light detection and ranging module 7 is electrically connected to the signal processing and control component 11, and is used to send the received point cloud information of the light source to the signal processing and control component 11;

An optical beam combiner 6 is also provided, the detection light source 9 points to the first input port 64 of the optical beam combiner 6, the display light source 10 points to the second input port of the optical beam combiner 6, and the output port 66 of the optical beam combiner 6 points to the X/Y oscillator. The mirror assembly 5 and the light output from the output port 66 of the detection light source 9 and the display light source 10 are coaxial, so that both the detection light source 9 and the display light source 10 provide light from the beam combiner 6 to the X/Y vibrating mirror assembly 5 . With this structure, one X/Y galvanometer assembly 5 simultaneously realizes the emission of the light source light point data and the graphic projection, so that the coordinate position error between the collected tunnel outline 4 information and the graphic projection information is eliminated, and the projection accuracy is greatly improved. Therefore, it is not necessary to be arranged at the position of the tunnel midpoint 3 , which facilitates the layout of the tunnel profiler 1 , and prevents the projection light source from being blocked by the operator. The solution of the present invention can also save a set of X/Y oscillating mirror assembly 5, drive circuit 8 and control assembly, reducing the use cost of the equipment.

A preferred solution is shown in FIG. 3 . The structure of the optical beam combiner 6 is that the Wuling crystal 61 is connected to the triangular crystal 62 , and an interface 63 is formed on the surface where the Wuling crystal 61 and the triangular crystal 62 are connected. With this structure, the combination of different light sources can be realized.

As shown in Figure 2, the preferred solution is that the light detection and distance measurement module 7 is integrated with other functional components to form a device system, and no detection light source 9 is provided in the light detection and distance measurement module 7. With this structure, the overall structure of the system is simplified, and at the same time, the coincidence degree between the detection coordinates and the projection coordinates is improved.

In a preferred solution, the tunnel profiler 1 is located at a position aligned with the midpoint 3 or deviated from the tunnel midpoint 3 . Preferably, the tunnel profiler 1 is located at a position deviated from the tunnel midpoint 3, which further improves the convenience of deployment. Moreover, the personnel working on the face of the tunnel are not easy to block the projection light.

Example 2:

A kind of construction method that adopts above-mentioned a kind of automatic tunnel section instrument based on galvanometer, comprises the following steps:

S1. Select the working position of the tunnel profiler 1, the signal processing and control component 11 controls the detection light source 9 to project to the tunnel section 2 through the optical beam combiner 6 and the X/Y vibrating mirror component 5, and the signal processing and control component 11 controls the driving The circuit 8 scans the X/Y vibrating mirror assembly 5, and the light detection and ranging module 7 collects the light point signal of the light source and sends it to the signal processing and control assembly 11 to obtain the tunnel profile 4 information at the tunnel section 2;

S2. The signal processing and control component 11 matches the tunnel profile information with the auxiliary labeling graphics 12 to obtain the coordinate information that needs to be projected at the tunnel section 2;

S3. The signal processing and control component 11 controls the display light source 10 to project to the tunnel section 2 through the optical beam combiner 6 and the X/Y vibrating mirror component 5 in sequence, and the signal processing and control component 11 controls the driving circuit 8 to X/Y according to the coordinate information The galvanometer assembly 5 performs projection;

Through the above steps, the required labeling information is accurately projected on the tunnel section 2.

In a preferred solution, the tunnel profiler 1 is located at a position aligned with the midpoint 3 or deviated from the tunnel midpoint 3 .

In a preferred solution, in step S1, the optimal display area is projected from the tunnel profiler 1, and the optimal display area completely covers the tunnel section 2 to be marked when placed;

The optimal display area mentioned above refers to an area where distortion can be corrected.

In a preferred solution, the tunnel profiler 1 is arranged on a tripod or a vehicle.

In a preferred solution, in step S2, the signal processing and control component 11 converts the obtained light source light point signal into three-dimensional matrix data, performs numerical calculation on the uneven position of the tunnel section 2, and obtains the plane of the tunnel section 2 through the calculation Convert the data and store the data, superimpose the data of the auxiliary marked figure 12 and the planarized tunnel section data to obtain the coordinate information to be projected, and take out the correction data for the projected coordinate information of the projection points that affect the projection accuracy of the concave-convex section Correction operation, and finally project the corrected three-dimensional matrix data to the tunnel section 2. In the preferred solution, the signal processing and control component (11) converts the obtained light source light point signal into three-dimensional matrix data, and performs data leveling on the uneven position of the tunnel section (2), even if the tunnel section (2) is located on the same plane The data of the tunnel section after leveling is obtained, and the correction data during the leveling process is stored. The correction data here refers to the vector difference between the coordinates of the tunnel section (2) after leveling and the coordinates of the uneven position. The data of the marked figure (12) and the leveled tunnel section data are superimposed to obtain the coordinate information to be projected, and then the corrected data is taken out to calculate the coordinate information to be projected, that is, the coordinates of the tunnel section (2) after leveling and the uneven position The vector difference value of the coordinates and the coordinate information to be projected are subjected to a vector summation operation to restore the original uneven three-dimensional matrix data, and then projected to the tunnel section (2).

In a preferred solution, the signal processing and control component 11 is connected to the input device to manually fine-tune, correct or confirm the local position of the marked information.

The above-mentioned embodiments are only preferred technical solutions of the present invention, and should not be regarded as limitations on the present invention. The embodiments in the present application and the features in the embodiments can be combined arbitrarily with each other if there is no conflict. The scope of protection of the present invention shall be the technical solution described in the claims, including equivalent replacements for the technical features in the technical solution described in the claims. That is, equivalent replacement and improvement within this range are also within the protection scope of the present invention.

Claims (8)

1. Automatic tunnel section appearance based on vibrating mirror, tunnel section appearance (1) include X/Y vibrating mirror subassembly (5), detection light source (9), display light source (10), drive circuit (8), light detection and range finding module (7) and signal processing and control assembly (11), characterized by: the detection light source (9) and the display light source (10) are electrically connected with the signal processing and controlling assembly (11);

the signal processing and controlling assembly (11) is electrically connected with the driving circuit (8), and the driving circuit (8) is electrically connected with the X/Y galvanometer assembly (5) and is used for driving the X/Y galvanometer assembly (5) to reflect the light source to a preset position;

the detection light source (9) and the display light source (10) adopt laser light sources;

the light detection and ranging module (7) is electrically connected with the signal processing and control assembly (11) and is used for sending the received light source point cloud information to the signal processing and control assembly (11);

a detection light source (9) is not arranged in the light detection and ranging module (7);

the light source device is also provided with a light beam combiner (6), a first input port (64) of the light source (9) points to the light beam combiner (6), a second input port of the light source (10) points to the light beam combiner (6), an output port (66) of the light beam combiner (6) points to the X/Y galvanometer assembly (5), and the light rays of the light source (9) and the light rays of the light source (10) are in coaxial positions, so that the light source is provided for the X/Y galvanometer assembly (5) from the light beam combiner (6) by the light source (9) and the light source (10).

2. The automatic tunnel profiler based on vibrating mirror according to claim 1, wherein: the optical combiner (6) has a structure in which a penta-prism crystal (61) is connected to a triangular prism crystal (62), and an interface (63) is formed on the surface of the penta-prism crystal (61) connected to the triangular prism crystal (62).

3. The automatic tunnel profiler based on vibrating mirror according to claim 1, wherein: the tunnel profiler (1) is positioned at the position of the pair Ji Zhongdian (3) or the position deviated from the midpoint (3) of the tunnel.

4. A construction method of an automatic tunnel profiler based on a galvanometer according to any one of claims 1 to 3, comprising the steps of:

s1, selecting a working position of a tunnel profiler (1), controlling a detection light source (9) to sequentially project to a tunnel section (2) through a beam combiner (6) and an X/Y galvanometer assembly (5) by a signal processing and control assembly (11), controlling a driving circuit (8) to scan the X/Y galvanometer assembly (5) by the signal processing and control assembly (11), acquiring light source light spot signals by a light detection and ranging module (7), and transmitting the light source light spot signals to the signal processing and control assembly (11) to obtain tunnel profile (4) information at the tunnel section (2);

s2, matching tunnel contour information with an auxiliary marking graph (12) by a signal processing and control component (11) to obtain coordinate information required to be projected at a tunnel section (2);

the signal processing and controlling assembly (11) converts the obtained light source light spot signals into three-dimensional matrix data, carries out numerical calculation on data of the rugged positions of the tunnel section (2), obtains planarization data of the tunnel section (2) through calculation, stores the data, superimposes data of the auxiliary marking graph (12) and the planarized tunnel section data to obtain coordinate information to be projected, influences projection points of projection precision on the rugged sections, takes out correction data to carry out correction operation on the projected coordinate information, and finally projects the corrected three-dimensional matrix data to the tunnel section (2);

s3, a signal processing and control assembly (11) controls a display light source (10) to project to a tunnel section (2) sequentially through a beam combiner (6) and an X/Y galvanometer assembly (5), and the signal processing and control assembly (11) controls a driving circuit (8) to project to the X/Y galvanometer assembly (5) according to coordinate information;

through the steps, the required labeling information is accurately projected on the tunnel section (2).

5. The construction method of the automatic tunnel profiler based on the vibrating mirror, which is disclosed by claim 4, is characterized in that: the tunnel profiler (1) is positioned at the position of the pair Ji Zhongdian (3) or the position deviated from the midpoint (3) of the tunnel.

6. The construction method of the automatic tunnel profiler based on the vibrating mirror, which is disclosed by claim 4, is characterized in that: in the step S1, the optimal display area is projected from the tunnel profiler (1), and the tunnel section (2) to be marked is completely covered by the optimal display area when the tunnel profiler is placed;

the optimal display area is an area capable of correcting distortion.

7. The construction method of the automatic tunnel profiler based on the vibrating mirror, which is disclosed by claim 4, is characterized in that: the tunnel profiler (1) is arranged on a tripod or a vehicle.

8. The construction method of the automatic tunnel profiler based on the vibrating mirror, which is disclosed by claim 4, is characterized in that: the signal processing and controlling component (11) is connected with the input device to manually fine-tune, correct or confirm the local position of the marked information.

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