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Research on the Measurement Method of Spoil Volume on Shield Tunnel Belt Conveyor Based on Laser Point Cloud and Visual Technology
(1. Shenzhen Railway Investment and Construction Group Co., Ltd., Shenzhen 518066；2. School of Aeronautics and Astronautics,Sun Yat-sen University，Shenzhen 518107；3. The Third Engineering Co.,Ltd of China Railway Seventh Group, Xi′an 710000；4. School of Civil Engineering, Sun Yat-sen University, Zhuhai 519082；5. National Key Laboratory of Disaster Prevention and Intelligent Construction for Tunnel Engineering, Guangzhou 510000)
Abstract To improve the accuracy and automation level of volume measurement for excavated soil during tunnel construction, a method for measuring the volume of excavated soil in shield tunnels based on laser point cloud and vision technology is proposed. The system hardware includes two single-line laser radars and one 4 K camera. The two laser radars are used to collect cross-section point cloud and longitudinal point cloud data, while the camera captures video information around the equipment. An improved optical flow method is used to determine the motion status of the conveyor belt. By combining the Triangle Accumulated Cross-sectional Area method (TACA) with the improved Adaptive Edge Iterative Closest Point (AE-ICP) algorithm, accurate measurement of the cross-sectional area of the excavated soil is achieved, and the volume of excavated soil is obtained through numerical integration using the Simpson′s rule. Experimental results indicate that this method demonstrates high measurement accuracy and robustness in complex tunnel environments, with the relative error of volume measurement controlled within 5% and the average error of speed measurement within 1%, showing promising prospects for engineering applications.
Abstract：
To improve the accuracy and automation level of volume measurement for excavated soil during tunnel construction, a method for measuring the volume of excavated soil in shield tunnels based on laser point cloud and vision technology is proposed. The system hardware includes two single-line laser radars and one 4 K camera. The two laser radars are used to collect cross-section point cloud and longitudinal point cloud data, while the camera captures video information around the equipment. An improved optical flow method is used to determine the motion status of the conveyor belt. By combining the Triangle Accumulated Cross-sectional Area method (TACA) with the improved Adaptive Edge Iterative Closest Point (AE-ICP) algorithm, accurate measurement of the cross-sectional area of the excavated soil is achieved, and the volume of excavated soil is obtained through numerical integration using the Simpson′s rule. Experimental results indicate that this method demonstrates high measurement accuracy and robustness in complex tunnel environments, with the relative error of volume measurement controlled within 5% and the average error of speed measurement within 1%, showing promising prospects for engineering applications.
CAI Gang1 YUE Zeyu4 ZHAO Qiang3 CAO Xu3 LIANG Yu2,
4,
5
.Research on the Measurement Method of Spoil Volume on Shield Tunnel Belt Conveyor Based on Laser Point Cloud and Visual Technology[J] MODERN TUNNELLING TECHNOLOGY, 2024,V61(5): 129-137
2024, Vol. 61 