【摘要】：本論文受973課題(課題編號:2013CB035405)資助,承擔"硬巖掘進過程狀態(tài)感知原理"中的掘進過程隧道變形在線測量的研究任務。隨著我國經(jīng)濟的發(fā)展,城市交通、水利工程、市政建設對于TBM(Tunnel Boring Machine,隧道掘進機)的需求越來越大。我國已經(jīng)成為對TBM需求量最大的國家,需求量占全球的50%。TBM的施工安全是TBM掘進過程中主要考慮的因素之一,而隧道的變形是影響施工安全的主要因素。過大的隧道變形會造成隧道塌方、TBM卡機等工程事故。因此隧道變形監(jiān)測系統(tǒng)在TBM掘進過程中具有十分重要的意義。本文提出了基于視覺輔助的隧道變形監(jiān)測系統(tǒng)以實現(xiàn)隧道變形的自動、精確和及時監(jiān)測。結合TBM施工情況和監(jiān)測目標,提出了瑩光漆標識待測點,相機檢測目標,云臺驅(qū)動激光位移傳感器瞄準目標的方法,并初步研究了雙目視覺提高測量效率以及三維點云的拼接方法。論文首先介紹了 TBM的概況和TBM掘進過程中隧道變形所引發(fā)的問題,分類介紹了目前國內(nèi)外隧道變形監(jiān)測的方法和存在的問題,從而引出論文的研究背景和意義。其次,提出了人工標志點及實驗裝置的設計方案。對實驗裝置建立運動學模型,對相機建立視覺模型。將相機捕獲的圖像進行去噪、閾值分割、腐蝕膨脹等圖像處理方法提取目標中心像素坐標。采用基于圖像的視覺伺服控制使激光位移傳感器的激光束瞄準目標。其次,提出了雙目視覺測量目標點間相對距離、激光位移傳感器測量三維坐標,并使用半定規(guī)劃的方法,提高監(jiān)測系統(tǒng)的測量效率。分析了各參數(shù)對測量精度的影響,選擇合適的參數(shù)用于實際測量中。初步研究了不同時刻測量得到的三維點云的拼接方法。最后,通過模擬實驗驗證測量系統(tǒng)的精度和測量效率。
[Abstract]:This paper is supported by 973 subjects (subject number: 2013CB035405), which is responsible for the online measurement of tunneling deformation in "principle of state perception in hard rock tunneling process". With the development of economy in our country, the demand for TBM (Tunnel Boring Machine, tunneling machine in urban traffic, water conservancy engineering and municipal construction is increasing. China has become the country with the largest demand for TBM. The construction safety of 50%.TBM, which accounts for the global demand, is one of the main factors to be considered in the process of TBM tunneling, and the tunnel deformation is the main factor affecting the construction safety. Excessive tunnel deformation will cause tunnel collapse, TBM card, and other engineering accidents. Therefore, the tunnel deformation monitoring system is of great significance in the process of TBM tunneling. In this paper, a visual aided tunnel deformation monitoring system is proposed to realize the automatic, accurate and timely monitoring of tunnel deformation. Combined with the construction situation of TBM and the monitoring target, this paper puts forward the methods of marking the spot to be measured, detecting the target by camera and aiming at the target by laser displacement sensor driven by cloud head. And the binocular vision to improve the measurement efficiency and three-dimensional point cloud splicing method is studied preliminarily. Firstly, this paper introduces the general situation of TBM and the problems caused by tunnel deformation in the process of TBM tunneling, and introduces the methods and existing problems of tunnel deformation monitoring at home and abroad, which leads to the research background and significance of the paper. Secondly, the design scheme of manual mark point and experimental device is put forward. The kinematics model of the experimental device and the visual model of the camera are established. Image processing methods such as denoising, threshold segmentation and corrosion expansion are used to extract the central pixel coordinates of the target. The laser beam of the laser displacement sensor is aimed at the target by using the visual servo control based on the image. Secondly, a binocular vision method is proposed to measure the relative distance between the target points and the laser displacement sensor to measure the three-dimensional coordinates, and the semi-definite programming method is used to improve the measuring efficiency of the monitoring system. The influence of the parameters on the measurement accuracy is analyzed, and the appropriate parameters are selected for the practical measurement. The splicing method of three-dimensional point cloud measured at different times is preliminarily studied. Finally, the accuracy and efficiency of the measurement system are verified by simulation experiments.
【學位授予單位】：浙江大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：U456.3;TP274

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