Abstract
The precise measurement of excavated tunnel slag volume is crucial for tunnel boring machine construction security and optimizing. Structured-light vision measurement method is a widely employed method for volume measurement of convey belt, comprising a camera and laser projector. However, maintaining alignment between the structured light plane and the belt is challenging, especially with machine vibrations, leading to significant errors in slag volume measurement. To address this problem, we propose an innovative excavated tunnel slag volume measurement method based on triple-line structured light vision. After capturing images with multiline structured light, our approach encompasses extracting centerlines, profile three-dimensional conversion, calibrating profile distortions with arbitrary structured light layouts, and registering to obtain the area of the structured light section. Finally, integral calculations along the movement speed of conveyor belt yield accurate, real-time measurements of tunnel slag volume. Extensive experiments in factory and construction site settings confirm the real-time capabilities, accuracy, and universal applicability of our approach.
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