Lidar-based convergence deformation monitoring system for surrounding rock around TBM shield region

A lidar-based convergence deformation monitoring system for surrounding rock around a tunnel boring machine (TBM) shield region, comprising:

• a data acquisition module, comprising a lidar, a push-rod motor, an H-bridge circuit, a power supply module, an ARM chip, a guide rod, a linear bearing, a tempered glass cover and a protective case,
• wherein:
• the lidar and the push-rod motor are connected by a lidar connector and a push-rod connection head, to acquire raw data of the surrounding rock and store the raw data in the ARM chip;
• the push-rod motor is fastened to a mounting plate of the protective case through a fastening plate of the push-rod motor;
• the ARM chip, the fastening plate of the push-rod motor and the H-bridge circuit are fastened to the mounting plate of the protective case by screws;
• the power supply module is fastened within the protective case;
• a middle portion of a top plate of the protective case directly opposite to the lidar is provided with a lidar hole having a same size as the lidar, to allow the lidar to extend out of the protective case;
• the tempered glass cover is mounted above the lidar hole, and the tempered glass cover is connected to the guide rod through a through hole in the tempered glass cover;
• the guide rod is combined with the linear bearing to allow the tempered glass cover to freely move in a vertical direction;
• the linear bearing is connected to the top plate by screws passing through through-holes on both sides of the linear bearing;
• and the protective case is fastened to an inner wall of a TBM shield through two mounting brackets on both sides of the protective case, and the inner wall is provided with a hole having a same size as the tempered glass cover, to facilitate the lidar to extend out of the protective case to perform a measurement;
• wherein the lidar is fastened to the lidar connector by screws passing through four threaded holes in a base of the lidar, while the lidar is connected to a lidar positioning plate by utilizing a side threaded hole of the lidar, and the lidar positioning plate is mounted such that the lidar connector is prevented from rotating around one of the screws as an axis.