Automatic scanning system for tunnel walls constructed by open-type TBM

An automatic scanning system for tunnel walls constructed by open-type TBM, comprising:

• a three-dimensional laser scanner, a circumferential walking unit, a circumferential track, a connecting rod and a remote-control unit;
• wherein the three-dimensional laser scanner is fixed on the circumferential walking unit, and the three-dimensional laser scanner is configured to three-dimensionally scan geological information of the tunnel wall;
• the circumferential walking unit is provided on the circumferential track, and the circumferential walking unit is configured to walk or stop walking on the circumferential track at a set speed and a set number of walking cycles according to a control instruction issued by the remote-control unit or a control module in the circumferential walking unit, the control instruction comprises a walking instruction or a stopping walking instruction;
• the circumferential track is fixed on the main beam of open-type TBM through the connecting rod and located between the roof bolter and cylinder of gripper shoe;
• the remote-control unit is connected with the three-dimensional laser scanner and the circumferential walking unit, respectively, the remote-control unit is configured to issue the control instruction to the circumferential walking unit to control the circumferential walking unit to start walking or stop walking at a set speed and a set number of walking cycles, and control the three-dimensional laser scanner to start scanning or stop scanning and wirelessly transmit the scanning data using set scanning parameters according to the control instruction;
• and
• wherein a ring diameter of the circumferential track is determined according to tunnel diameter, working space and single scanning range, and a maximum width of the single scanning range for the three-dimensional laser scanner is determined by adjusting the ring diameter of the circumferential track, and wherein the maximum width is set as one or more stroke lengths.