CN101251367A - Real-time measurement system for shield excavation attitude - Google Patents
Real-time measurement system for shield excavation attitude Download PDFInfo
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- CN101251367A CN101251367A CNA2008100355037A CN200810035503A CN101251367A CN 101251367 A CN101251367 A CN 101251367A CN A2008100355037 A CNA2008100355037 A CN A2008100355037A CN 200810035503 A CN200810035503 A CN 200810035503A CN 101251367 A CN101251367 A CN 101251367A
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Abstract
The invention discloses a real-time measurement system for shield tunneling posture, comprising a total station instrument which is arranged behind a shield machine and is provided with an automatic target recognition function and a plurality of target prisms fixed in the shield machine, wherein, the target prisms are arranged one by one along the longitudinal direction of the shield machine; the system also comprises a double-axis tilt sensor, and the double-axis tilt sensor is arranged on a special mounting base fixed in the shield machine. The system eliminates the contradiction between the improvement of the measurement accuracy and the extension of the continuable observation distance, particularly can adapt to the working environment with worse intervisibility conditions, has the advantages of high measurement accuracy and simple and convenient installation, can adapt to the shield tunneling construction with various conditions, and particularly adapt to the tunnel construction of small diameters and small curvature radii.
Description
Technical field:
The present invention relates to a kind of control device of shield driving, particularly a kind of real-time measurement system of shield excavation attitude.
Background technology:
The shield driving technology is a kind of engineering of underground bored tunnel, and determine that the real-time attitude of shield machine in tunneling construction is one of key of this project technology, real-time measurement system for shield excavation attitude is exactly in order to detect the control device of the real-time attitude of shield machine in the shield driving construction.Real-time measurement system for shield excavation attitude utilizes advanced technology such as measurement, sensing and computing machine, detect position, attitude and the tendency information of shield machine in real time, and at any time with it and design tunnel axis (Designed TunnelAlignment, hereinafter to be referred as DTA) compare, control personnel with graphics context mode intuitively to shield machine real-time information is provided, so that the personnel that control in time take control measure such as correction to shield machine.Along with the widespread use of shield construction in urban infrastructures such as subway, highway, power plant, telecommunication, upper and lower water course, real-time measurement system for shield excavation attitude has also obtained develop rapidly and has become better and approaching perfection day by day.
Real-time measurement system for shield excavation attitude, be called the shield attitude automated induction systems again, mainly be divided into three kinds of gyroscopic method, laser method and prism methods, the gyroscopic inertia systems approach because of its complicated operation, precision is low progressively is eliminated, the main method that adopts is to utilize the laser method of laser medium and two kinds of the prism methods of directly observing prism in the present engineering, and these two kinds of methods all are based on the principle of work that leads by observed object.The measuring system of using laser method is based on external product, product as Britain ZED company and German VMT company, the price of its system is up to one, 2,000,000, and will continue to use after construction is finished also must the payment services expense, and the high people of making of use cost can't bear the heavy load.Therefore the measuring system of prism method is generally all adopted in domestic construction.
The improving of total powerstation technology that prism method is based on the identification of band automatic target grows up, and its ultimate principle and system architecture are referring to Fig. 1.After shield machine 13 ' is installed, with total powerstation 1 ', some target prisms 2 ', 3 ', 4 ' and rearscope 5 ' be placed in inside and outside the shield machine 13 ', constitute three-dimensional local coordinate system, pass through then target prism 2 ', 3 ', the measurement of 4 ' signal, measure otch center 14 ' and the shield tail center 11 ' coordinate in this three-dimensional local coordinate system of shield machine 13 ', subsequently in tunneling construction total powerstation 1 ' and target prism 2 ', 3 ', 4 ' the real-time measuring data of gathering is automatically handled by the industrial computer 8 ' that data transmission device 7 ' is sent in the pulpit 12 ', thereby draw on the shield machine 13 ' otch center 14 ' and shield tail center 11 ' residing three-dimensional coordinate at that time, the gradient of shield machine 13 ' and roll angle etc., compare with the database that stores DTA again, just can obtain corresponding shield attitude deviation data and also show in real time, simultaneously by data exchange box 9 ', programmable logic controller (PLC) (PLC) 10 ' outputs control signals to control device 6 ' so that shield machine 13 ' is implemented control in real time.At present total powerstation 1 ' has two kinds to the way of search of target prism 2 ', 3 ', 4 ' signal: a kind of be active, a kind of be passive type; Active is search by total powerstation 1 ' self, target prism 2 ', 3 ', 4 ' reflected signal are discerned, and passive type is self to transmit by target prism 2 ', 3 ', 4 ', for total powerstation 1 ' search identification.
The Chinese patent " shield structure 3 d pose precision monitor system " (publication number CN 1584290A) of Shanghai City Second Municipal Engineering Co., Ltd application has just disclosed a kind of aforesaid active prism method real-time measurement system for shield excavation attitude, wherein the quantity of target prism adopts three, concrete mode of arranging can be consulted Fig. 2 and Fig. 3, these three target prisms 2 ', 3 ', 4 ' laterally are laid in the front portion in the shield machine 13 ', and total powerstation 1 ' is observed them successively in the testing process.The measuring accuracy of prism method measuring system and target prism 2 ', 3 ', the 4 ' position of being laid are relevant, horizontal spacing between three target prisms 2 ', 3 ', 4 ' the institute's installation position is big more, then the measuring accuracy of system is high more, when the distance between them is within 1m, just may cause the prism signal to be difficult to identification, thereby cause the system can't operate as normal.Yet, if the distance laying face excessive, their positions between the target prism 2 ', 3 ', 4 ' is wide, will make the observation visual angle of total powerstation 1 ' excessive, this has just brought great difficulty to constructing tunnel.This is because the field condition of shield method tunneling construction is very harsh, intervisibility zone in the construction tunnel is a long and narrow cylindrical area, particularly in the constructing tunnel of minor diameter, small curvature radius, a wide planar intervisibility zone almost is impossible exist.If target prism 2 ', 3 ', the 4 ' scope of being laid are wide, the direct range length of 1 ' while of total powerstation all target prisms of energy Continuous Observation will shorten so, especially when than the turning construction of the tunnel of minor diameter in minor radius, will cause and frequent change the station to move forward total powerstation 1 ', sometimes even only advance the station of just having to change of ring more than 10, its workload is quite heavy.And if the scope that the target prism is laid is put narrow, therefore even the consequence that also can cause the target prism to discern thus then certainly will cause the measuring accuracy of system to reduce, because the target prism also exists minimum identification angle.This shows, but adopt the real-time measurement system for shield excavation attitude of three target prisms to exist contradiction between raising The measuring precision and extension Continuous Observation distance, the two often can not be taken into account.In addition, total powerstation 1 ' carries out successively to target prism 2 ', 3 ', 4 ' observation, at interval free between each observation, yet this moment, shield machine constantly tunneled, therefore the time interval between each observation is long more, the target prism of required observation is many more, and the measuring accuracy of system is also just low more.This just why in the world the prism method only be used for the installation and measuring of system mostly, and be not used in the reason of automatic measurement guiding.
Summary of the invention:
But technical matters to be solved by this invention is to overcome the raising measuring accuracy of existing real-time measurement system for shield excavation attitude existence and the contradiction between the extension Continuous Observation distance, a kind of real-time measurement system for shield excavation attitude is provided, it can adapt to the relatively poor working environment of sighting condition, has the measuring accuracy height, simple and easy advantage easily is installed.
It is as follows that the present invention solves the technical scheme that its technical matters takes:
A kind of real-time measurement system for shield excavation attitude includes the total powerstation with automatic target recognition function that is arranged at the shield machine rear and is fixed in the interior a plurality of target prisms of shield machine, and these a plurality of target prisms vertically are provided with one by one along shield machine.
The quantity of the target prism of real-time measurement system for shield excavation attitude of the present invention is more than 2 or 2; Described system also includes the twin shaft angular transducer, and on the mounting base of this twin shaft angle sensor device in being fixed in shield machine, it and connected other annex are closed in the metal case that is arranged on the mounting base together; This mounting base includes base plate, three-jaw pedestal and swivel base; Described base plate is fixed in the shield machine; Described three-jaw pedestal be arranged at this base plate above, it has horizontal adjustment part and locking part, this horizontal adjustment part is three vertical spin spares that are distributed on this three-jaw base bottom surface, this locking part is a holding screw; Described swivel base be arranged at the three-jaw pedestal above, it has in order to the fixed head and the locking piece of twin shaft angular transducer to be installed, the axis that this fixed head can wind perpendicular to its plate face is rotated, it vertically is carved with its plate face upper edge and the fixing corresponding to center line of twin shaft angular transducer axis direction, and the locking piece of this swivel base is a trip bolt.
Compare with existing prism method real-time measurement system for shield excavation attitude, target prism of the present invention is along vertical laying of shield machine, therefore no matter how long the distance between the target prism has, all the time satisfy the requirement that the intervisibility zone is a long and narrow zone, so but the distance of the Continuous Observation of same survey station when improving The measuring precision, can not reduced; Because the target prism is vertically to lay, though therefore the angle error of total powerstation is still influential to the precision of measurement result, the influence of surveying edge error is almost nil, thereby has improved the measuring accuracy of system simultaneously.In addition, mounting base of the present invention has 3 D stereo position adjusting mechanism flexibly, be carved with center line on its fixed head plate face, thereby can make things convenient for the installation of twin shaft angular transducer and improve installation accuracy, the metal case on this mounting base plays protective action to the twin shaft angular transducer simultaneously.
In sum, but real-time measurement system for shield excavation attitude of the present invention has been eliminated the contradiction that improves between measuring accuracy and the extension Continuous Observation distance, especially can adapt to the relatively poor working environment of sighting condition, meanwhile, the present invention has also adopted the mounting base of twin shaft angular transducer special use, makes the installation of twin shaft angular transducer and the initialization of system debug all very simple and easy quick.In a word, the present invention has the measuring accuracy height, simple and easy advantage easily is installed, and can adapt to tunneling shield tunneling construction, the especially minor diameter of all kinds of conditions, the constructing tunnel of small curvature radius.
Description of drawings:
Fig. 1 is the basic structure hardware layout figure of existing prism method system.
The rear view that Fig. 2 arranges for the target prism of existing prism method system.
The side view that Fig. 3 arranges for the target prism of existing prism method system.
Fig. 4 is basic structure hardware layout figure of the present invention.
Fig. 5 is the structural representation of twin shaft angular transducer of the present invention and mounting base.
Fig. 6 is the vertical view of Fig. 5.
Embodiment:
Now the present invention is described in further detail in conjunction with the accompanying drawings and embodiments.
See also Fig. 4 basic structure hardware layout of the present invention figure, the diagram real-time measurement system for shield excavation attitude includes the total powerstation 8 with automatic target recognition function, two target prisms 4 and 5, rearscopes 10, twin shaft angular transducer 6, industrial computer 9 and programmable logic controller (PLC)s (PLC) 7.Described total powerstation 8 is arranged at the rear of shield machine 1, described rearscope 10 is arranged at the rear of this shield machine 1, its reflected signal gives total powerstation 8 so that fixed reference target direction accurately to be provided, described two target prisms 4,5 are arranged at the front portion in the shield machine 1, the signal that it reflected with the signal of rearscope 10 reflection by total powerstation 8 receptions to set up three-dimensional local coordinate system, thereby determine otch center 3 and the coordinate of shield tail center 2 in this three-dimensional local coordinate system, so that in tunneling process after this, measure the real-time attitude of shield machine 1.Described twin shaft angular transducer 6 is installed on (referring to Fig. 5) on the mounting base, and it is in order to the gradient of The real time measure shield machine 1 and roll the angle, and this mounting base is fixed in the inside of shield machine 1.Described programmable logic controller (PLC) 7 is arranged at the inside of shield machine 1, the working status parameter whether it can provide shield machine 1 to advance in the process of resolving shield machine 1 real-time attitude data.Described industrial computer 9 is data processing centre (DPC)s of whole real-time measurement system for shield excavation attitude, it is connected with total powerstation 8, twin shaft angular transducer 6 and programmable logic controller (PLC) 7 and receives detection signal from them, by store in advance wherein the DTA data and the comparison of shield machine 1 real-time attitude parameter, this industrial computer 9 just can obtain comprising that the plane at otch center 3 and shield tail center 2 and the shield attitude deviation data of elevation deviation also show in real time, exports control signal then shield machine 1 is implemented control in real time.
Two target prisms 4 of real-time measurement system for shield excavation attitude of the present invention and 5 are vertically being provided with one by one along shield machine 1, greatly to improve measuring accuracy, try one's best near the position at otch center 3 as much as possible by a wherein forward target prism 4 for spacing between the two.Because target prism 4 and 5 is vertically to lay, so no matter how far the distance between two prisms has, they are in the long and narrow intervisibility zone all the time for total powerstation 8, but the distance of the Continuous Observation of the same survey station that therefore when improving The measuring precision, extended, but thereby raising measuring accuracy that existing prism method target prism lateral arrangement causes and the contradiction between the extension Continuous Observation distance have been avoided, needn't change the station continually, this is particularly advantageous in the constructing tunnel of minor diameter, small curvature radius.Because target prism 4 and 5 is vertically to lay,, thereby improved the measuring accuracy of system in addition so the survey edge error of total powerstation 1 is almost nil to the influence of measuring accuracy.Except the embodiment of two target prisms of above-mentioned employing, the target prism that the present invention can also lay more than 2 is standby to do, as long as guarantee have two target prisms to be observed simultaneously, the real-time surveying work of shield excavation attitude is normally carried out in the use.
See also Fig. 5 and Fig. 6 again, illustrate twin shaft angular transducer 6 of the present invention and be installed on the mounting base, this mounting base includes base plate 61, three-jaw pedestal 62 and swivel base 65.Described base plate 61 firmly is installed in the shield machine 1 by securing member.Described three-jaw pedestal 62 be arranged at this base plate 61 above, it has horizontal adjustment part 63 and locking part 64, this horizontal adjustment part 63 is three vertical spin spares that are distributed on these three-jaw pedestal 62 bottom surfaces, this locking part 64 is a holding screw; The initial induction angle of twin shaft angular transducer 6 accurately can be adjusted to and shield machine 1 corresponding to state by horizontal adjustment part 63, then with locking part 64 lockings.Described swivel base 65 be arranged at three-jaw pedestal 62 above, it has fixed head 66 and locking piece 67, the axis that this fixed head 66 can wind perpendicular to its plate face carries out 360 ° of rotations, it vertically is carved with this plate face upper edge and fixing corresponding to center line 68 (see figure 6)s of twin shaft angular transducer 6 axis directions, and the length of this center line 68 is the twice of twin shaft angular transducer 6 length; The locking piece 67 of this swivel base 65 is a trip bolt.Described twin shaft angular transducer 6 is installed on the fixed head 66, Precision trimming by horizontal adjustment part 63 and swivel base 65 can be regulated the axis of twin shaft angular transducer 6 parallel with the axis of shield machine 1, center line 68 has played the setting-out effect that indicates its axis in the installation of twin shaft angular transducer 6, greatly facilitate the operation that twin shaft angular transducer 6 is installed; After the direction of adjustment twin shaft angular transducer 6 axis, can pass through locking part 64 and locking piece 67 locking position with twin shaft angular transducer 6.This twin shaft angular transducer 6 and connected other annex, as data modular converter, power supply etc., be closed in together in the metal case 69 that is arranged on the mounting base, 69 pairs of twin shaft angular transducers of this metal case 6 and other annex have played protective action, as waterproof and dustproof, anticollision etc.
In sum, real-time measurement system for shield excavation attitude of the present invention has been eliminated to improve and has been measured But the contradiction between precision and the extension Continuous Observation distance especially can adapt to the relatively poor worker of sighting condition Make environment, also adopted simultaneously special-purpose mounting base, make installation and the system of twin shaft angular transducer Initialization debugging all very simple and easy quick, therefore have the certainty of measurement height, install simple and easy easily excellent Point can adapt to tunneling shield tunneling construction, especially minor diameter, the small curvature radius of all kinds of conditions Constructing tunnel.
Claims (9)
1, a kind of real-time measurement system for shield excavation attitude, include the total powerstation with automatic target recognition function that is arranged at the shield machine rear and be fixed in the interior a plurality of target prisms of shield machine, it is characterized in that: described a plurality of target prisms vertically are provided with one by one along shield machine.
2, real-time measurement system for shield excavation attitude according to claim 1 is characterized in that: the quantity of described target prism is 2.
3, real-time measurement system for shield excavation attitude according to claim 1 and 2 is characterized in that: described system also includes the twin shaft angular transducer, on the mounting base of this twin shaft angle sensor device in being fixed in shield machine.
4, real-time measurement system for shield excavation attitude according to claim 3, it is characterized in that: described mounting base includes base plate, three-jaw pedestal and swivel base, described base plate is fixed in the shield machine, described three-jaw pedestal be arranged at this base plate above, it has horizontal adjustment part and locking part, described swivel base be arranged at the three-jaw pedestal above, it has in order to the fixed head and the locking piece of twin shaft angular transducer to be installed, and the axis that this fixed head can wind perpendicular to its plate face is rotated.
5, real-time measurement system for shield excavation attitude according to claim 4 is characterized in that: it vertically is carved with the plate face upper edge of described fixed head and the fixing corresponding to center line of twin shaft angular transducer axis direction.
6, real-time measurement system for shield excavation attitude according to claim 4 is characterized in that: the horizontal adjustment part of described three-jaw pedestal is three vertical spin spares that are distributed on this three-jaw base bottom surface, and described locking part is a holding screw.
7, real-time measurement system for shield excavation attitude according to claim 4 is characterized in that: the locking piece of described swivel base is a trip bolt.
8, real-time measurement system for shield excavation attitude according to claim 3 is characterized in that: described twin shaft angular transducer and connected other annex are closed in the metal case that is arranged on the mounting base together.
9, real-time measurement system for shield excavation attitude according to claim 1 is characterized in that: the quantity of described target prism is more than 2.
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| Application Number | Priority Date | Filing Date | Title |
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| CNA2008100355037A CN101251367A (en) | 2008-04-02 | 2008-04-02 | Real-time measurement system for shield excavation attitude |
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| CNA2008100355037A CN101251367A (en) | 2008-04-02 | 2008-04-02 | Real-time measurement system for shield excavation attitude |
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| CNA2008100355037A Pending CN101251367A (en) | 2008-04-02 | 2008-04-02 | Real-time measurement system for shield excavation attitude |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102445157A (en) * | 2011-09-21 | 2012-05-09 | 上海隧道工程股份有限公司 | Shield gap measuring system |
| CN102809374A (en) * | 2011-05-30 | 2012-12-05 | 同济大学 | Automatic guiding measurement method for hinge connection shield machine, and apparatus thereof |
| CN103335647A (en) * | 2013-07-02 | 2013-10-02 | 华中科技大学 | Tunnel boring machine attitude measuring system and measuring method of same |
| CN104213925A (en) * | 2014-05-19 | 2014-12-17 | 中铁四局集团有限公司 | Method for replacing prism position of automatic measurement system in tunnel construction hole |
| CN104265307A (en) * | 2014-08-19 | 2015-01-07 | 山东大学 | Non-uniform-hardness stratum earth pressure balance shield tunnel underpassing railway existing line construction method |
| CN105571574A (en) * | 2015-12-14 | 2016-05-11 | 上海市基础工程集团有限公司 | Movable total station instrument measuring platform for shield automatic guide system |
| CN105651226A (en) * | 2015-12-29 | 2016-06-08 | 上海隧道工程有限公司 | Segment monitoring method of quasi-rectangular shield tunnel |
| CN106382121A (en) * | 2016-12-05 | 2017-02-08 | 中交第三航务工程局有限公司 | Measuring method for subway tunnel shield excavation |
| CN106437731A (en) * | 2016-10-09 | 2017-02-22 | 中国电建集团成都勘测设计研究院有限公司 | Pre-warning dual-shield TBM |
| CN107525497A (en) * | 2017-08-16 | 2017-12-29 | 上海市基础工程集团有限公司 | Automatic measurement guidance system and method for slurry balance shield machine |
| CN110173270A (en) * | 2019-06-28 | 2019-08-27 | 晏强 | A kind of shield measurement total station hanging basket equipment |
| CN110579176A (en) * | 2018-06-11 | 2019-12-17 | 日立造船株式会社 | Shield tail gap measuring device, shield tunneling machine and shield tail gap measuring method |
| CN112682049A (en) * | 2021-03-22 | 2021-04-20 | 中铁九局集团第四工程有限公司 | Deviation rectifying control method and device for shield tunneling attitude |
| CN114578713A (en) * | 2022-03-17 | 2022-06-03 | 山东拓新电气有限公司 | Attitude control method and device for push bench |
| CN114777749A (en) * | 2022-04-26 | 2022-07-22 | 华中科技大学 | Position and attitude measurement method, system, medium, equipment and terminal of development machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102809374A (en) * | 2011-05-30 | 2012-12-05 | 同济大学 | Automatic guiding measurement method for hinge connection shield machine, and apparatus thereof |
| CN102445157A (en) * | 2011-09-21 | 2012-05-09 | 上海隧道工程股份有限公司 | Shield gap measuring system |
| CN103335647A (en) * | 2013-07-02 | 2013-10-02 | 华中科技大学 | Tunnel boring machine attitude measuring system and measuring method of same |
| CN104213925A (en) * | 2014-05-19 | 2014-12-17 | 中铁四局集团有限公司 | Method for replacing prism position of automatic measurement system in tunnel construction hole |
| CN104265307A (en) * | 2014-08-19 | 2015-01-07 | 山东大学 | Non-uniform-hardness stratum earth pressure balance shield tunnel underpassing railway existing line construction method |
| CN104265307B (en) * | 2014-08-19 | 2017-01-25 | 山东大学 | Non-uniform-hardness stratum earth pressure balance shield tunnel underpassing railway existing line construction method |
| CN105571574A (en) * | 2015-12-14 | 2016-05-11 | 上海市基础工程集团有限公司 | Movable total station instrument measuring platform for shield automatic guide system |
| CN105571574B (en) * | 2015-12-14 | 2018-01-19 | 上海市基础工程集团有限公司 | Removable total station survey platform for shield automatic guiding system |
| CN105651226A (en) * | 2015-12-29 | 2016-06-08 | 上海隧道工程有限公司 | Segment monitoring method of quasi-rectangular shield tunnel |
| CN105651226B (en) * | 2015-12-29 | 2018-11-02 | 上海隧道工程有限公司 | The section of jurisdiction monitoring method of class rectangle shield tunnel |
| CN106437731A (en) * | 2016-10-09 | 2017-02-22 | 中国电建集团成都勘测设计研究院有限公司 | Pre-warning dual-shield TBM |
| CN106382121A (en) * | 2016-12-05 | 2017-02-08 | 中交第三航务工程局有限公司 | Measuring method for subway tunnel shield excavation |
| CN106382121B (en) * | 2016-12-05 | 2018-06-12 | 中交第三航务工程局有限公司 | A kind of measuring method of subway tunnel shield driving |
| CN107525497A (en) * | 2017-08-16 | 2017-12-29 | 上海市基础工程集团有限公司 | Automatic measurement guidance system and method for slurry balance shield machine |
| CN110579176A (en) * | 2018-06-11 | 2019-12-17 | 日立造船株式会社 | Shield tail gap measuring device, shield tunneling machine and shield tail gap measuring method |
| CN110579176B (en) * | 2018-06-11 | 2022-07-22 | 地中空间开发株式会社 | Shield tail gap measuring device, shield tunneling machine and shield tail gap measuring method |
| CN110173270A (en) * | 2019-06-28 | 2019-08-27 | 晏强 | A kind of shield measurement total station hanging basket equipment |
| CN112682049A (en) * | 2021-03-22 | 2021-04-20 | 中铁九局集团第四工程有限公司 | Deviation rectifying control method and device for shield tunneling attitude |
| CN112682049B (en) * | 2021-03-22 | 2021-06-08 | 中铁九局集团第四工程有限公司 | Deviation rectifying control method and device for shield tunneling attitude |
| CN114578713A (en) * | 2022-03-17 | 2022-06-03 | 山东拓新电气有限公司 | Attitude control method and device for push bench |
| CN114578713B (en) * | 2022-03-17 | 2022-09-13 | 山东拓新电气有限公司 | Attitude control method and device for push bench |
| CN114777749A (en) * | 2022-04-26 | 2022-07-22 | 华中科技大学 | Position and attitude measurement method, system, medium, equipment and terminal of development machine |
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