CN105115499B - Guidance system and localization method applied to Double shield TBM - Google Patents
Guidance system and localization method applied to Double shield TBM Download PDFInfo
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- CN105115499B CN105115499B CN201510566420.0A CN201510566420A CN105115499B CN 105115499 B CN105115499 B CN 105115499B CN 201510566420 A CN201510566420 A CN 201510566420A CN 105115499 B CN105115499 B CN 105115499B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000004807 localization Effects 0.000 title claims abstract description 6
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000010276 construction Methods 0.000 claims abstract description 14
- 230000005641 tunneling Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000003384 imaging method Methods 0.000 claims description 3
- 238000009826 distribution Methods 0.000 claims description 2
- 239000000284 extract Substances 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000036544 posture Effects 0.000 description 10
- 239000011435 rock Substances 0.000 description 6
- 239000000428 dust Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005273 aeration Methods 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000003709 image segmentation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Environmental & Geological Engineering (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
A kind of guidance system and localization method applied to Double shield TBM, it is characterised in that it includes the rearscope on the wall of section of jurisdiction, the total powerstation on the wall of section of jurisdiction, the industrial computer for being mounted with guidance system in driver's cabin, the CCD on branch pole measure camera, the LED standard characteristic point on anterior shield and the laser target on tail shield.In set of tunneling construction, CCD measures camera by extracting the variation of LED standard characteristic point facula position, and measures the position demarcated in camera in CCD with beginning and be compared, so as to obtain the precise positional relationship of branch pole and anterior shield.It is an advantage of the invention that：The laser beam that its total powerstation is sent out is shone directly on the laser target of tail shield, and reserved special laser measurement form channel is no longer needed among branch pole and tail shield.The measurement distance of guidance system can greatly be increased in this way, station frequency is changed in reduction, improves construction efficiency.
Description
Technical field
The present invention relates to one kind to be applied to Double shield TBM（Hereinafter referred to as " TBM "）Guidance system and using should
The measuring method of system is mainly used for guiding during rock tunnel(ling) machine construction.
Background technology
As track transportation industry is greatly developed, double-shielded TBM has obtained extensively should in terms of hard rock geology constructing tunnel
With.The guidance system of double-shielded TBM application both at home and abroad is all that will measure target to be directly installed on before TBM in shield body at present, is passed through
Measurement channel is oriented to and posture correction to carry out the driving of TBM.But due to double-shielded TBM preceding shield body in driving vibrations with
And the influence being flexibly connected between anterior shield and branch pole, there is very big for the guiding accuracy of TBM in practical tunneling construction
Deviation or even there is serious " blind to push away " phenomenons.
Double-shielded TBM can realize that hard rock tunnel excavation, muck removal, supporting are worked continuously, because its is safe efficient, reliable
Performance, be widely used in the engineerings such as water conservancy and hydropower, mining, rail traffic, municipal administration, national defence now.Its host
It is made of cutterhead 1, anterior shield 2, flexible shield 4, branch pole 6 and 8 four part of tail shield（Referring to Fig. 1）.Guidance system is just as the eyes of TBM
Equally, TBM is instructed to advance in tunneling construction along Tunnel Design axis, improves constructing tunnel efficiency and constructing tunnel quality.
At present both at home and abroad for TBM guidance system mainly by be mounted on anterior shield 2 laser target 7, mounted on tunnel duct piece wall 9
Total powerstation 11 and rearscope 12 and install guidance system control software 10 4 part of industrial computer composition.Guidance system
Measurement on the basis of the laser beam that the total powerstation 11 being mounted on tunnel duct piece wall 9 is sent out, be irradiated to peace when sending out laser beam
During laser target 7 on TBM anterior shields 2 compared with the axis of laser target 7, obtain anterior shield 2 relative to total powerstation 11
Roll angle, pitch angle and rotation angle.The air line distance of laser target 7 and total powerstation 11 is calculated by rearscope 12.It is all
These data be transmitted through the cable to installation guidance system control software computer 10 on, these data with input industrial computer
10 Tunnel Design axis data compare, so as to calculate the difference at 1 driving center of TBM cutterheads and Tunnel Design axis centre
Value, and difference is shown on the screen.TBM bridge operations personnel adjust the driving appearance of TBM by the size of difference
State, to achieve the purpose that make the driving axis in tunnel consistent with Tunnel Design axis.
The anterior shield 2 and flexible shield 4 of TBM is linked together by hinged oil cylinder, in this case anterior shield 2 relative to
The spatial relation of flexible shield 4 is not fixed.In order to guarantee really to show the posture that TBM is tunneled in real time, make TBM along tunnel
Road design axis advances, and laser target 7 has to be mounted on the posture that the driving of cutterhead 1 most could be really reacted on anterior shield 2.And
In the measurement process of entire guidance system, the main points of most critical are that the laser beam that total powerstation 11 is sent out will be radiated at anterior shield 2
On laser target 7, the transmission of light is straightline propagation, so being reached in TBM hosts by tail shield 8 through branch pole 6 and flexible shield 4
The measurement form of anterior shield 2 has to sufficiently large can just meet the requirements.
Double-shielded TBM is constructed primarily directed to hard rock tunnel, and the dust generated when cutterhead tunnels can be bigger.In order to
Ensure the construction environment of worker, reduce dust and increase the oxygen content in construction tunnel, double-shielded TBM is mounted with to lead in design
Wind dedusting and twice aeration two systems.In this case the left and right sides of the rear mating trolley of TBM is just mounted with two air hoses
（It is not shown in Fig. 1）.Make the relatively other rock tunnel(ling) machines of measurement space of double-shielded TBM become narrower.Meanwhile in city
During city's subway work, in order to hide above-ground structures and existing tunnel, the subway tunnel design of tight turn radius is more and more extensive.
Small dual of the small measurement form designed with double-shielded TBM of tunnel axis design turning radius is superimposed so that total powerstation 11 is sent out
Laser beam and its be easily blocked between flexible shield 4, the posture of anterior shield 2 can not be measured.This is double shields both domestic and external at present
Shield guidance system generally existing phenomenon when subway hard rock tunnel is constructed.When the posture of shield body before can not measuring, just have to
The total powerstation 11 and rear view window prism 12 to move forward on section of jurisdiction wall 9, to ensure to measure the unobstructed of form.In this case, a side
Face frequently changes standing-meeting and expends the time, reduces the efficiency of constructing tunnel, increases time cost, while frequently change station, again school
To driving axis and design axis data, data error can be increased, influence the quality of construction tunnel.
Invention content
The present invention provides a kind of novel double-shielded TBM guidance system and measuring method, primarily to improving double shields
Shield TBM guiding accuracies in tunneling construction reduce and change station frequency when measuring, and guidance system is enable accurately to determine TBM's
Real-time attitude is efficiently quickly tunneled.By in the application-oriented system of relative visual measuring system, laser target is mounted on TBM
Tail shield on, by the method for relative measurement obtain before shield body posture, with reduce due to Measurement channel it is narrow to double-shielded TBM
The influence of guidance system increases the measurement distance of total powerstation, is finally reached the purpose for improving construction efficiency and constructing tunnel quality.
The technical scheme is that：A kind of guidance system applied to Double shield TBM, including being mounted on pipe
Rearscope on piece wall, the total powerstation on the wall of section of jurisdiction and the industry for being mounted with guidance system in driver's cabin
Computer, which is characterized in that the CCD further included on branch pole measures camera, the LED standard feature on anterior shield
Point and the laser target on tail shield, CCD is measured to carry out data transmission between camera and total powerstation and industrial computer.
The LED standard characteristic point is by 9 or 12 rectangular distributions of LED characteristic points.
The orientation method of guidance system described in a kind of application, which is characterized in that include the following steps：
(1) by the industrial computer of Tunnel Design axis data transmission to guidance system, pass through total powerstation and rearscope
Establish earth coordinates；Camera is measured by the CCD being mounted in the LED standard characteristic point and branch pole on anterior shield, establishes CCD
Camera coordinates system and LED standard characteristic point coordinate system；
(2) it when TBM is in set of tunneling construction, by the laser target being mounted on tail shield, is positioned with total station survey,
Determine TBM tail shield postures；CCD on branch pole measures the image that camera obtains LED standard characteristic point on anterior shield, and right
Image is split and filters, and extracts the imaging facula of LED standard characteristic point；Pass through imaging facula and pre-defined coordinate system
It compares, so that it is determined that anterior shield and branch pole relative position relation, and will be in relative position relation data transmission to industrial computer；
(3) since branch pole and tail shield relative position relation are fixed, calculated by coordinate system spatial position, and with TBM tails
Shield pose compares, so as to obtain TBM anterior shields position and posture.
The step（3）Specific localization method be：
A, due to the branch pole of double-shielded TBM and tail shield, there are relatively fixed position relationships, in advance close this position
The data of system are input in industrial computer；
B, the LED standard characteristic point of camera and anterior shield is measured by branch pole CCD, by anterior shield relative to the posture of branch pole
Data（Rotation angle, pitch angle and inclination angle）It is transferred on the industrial computer of driver's cabin；Meanwhile the whole station on the wall of section of jurisdiction
Laser beam is radiated on the laser target of tail shield by instrument, by the attitude data of tail shield（Relative to Tunnel Design axis）Pass through cable
It is also communicated in industrial computer.
C, by anterior shield relative to branch pole, branch pole relative to tail shield and tail shield relative to the posture number of design axis
According to the real-time attitude of anterior shield being precisely calculated, and be shown on industrial computer.
It is an advantage of the invention that：With the double-shielded TBM guidance system of current mainstream both at home and abroad compared with, whole station in the present invention
The laser beam that instrument is sent out is shone directly on the laser target of tail shield, is no longer needed among branch pole and tail shield reserved special
The laser measurement form channel of door.The measurement distance of guidance system can greatly be increased in this way, station frequency is changed in reduction, improves construction
Efficiency.Simultaneously because not having to reserved laser measurement form on branch pole when doing TBM designs, in the steel body material type selecting of branch pole
On will be a cost savings.
Description of the drawings
Fig. 1 is the overall structure axial direction schematic cross-sectional view for the guidance system that the prior art is mounted on shield machine；
Fig. 2 is the overall structure axial direction schematic cross-sectional view for the guidance system that the present invention is mounted on shield machine；
Fig. 3 is the A-A sectional views of Fig. 2；
Fig. 4 is the B-B sectional views of Fig. 2；
Fig. 5 is the C-C sectional views of Fig. 2.
Specific embodiment
Referring to Fig. 2~Fig. 5, guidance system of the invention includes the rearscope 12 being mounted on section of jurisdiction wall 9, mounted on pipe
9 total powerstation 11, the industrial computer 10 for being mounted with guidance system in driver's cabin on piece wall, on branch pole 6
CCD measure camera 5, the LED standard characteristic point 3 on anterior shield 2 and the laser target 7, CCD on tail shield 8
It measures camera 5 and total powerstation 11 is connect by data line with industrial computer 10.
The present invention measures camera 5 using CCD and realizes the progress real-time high-precision positioning measurement in short distance.Its principle is logical
The image that camera obtains surrounding scenes is crossed, using the natural or artificial feature of some in scenery, passes through the side of image procossing
Method obtains the environmental model of surrounding so as to realize being accurately positioned for camera.Specific localization method：CCD camera is defined first
Coordinate system, LED standard characteristic point coordinate system and earth coordinates.After measuring camera acquisition image, the pretreatment of image is carried out（Figure
It is routine techniques as filtering and image segmentation）, standard feature point and predefined coordinate system are compared by pretreated image
It is positioned.TBM when measuring, measures the LED of camera 5 and anterior shield 2 by the CCD on branch pole first in application-oriented system
Standard feature point 3, by anterior shield 2 relative to the attitude data of branch pole 6（Rotation angle, pitch angle and inclination angle）It is transferred to driver's cabin
Industrial computer 10 on.Meanwhile laser beam is radiated at the laser target 7 of tail shield 8 by the total powerstation 11 on section of jurisdiction wall 9
On, by the attitude data of tail shield 8（Relative to Tunnel Design axis）It is also communicated in industrial computer 10 by cable.Due to double shields
There are relatively fixed position relationships for the branch pole 6 and tail shield 8 of shield TBM, and the data of this position relationship are input to work in advance
In industry computer 10, in this way by anterior shield 2 relative to branch pole 6, branch pole 6 relative to tail shield 8 and tail shield 8 relative to design axis
Attitude data, it is possible to the real-time attitude of anterior shield 2 is precisely calculated, and is shown on industrial computer 10.
There are two the key problem in technology points of the present invention：First, the extraction of LED features 3 and CCD measure the parameter mark in camera 5
It is fixed.When TBM is in set of tunneling construction, CCD measures camera 5 by extracting 3 hot spot of LED standard characteristic point installed on anterior shield 2
The variation of position, and the position with starting to measure calibration in camera 5 in CCD is compared, so as to obtain branch pole 6 and anterior shield
2 precise positional relationship（The determining method of position relationship is the prior art, but is first Application on TBM）；It is second is that multiple
Spatial position coordinate system transmits the foundation of mathematical model（The prior art）.Guidance system needs to establish multiple coordinates when measuring
System measures camera coordinates system, earth coordinates including LED standard characteristic point coordinate system, CCD（Tunnel Design axis）, and determine
The relative position of laser target 7.The space coordinates of relative position relation are gradually superimposed by biography by established mathematical model
It passs, so as to calculate the difference at TBM cutterheads driving center and Tunnel Design axis centre, TBM driver is made to operate TBM and carries out appearance
State adjusts, and advances along Tunnel Design axis.
Claims (4)
1. a kind of guidance system applied to Double shield TBM, including be mounted on the wall of section of jurisdiction rearscope, installation
Total powerstation on the wall of section of jurisdiction and the industrial computer for being mounted with guidance system in driver's cabin, which is characterized in that also wrap
It includes the CCD on branch pole and measures camera, the LED standard characteristic point on anterior shield and on tail shield
Laser target, CCD is measured to carry out data transmission between camera and total powerstation and industrial computer.
2. the guidance system according to claim 1 applied to Double shield TBM, which is characterized in that described
LED standard characteristic point is by 9 or 12 rectangular distributions of LED characteristic points.
3. a kind of orientation method using guidance system described in claim 1, which is characterized in that include the following steps：
(1) it by the industrial computer of Tunnel Design axis data transmission to guidance system, is established by total powerstation and rearscope
Earth coordinates；Camera is measured by the CCD being mounted in the LED standard characteristic point and branch pole on anterior shield, establishes CCD camera
Coordinate system and LED standard characteristic point coordinate system；
(2) when Double shield TBM is in set of tunneling construction, by the laser target being mounted on tail shield, total powerstation is used
Measurement and positioning determines Double shield TBM tail shield posture；CCD on branch pole measures camera and obtains on anterior shield
The image of LED standard characteristic point, and image is split and filtered, extract the imaging facula of LED standard characteristic point；Pass through into
As hot spot is compared with pre-defined coordinate system, so that it is determined that anterior shield and branch pole relative position relation, and by relative position
Relation data is transferred in industrial computer；
(3) since branch pole and tail shield relative position relation are fixed, calculated by coordinate system spatial position, and with double shield tunnels
Driving tail shield pose compares, so as to obtain Double shield TBM anterior shield position and posture.
4. the orientation method according to claim 3 using guidance system described in claim 1, feature exists
In the step（3）Specific localization method be：
A, since the branch pole of Double shield TBM and tail shield are there are relatively fixed position relationship, in advance by this position
The data of relationship are input in industrial computer；
B, the LED standard characteristic point of camera and anterior shield is measured by branch pole CCD, by anterior shield relative to the attitude data of branch pole
（Rotation angle, pitch angle and inclination angle）It is transferred on the industrial computer of driver's cabin；Meanwhile the total powerstation on the wall of section of jurisdiction will
Laser beam is radiated on the laser target of tail shield, by the attitude data of tail shield（Relative to Tunnel Design axis）It is also passed by cable
It is defeated in industrial computer；
C, by anterior shield relative to branch pole, branch pole relative to tail shield and tail shield relative to the attitude data of design axis, essence
The real-time attitude of anterior shield really is calculated, and is shown on industrial computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510566420.0A CN105115499B (en) | 2015-09-09 | 2015-09-09 | Guidance system and localization method applied to Double shield TBM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510566420.0A CN105115499B (en) | 2015-09-09 | 2015-09-09 | Guidance system and localization method applied to Double shield TBM |
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| Publication Number | Publication Date |
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| CN105115499A CN105115499A (en) | 2015-12-02 |
| CN105115499B true CN105115499B (en) | 2018-07-06 |
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| CN106437731B (en) * | 2016-10-09 | 2018-06-15 | 中国电建集团成都勘测设计研究院有限公司 | Early warning type double-shielded TBM |
| CN107269286B (en) * | 2017-07-18 | 2019-06-11 | 钱江重工有限公司 | A kind of piping stretch system for tunnel piercing |
| CN108412507A (en) * | 2018-05-23 | 2018-08-17 | 中铁高新工业股份有限公司 | A kind of new pattern laser auxiliary rock TBM structures |
| CN109539992B (en) * | 2019-02-20 | 2019-07-19 | 中国铁建重工集团股份有限公司 | Double-shield position detection device, detection method, guiding system and guiding method |
| CN109839109B (en) * | 2019-02-25 | 2020-11-24 | 中国矿业大学 | Development machine absolute pose detection method based on image recognition and multi-sensor fusion |
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| CN111457904A (en) * | 2020-03-20 | 2020-07-28 | 力信测量(上海)有限公司 | Be used for two shield TBM vision measurement systems |
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| CN111765878A (en) * | 2020-07-08 | 2020-10-13 | 上海力信测量***有限公司 | Anti-vibration laser target, shield tunneling machine pose measurement system and measurement method |
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| CN112855194B (en) * | 2021-03-17 | 2022-11-04 | 中国铁建重工集团股份有限公司 | Shield machine and shield thereof |
| CN113566798B (en) * | 2021-07-20 | 2023-03-21 | 上海米度测量技术有限公司 | Attitude measurement system and method for double-shield tunneling machine |
| CN113863936A (en) * | 2021-08-16 | 2021-12-31 | 中铁工程装备集团技术服务有限公司 | Alternating positioning type double-shield TBM automatic guiding system and method |
| CN114577188A (en) * | 2022-01-25 | 2022-06-03 | 武汉理工大学 | Laser alignment guide device and system for tunnel construction |
| CN116291518B (en) * | 2023-02-13 | 2023-09-19 | 石家庄铁道大学 | TBM tunneling direction posture regulation and control method for large-diameter small-turn tunnel |
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| CP03 | Change of name, title or address | ||
| CP03 | Change of name, title or address |
Address after: No. 801 Chunyang Road, High tech Zone, Qingdao, Shandong Province, 266000 Patentee after: China Ship (Qingdao) rail transportation equipment Co.,Ltd. Patentee after: Zhu Jigui Patentee after: SHANGHAI LIXIN MEASUREMENT TECHNOLOGY CO.,LTD. Address before: 266109 Chunyang Road (Xiangyuan Road) Intersection, High tech Zone, Qingdao, Shandong Province Patentee before: CSIC (QINGDAO) TRACK TRAFFIC EQUIPMENT CO.,LTD. Patentee before: Zhu Jigui Patentee before: SHANGHAI LIXIN MEASUREMENT TECHNOLOGY CO.,LTD. |