CN110985029A - Guiding management system based on shield machine construction - Google Patents
Guiding management system based on shield machine construction Download PDFInfo
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- 238000010276 construction Methods 0.000 title claims abstract description 16
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- 238000004891 communication Methods 0.000 claims abstract description 55
- 238000004458 analytical method Methods 0.000 claims abstract description 48
- 238000007726 management method Methods 0.000 claims abstract description 33
- 238000013523 data management Methods 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000005259 measurement Methods 0.000 claims description 21
- 230000006870 function Effects 0.000 claims description 20
- 230000005641 tunneling Effects 0.000 claims description 17
- 230000003993 interaction Effects 0.000 claims description 11
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- 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
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
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- 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
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The guiding management system based on shield machine construction comprises a control module, a bottom layer communication module, a data acquisition module, a data management module, a calculation analysis module and an interface display and operation module, wherein the control module is in data intercommunication with the interface display and operation module, the control module is in communication with a shield machine and shield machine detection equipment through the bottom layer communication module, the data acquisition module acquires data of the shield machine detection equipment through the bottom layer communication module, and the data management module is in communication with a shield machine main controller PLC and the calculation analysis module through the bottom layer communication module. The total station is controlled by the control module to continuously and automatically track and measure the control points with known relative coordinates arranged on the shield machine, so that the attitude, the direction and the deviation of the shield machine are calculated in the calculation and analysis module and displayed to a shield operator through a data or graphic interface, and the aim of guiding the shield to tunnel according to a set line is fulfilled.
Description
Technical Field
The invention belongs to the technical field of subway tunnel construction application, and particularly relates to a guiding management system based on shield machine construction.
Background
In the shield tunnel construction, the traditional shield machine attitude measurement and guidance usually adopt theodolite and level gauge measurement, manual reading and deviation processing and analysis methods to work, the human factors are large, the efficiency is low, the error rate is high, and the working efficiency is influenced.
The shield guiding system is an automatic shield machine attitude measurement and guiding measurement scheme which appears along with the development of computer technology in recent years, provides basis for attitude control and deviation correction during shield equipment tunneling, and is a main means for ensuring the accuracy of a tunnel axis. As the foreign shield technology is developed earlier than the domestic development, the shield guide system is developed and used in advance at foreign countries, the domestic self-developed system is less, and the automation degree of the existing domestic shield guide system and the like can not well meet the use requirements.
Disclosure of Invention
The invention aims to solve the problems that: the traditional shield machine depends on manual measurement for attitude measurement and guidance, the efficiency is low, the error rate is high, and the automation degree of the existing shield guidance system is still to be improved.
The technical scheme of the invention is as follows: the guiding management system based on the shield machine construction comprises a control module, a bottom layer communication module, a data acquisition module, a data management module, a calculation analysis module and an interface display and operation module,
a control module: the system comprises a PLC control module and a control box, wherein the PLC control module is communicated with a PLC system of the shield machine, the control box is used for communicating with detection equipment of the shield machine, and the detection equipment of the shield machine comprises a total station, an inclinometer and a target prism;
a bottom layer communication module: the system is used for realizing the communication between the guide management system and the shield machine main controller PLC through a communication protocol of a shield machine PLC system and realizing the communication between the guide management system and the shield machine detection equipment through a corresponding wireless communication protocol;
a data acquisition module: the data acquisition module is used for acquiring data of the shield machine detection equipment and sending the data to the data management module;
a data management module: the method comprises the steps that data of a PLC (programmable logic controller) of a shield machine main controller and data sent by a data acquisition module are received, the received data are stored in a queue mode, the data are transmitted to a calculation analysis module in an event mode, and result data generated by the calculation analysis module are stored;
a calculation analysis module: the system comprises a data management module, an interface display and operation module, a data matrix module and a data matrix module, wherein the data matrix module is used for integrating spatial data calculation functions of the shield machine, packaging the spatial data calculation functions into a plurality of calculation function modules, calling the calculation function modules, performing rationality analysis according to data obtained by the data management module and a set threshold value;
the interface display and operation module comprises: the system comprises a calculation analysis module, a human-computer interaction interface, a data processing module and a display module, wherein the calculation analysis module is used for receiving and displaying graphs and numerical data of the calculation analysis module and providing the human-computer interaction interface;
in the modules, the control module is in data intercommunication with the interface display and operation module, the control module is in communication with the shield machine and the shield machine detection equipment through the bottom layer communication module, the data acquisition module acquires data of the shield machine detection equipment through the bottom layer communication module, and the data management module is in communication with the shield machine main controller PLC and the calculation analysis module through the bottom layer communication module.
Furthermore, the calculation function module of the calculation analysis module comprises an actual measurement coordinate calculation module, a coordinate system space conversion module, a parameter and deviation early warning setting module and a tunnel design center line setting module.
Further, the data management module acquires communication with a PLC (programmable logic controller) of the shield machine main controller, and is used for acquiring hinging data of the shield machine and sending guiding data to the PLC.
Preferably, the interface display and operation module adopts WPF as a UI framework.
In a preferable mode, in the shield machine detection equipment, the inclinometer is installed in the shield machine and used for measuring the rolling angle and the pitching angle of the shield machine in real time, the inclinometer is also used for controlling the opening and closing of the target prism, the total station adopts a large-space external battery pack mode for power supply, and a control command, a measurement result and residual electric quantity information of the battery pack of the total station are transmitted to the control module and displayed on the interface display and operation module.
The total station is controlled by the control module to continuously and automatically track and measure the control points with known relative coordinates arranged on the shield machine, so that the attitude, the direction and the deviation of the shield machine are calculated in the calculation and analysis module and displayed to a shield operator through a data or graphic interface, and the aim of guiding the shield to tunnel according to a set line is fulfilled. The calculation analysis module of the invention can automatically complete various calculation functions rapidly and conveniently by designing and packaging each calculation function module, and comprises the following steps:
1. calculating and measuring the real-time shield center coordinate through an actual measurement coordinate calculation module;
2. converting the coordinates into space positions through a coordinate system space conversion module;
3. early warning is carried out on shield guidance through a parameter and deviation early warning setting module;
the guiding management system can also check the attitude precision of the current shield through the result of the manual rechecking calculation function module.
The guide management system of the invention abandons the wired connection mode of the conventional system, adopts wireless connection completely and is convenient to install and use.
The guidance management system has the characteristics of low visibility requirement, high measurement precision, high measurement speed, small positioning workload, better stability, comprehensiveness and the like, and simultaneously has the functions of linear calculation, zero fitting and recovery.
Drawings
Fig. 1 is a layout diagram of a guiding management system based on shield machine construction.
Fig. 2 is a flowchart of the operation of the guidance management system of the present invention.
Detailed Description
The invention relates to a guiding management system based on shield machine construction, which comprises a control module, a bottom layer communication module, a data acquisition module, a data management module, a calculation analysis module and an interface display and operation module,
a control module: including PLC control module and control box, PLC control module and shield structure machine PLC system communication, the control box is used for with the shield structure machine check out test set communication, shield structure machine check out test set includes total powerstation, clinometer and target prism.
A bottom layer communication module: the shield machine PLC control module is used for realizing communication between the PLC control module of the guiding management system and the shield machine main controller PLC through a communication protocol of the shield machine PLC system, and realizing communication between the guiding management system control box and the shield machine detection equipment through a corresponding wireless communication protocol. Communication objects of the guidance management system are divided into two main categories: and the shield machine main controller PLC is communicated with a guide self system. The shield machine PLC communication module is mainly used for obtaining shield machine hinge data so as to conveniently calculate the position of a tail shield of the shield machine, and meanwhile, set guiding data can be sent to the shield machine PLC so as to be convenient for a user to use. The bottom layer communication module is a necessary part for ensuring the completion of communication, a communication protocol covering most of shield machine PLC systems on the market at present is configured, man-machine interaction operation can be carried out through the interface display and operation module, a proper communication protocol mode is selected, communication with different shield machines is realized, and simultaneous communication of a plurality of shield machine PLC can be supported. The communication between the guiding management system and the shield machine detection equipment adopts an independent protocol, so that a control box of the guiding management system can control the operations of the inclinometer, the total station and the target prism in a wireless mode.
A data acquisition module: the system comprises a data management module, a data acquisition module, a data processing module and a data processing module, wherein the data management module is used for acquiring data of shield machine detection equipment, inquiring equipment states and sending the inquired equipment states to the data management module;
a data management module: the method comprises the steps that data of a PLC (programmable logic controller) of a shield machine main controller and data sent by a data acquisition module are received, the received data are stored in a queue mode, the data are transmitted to a calculation analysis module in an event mode, and result data generated by the calculation analysis module are stored; the data management module acquires communication with a PLC (programmable logic controller) of the shield machine main controller, is used for acquiring hinging data of the shield machine and sending set guiding data to the PLC of the shield machine.
A calculation analysis module: the calculation analysis module is used for integrating the spatial data calculation function of the shield machine into a series of data matrixes, packaging the data matrixes into a plurality of calculation function modules for calling, performing reasonability analysis according to the data obtained by the data management module and a set threshold value, and transmitting an analysis result to the interface display and operation module in a chart and numerical mode; the calculation function module of the calculation analysis module comprises an actual measurement coordinate calculation module, a coordinate system space conversion module, a parameter and deviation early warning setting module and a tunnel design center line setting module.
The interface display and operation module comprises: the system comprises a calculation analysis module, a human-computer interaction interface, a data processing module and a display module, wherein the calculation analysis module is used for receiving and displaying graphs and numerical data of the calculation analysis module and providing the human-computer interaction interface; the interface display and operation module preferably adopts microsoft user interface framework wpf (windows presentation foundation) as the UI framework. The WPF has the advantages of friendly interface, easy design and smooth operation. The main interfaces of the system are data display, system setting and data parameter setting. Data presentation is based on graphs, lists, and data blocks. Through good human-computer interaction, real-time monitoring data and calculation analysis results can be visually displayed.
In the modules, the control module is in data intercommunication with the interface display and operation module, the control module is in communication with the shield machine and the shield machine detection equipment through the bottom layer communication module, the data acquisition module acquires data of the shield machine detection equipment through the bottom layer communication module, and the data management module is in communication with the shield machine main controller PLC and the calculation analysis module through the bottom layer communication module.
The following describes specific embodiments of the present invention.
The guiding management system based on shield machine construction comprises a set of hardware equipment, which comprises a control computer, a total station, a control box, an inclinometer, a target prism, related connecting cables and connectors, and is shown in figure 1.
Firstly, a computer of a guiding system is arranged in a control room of a shield, a control module, a bottom layer communication module, a data acquisition module, a data management module, a calculation analysis module and an interface display and operation module of the guiding management system are realized based on computer equipment and are connected with a PLC system of the shield machine through an equipment route, and the PLC control module of the guiding management system is responsible for data exchange with the PLC of the shield machine; the data control process of the guidance management system can be connected with the inclinometer and the total station in a wireless mode through a control box of the control module, the inclinometer is installed in the shield tunneling machine and can measure the rolling angle and the pitching angle of the shield tunneling machine in real time, and meanwhile, the control command can control the opening and closing of the target prism through the inclinometer.
The total station is powered by an external battery pack, and control commands and measurement results of the total station and information such as residual electricity quantity of the battery pack can be wirelessly transmitted back to a guidance system computer of a control room and can be displayed on a human-computer interaction interface of the interface display and operation module. The displayed content includes:
①, displaying shield guidance system parameter data, which mainly comprises mileage, management travel, anterior shield XYZ coordinates, middle shield XYZ coordinates, tail shield XYZ coordinates, roll angle, pitch angle, anterior shield horizontal deviation, anterior shield vertical deviation, middle shield horizontal deviation, middle shield vertical deviation, tail shield horizontal deviation and tail shield vertical deviation, wherein the data are from a shield machine PLC system.
② the parameter data is updated every 10 seconds in the data management module.
③ the calculation and analysis module automatically calculates the deviation correction amount of each ring of the shield machine according to the collected parameters and displays the calculation result of nearly 10 rings in a list.
Fig. 2 is a schematic view of a workflow shown by the interface display and operation module of the guidance management system according to the present invention.
In the guiding management system based on shield machine construction, each module realizes the function by configuring a corresponding program, preferably adopts C #6.0 as a development language, and adopts MySQL as a database.
The shield guiding system of the invention continuously tracks and measures the control points with known relative coordinates arranged on the shield machine, thereby completing the calculation of the attitude, the direction and the deviation of the shield machine, displaying the calculation to a shield operator through a data or a graphic interface, and realizing the aim of guiding the shield to tunnel according to a set line. The method can not only realize the measurement work of a conventional guide system, but also realize the functions of various manual rechecking calculations, and a user can check the current attitude precision by adopting various rechecking modes at any time, mainly comprising the steps of manually operating a total station and calling different measurement calculation methods in a calculation analysis module to measure the shield attitude so as to recheck the automatic measurement data; the system of the invention abandons the wired connection mode of the conventional system, adopts wireless connection completely, and is convenient to install and use.
The invention automatically searches for a measurement target prism and automatically measures to obtain the three-dimensional coordinates of the prism by automatically measuring and controlling the total station. The arrangement of the position of the prism is the key of a guide system, so that the prism is safe and stable, the posture of the shield tunneling machine can be well reflected, and the full station instrument is convenient to see through and measure.
Two prisms are arranged on a support ring of a jack of the shield tunneling machine, and a third prism is arranged on the screw machine, although the third prism can also be arranged on an inner shell in front of the support ring. The total station measures three prisms installed on the shield machine, converts the real-time posture of the shield machine through prism coordinates, and compares the real-time posture with design data to obtain the deviation condition of the shield machine. All calculation comparison is realized through a calculation analysis module, and design data and measurement data are stored in a database of the data management module and are called at any time as required.
The invention meets the real-time communication of the total station and the industrial personal computer through the wireless network, and can meet the long-time power supply requirement in the total station and the radio station re-tunnel. The shield guiding system of the invention realizes that the shield machine automatically measures the attitude of the shield for a long time in the advancing process, displays the shield deviation condition on a computer screen in real time, guides a shield driver to advance, and can manage and inquire all measurement data and deviation data. The probability of various deviations in the shield advancing process is reduced. The working efficiency and the accuracy are improved.
The system of the invention displays the main parameters of the shield attitude on the guidance parameter interface, the updating frequency is different according to the type of the shield machine, the updating is carried out once within 30s, and the displayed guidance parameters comprise:
(1) anterior-medial-posterior shield east coordinates
(2) Anterior-medial-posterior shield north coordinates
(3) Anterior-medial-posterior shield altitude
(4) Cutter head horizontal deviation correction of nearest 10 rings
(5) Vertical deviation correction of cutter head with 10 rings nearest
(6) Horizontal deviation of anterior-medial-posterior shield
(7) Vertical deviation of anterior-medial-posterior shield
(8) Inexpensive graphical representation of shield
The invention discloses a calculation analysis module which carries out rationality analysis according to data obtained by a data management module and a set threshold value to realize parameter early warning, comprising the following steps:
① setting the early warning control range of each guide management system parameter (including the correction amount of each ring), setting the parameter early warning range of each ring or a certain tunnel length parameter early warning range;
② when the parameters of the shield machine guidance system (including the deviation correction amount of each ring) exceed the early warning control range, the real-time displayed parameter data on the real-time display interface of the guidance management system can change into colors, such as red, orange and yellow, which are consistent with the early warning level.
The human-computer interaction interface of the interface display and operation module can be used for data query, comprises all the parameters described above, is displayed in a form of a table, and is convenient to use when a plurality of parameters are queried simultaneously.
Besides data display, the interface display also provides chart display, the change condition of the shield propulsion parameter in the construction process from the specified starting ring to the specified ending ring is analyzed through the calculation and analysis module, and a related parameter change curve is drawn. The human-computer interaction interface also has a curve amplification function, and a user can amplify the curve through drag and drop of the mouse, so that parameter change can be analyzed more carefully. The single-ring analysis interface can analyze two different types of parameters, and 5 parameters of the same type can be analyzed at most simultaneously.
The interface display and operation module also provides statistics and analysis of guide data in the shield tunneling process in a time period form, and a report is automatically generated for reference of a decision maker. The report output can be in the form of three time periods of daily report, weekly report and monthly report, and the report is output in an excel file, so that the user can print and store the report conveniently.
Claims (5)
1. The guiding management system based on the shield machine construction is characterized by comprising a control module, a bottom layer communication module, a data acquisition module, a data management module, a calculation analysis module and an interface display and operation module,
a control module: the system comprises a PLC control module and a control box, wherein the PLC control module is communicated with a PLC system of the shield machine, the control box is used for communicating with detection equipment of the shield machine, and the detection equipment of the shield machine comprises a total station, an inclinometer and a target prism;
a bottom layer communication module: the system is used for realizing the communication between the guide management system and the shield machine main controller PLC through a communication protocol of a shield machine PLC system and realizing the communication between the guide management system and the shield machine detection equipment through a corresponding wireless communication protocol;
a data acquisition module: the data acquisition module is used for acquiring data of the shield tunneling machine PLC and the shield tunneling machine detection equipment and sending the data to the data management module;
a data management module: the method comprises the steps of receiving data of a shield machine PLC and data sent by a data acquisition module, storing the received data in a queue mode, transmitting the data to a calculation analysis module in an event mode, and storing result data generated by the calculation analysis module;
a calculation analysis module: the system comprises a data management module, an interface display and operation module, a data matrix module and a data matrix module, wherein the data matrix module is used for integrating spatial data calculation functions of the shield machine, packaging the spatial data calculation functions into a plurality of calculation function modules, calling the calculation function modules, performing rationality analysis according to data obtained by the data management module and a set threshold value;
the interface display and operation module comprises: the system comprises a calculation analysis module, a human-computer interaction interface, a data processing module and a display module, wherein the calculation analysis module is used for receiving and displaying graphs and numerical data of the calculation analysis module and providing the human-computer interaction interface;
in the modules, the control module is in data intercommunication with the interface display and operation module, the control module is in communication with the shield tunneling machine PLC and the shield tunneling machine detection equipment through the bottom layer communication module, the data acquisition module acquires data of the shield tunneling machine detection equipment through the bottom layer communication module, and the data management module is in communication with the shield tunneling machine main controller PLC and the calculation analysis module through the bottom layer communication module.
2. The guidance management system based on shield tunneling machine construction of claim 1, wherein the calculation function module of the calculation analysis module comprises an actual measurement coordinate calculation module, a coordinate system space conversion module, a parameter and deviation early warning setting module and a tunnel design centerline setting module.
3. The guidance management system based on shield tunneling machine construction according to claim 1, wherein the data management module obtains communication with a PLC of a main controller of the shield tunneling machine, and is used for obtaining hinging data of the shield tunneling machine and sending guidance data to the PLC.
4. The guidance management system based on shield tunneling machine construction according to claim 1, wherein the interface display and operation module uses WPF as UI framework.
5. The guidance management system according to claim 1, wherein in the shield machine detection device, the inclinometer is installed in the shield machine and used for measuring the rolling and pitching angles of the shield machine in real time, the inclinometer is also used for controlling the on and off of the target prism, the total station is powered by an external battery pack, and the control command, the measurement result and the remaining battery information of the total station are transmitted to the control module and displayed on the interface display and operation module.
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| CN201911287166.5A CN110985029A (en) | 2019-12-14 | 2019-12-14 | Guiding management system based on shield machine construction |
| PCT/CN2020/100755 WO2021114651A1 (en) | 2019-12-14 | 2020-07-08 | Tunnel boring machine construction-based guide management system |
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| CN201911287166.5A CN110985029A (en) | 2019-12-14 | 2019-12-14 | Guiding management system based on shield machine construction |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021114651A1 (en) * | 2019-12-14 | 2021-06-17 | 南京城市地下空间工程研究院有限公司 | Tunnel boring machine construction-based guide management system |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021114651A1 (en) * | 2019-12-14 | 2021-06-17 | 南京城市地下空间工程研究院有限公司 | Tunnel boring machine construction-based guide management system |
| 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 |
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