CN111189401B - Real-time automatic measurement method and system for shield tail clearance - Google Patents
Real-time automatic measurement method and system for shield tail clearance Download PDFInfo
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- G—PHYSICS
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
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Abstract
The invention provides a shield tail clearance real-time automatic measurement method and a shield tail clearance real-time automatic measurement system, wherein the calibration method comprises the following steps: a calibration device with a characteristic pattern is arranged on the end face of the pipe piece; a data acquisition device is arranged on the inner wall of the shield shell at a certain distance from the calibration device; simulating shield propulsion, acquiring images of the calibration device at a plurality of positions by the data acquisition device, and acquiring the distance between the data acquisition device at the plurality of positions and the calibration device; extracting the number of pixels of the image, etc. The uniquely designed calibration method can well overcome the defects of large identification error and inaccurate measurement result in the shield construction environment in the prior art, and lays a foundation for subsequent shield measurement. The measuring method is reasonable, the measuring result is accurate, the applicability is strong, the stability is high, and non-contact real-time automatic measurement is realized. And a system interface visually displays the measurement result, visually displays guidance construction and realizes the fine construction of the shield method.
Description
Technical Field
The invention relates to the technical field of shield construction, in particular to a method and a system for automatically measuring a shield tail clearance in real time.
Background
In the shield construction, the space between the inner wall of the shield shell at the tail part of the shield machine and the outer diameter of the duct piece is the shield tail gap. At present, shield tail clearance measurement systems commonly adopted in shield tunneling are various. An SRGD shield tail gap detector with completely independent intellectual property rights is developed and developed by people such as sunlian (experimental research on shield tail gap measuring devices, modern tunnel technology, 2016), as shown in fig. 13, fig. 13 is a schematic structural diagram of the SRGD detector, and hardware parts of the SRGD detector include: the system comprises a system control module, a laser range finder, a high-precision rotating table, a stepping motor and a driver of the stepping motor. The working principle of the SRGD detector is shown in fig. 14: the detector is arranged on the shield support ring, and the rotating plane of the detector rotating platform passes through the axis of the shield machine; the laser distance measuring instrument is used for measuring the distance from the front end face of the duct piece to the detector, and the detector continuously measures the distance from different positions on the end face of the duct piece to the detector along the radial direction of the shield tunneling machine when in work; when the distance that records takes place the sudden change, then think that found the section of jurisdiction edge, record detection device position this moment, calculate and obtain the clearance between section of jurisdiction and the shield shell. The specific working process is as follows: when the detection is started, the vertical distance L from the end face of the duct piece to the distance meter is measured, the computer controls the rotating platform to rotate towards the center direction of the shield machine, and meanwhile, the distance Lt from the end face of the duct piece to the distance meter is detected; when the Lt changes suddenly, the rotating angle of the rotating platform is recorded, and the shield tail clearance D is calculated by the following formula:
D＝P+L×tanα-W。
in the formula: p is the distance from the rotation center of the SRGD detector to the shield shell; and W is the thickness of the pipe piece.
The novel shield tail clearance detector device of SRGD that grandson even et al researched and developed must keep the rotation plane of detector revolving stage to pass through the shield structure machine axis when measuring the shield tail clearance to the laser range finder on the detector is just to the section of jurisdiction, and the shield tail clearance size that the calculation reachs is accurate, and such requirement is difficult to satisfy in the shield structure work progress, and the relative position of shield structure and section of jurisdiction changes, and measuring result can produce great error.
A set of shield tail clearance measuring system is independently developed in summer wing, a vision technology is applied, the shield tail clearance is measured and controlled through a non-contact measuring method, a set of shield tail clearance measuring system with data acquisition, real-time transmission and intelligent analysis is established, and the system structure is shown in fig. 15. The working principle of the system is to accurately measure the shield tail clearance by using a vision technology. The vision technology is to use a machine to replace human eyes for measurement and judgment, convert a captured target into an image signal through an imaging element (i.e., an image capturing device), transmit the image signal to a special image processing system, convert the image signal into a digital signal according to information such as pixel distribution, color, brightness and the like, and perform various operations on the signal by the image processing system to acquire the characteristics of the target (i.e., the actual distance of the shield tail gap). The specific measurement method comprises the following steps: an In-Sight5100 visual sensor (In-Sight5100 is a visual sensor with an industrial-grade functional standard) is mounted on a pushing jack block, after the shield finishes assembling of 1-ring duct piece, the In-Sight5100 visual sensor captures an image of the assembled duct piece, a system firstly detects the boundary of the duct piece In a picture by using a visual technology, and then automatically selects one point as one of shield tail gap measuring references. Because the system can not directly find the corresponding boundary of the shield tail, a reference boundary needs to be set as a measurement reference, and because the measurement distance and the position of the shield tail clearance measurement system are approximately fixed, the shield tail reference boundary is manually measured and selected before the system is used for the first time and is used as one of the references, and an image shot by the video sensor is shown in a figure 16.
The shield tail clearance measurement system developed by summer wing selects a fixed shield shell reference boundary, i.e. the distance from a vision sensor installed on a propulsion jack block to a duct piece is fixed by default. However, in the actual shield advancing process, the forward advancing stroke of each ring of jacks is not fixed, and may be larger than or smaller than the ring width, so that the distance from the vision sensor to the segment is not fixed, and larger or smaller deviation exists.
The existing measurement system and the existing measurement method are only limited to measurement, not only are the measurement results inaccurate, but also the measurement results are not processed and displayed, especially for field construction, the measurement results cannot be visually referred by field construction personnel, the measurement results cannot be well combined with the field construction, operability and construction guidance are not available, and the fine construction of the shield method cannot be realized. Therefore, the prior art needs further improvement to improve the measurement accuracy and the measurement applicability and guidance.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a calibration method for shield tail clearance measurement, a shield tail clearance real-time automatic measurement method and a shield tail clearance real-time automatic measurement system.
The invention provides a calibration method for shield tail clearance measurement, which comprises the following steps:
s11: a calibration device with a characteristic pattern is arranged on the end surface of the duct piece and is abutted against the inner wall of the shield shell;
s12: installing a data acquisition device on the inner wall of the shield shell at a certain distance from the calibration device, and enabling a lens of the data acquisition device to face the calibration device;
s13: simulating shield propulsion, moving the calibration device from near to far from the data acquisition device to a plurality of different positions, acquiring images of the calibration device at the plurality of positions by the data acquisition device, and acquiring distances between the data acquisition device at the plurality of positions and the calibration device;
s14: extracting the pixel number of the calibration device image at each distance, and combining the size of the characteristic graph to obtain the size of the calibration device image pixel at the corresponding distance, namely obtaining the corresponding relation between the size of the calibration device image pixel and the distance;
s15: obtaining the number of pixels between the boundary of the characteristic pattern and the inner wall of the shield shell according to the size of the pixels of the image of the calibration device and the distance between the boundary of the characteristic pattern and the inner wall of the shield shell, thereby obtaining the zero point position of the calibration device corresponding to the inner wall of the shield shell at each distance;
s16: performing data fitting on the corresponding relation between the size of each pixel of the fixed device image under each distance and the distance to obtain a relation function between the size of the pixel and the distance; simultaneously, performing data fitting on the corresponding relation between the zero position of each distance fixed device on the inner wall of the shield shell and the distance to obtain a relation function between the zero position and the distance;
s17: and finishing calibration.
As an improvement, the calibration device is a white calibration plate with black bars, the feature pattern is a black bar, and the size of the feature pattern is the width of the black bar.
The invention also provides a shield tail clearance real-time automatic measurement method based on the calibration method, which comprises the following steps:
s21: after calibration is completed, actual shield propelling is carried out, the data acquisition device acquires an image of a lower shield tail gap at each moment in the shield propelling process, and meanwhile, the acquisition distance of the data acquisition device at the corresponding moment is acquired;
s22: extracting the pixel number of a shield tail gap image at each moment;
s23: calculating the pixel size and the zero position in the shield tail gap image according to the acquired distance according to the relation function of the pixel size and the distance obtained in the calibration link and the relation function of the zero position and the distance;
s24: and calculating to obtain a shield tail clearance value in the image according to the pixel number, the pixel size and the zero position of the shield tail clearance image.
As an improvement, the method further comprises the following steps:
a plurality of measuring points are collected in the circumferential direction of the section of the duct piece, a duct piece section figure is drawn on a computer through the plurality of measuring points, and a shield tail gap value between the duct piece and a shield shell is obtained.
The invention further provides a real-time automatic measuring system for the measuring method, which comprises a calibration device, a data acquisition device, a data processing device and a terminal device, wherein,
the calibration device is arranged on the end face of the duct piece before measurement and is used for identifying by the data acquisition device;
the data acquisition device is arranged on the inner wall of the shield shell and is provided with an image acquisition module and a laser ranging module, wherein the image acquisition module is used for acquiring images of the calibration device at a plurality of positions in the process of simulating shield propulsion and acquiring shield tail gap images at each moment in the process of actual shield propulsion, and the laser ranging module is used for acquiring the acquisition distance of the data acquisition device;
the data processing device is provided with a feature extraction module and a calculation module, wherein the feature extraction module can extract the pixel number of an image, and the calculation module can calculate the pixel size and further calculate the shield tail clearance value according to the pixel number;
the terminal equipment is provided with a display interface and can display a real-time measurement result state diagram based on the calculation processing result of the calculation module.
As a modification, the calibration device is a white calibration plate with black bars.
As an improvement, the data acquisition device is also provided with an infrared light supplement lamp for supplementing light when the ambient light is insufficient or external light is interfered.
As an improvement, the data acquisition device includes mounting panel, bracket and main part, and the mounting panel is used for the installation to be fixed in on the shield shell inner wall, and the bracket is fixed in the mounting panel and radially extends certain length to the shield tunnel, and the main part is connected in the bracket, sets up in the main part image acquisition module and laser ranging module.
As an improvement, the bracket is provided with a strip-shaped limiting groove along the longitudinal direction, the main body part is positioned at the lower part of the bracket and is arranged in the limiting groove in a penetrating way through a screw rod, and the upper part of the bracket is fixed by a nut.
As an improvement, the real-time automatic measurement status map comprises: the device comprises a top view, a side view, a segment real object view and a shield tail gap dynamic change chart of relative position relations between segments and a shield shell; the shield tail clearance values of the left side and the right side of the duct piece are displayed through a relative position relation top view of the duct piece and the shield shell, the shield tail clearance values of the top and the bottom of the duct piece are displayed through a relative position relation side view of the duct piece and the shield shell, a real shot diagram of the shield tail clearance is displayed through a duct piece real object diagram, and a dynamic change trend of the shield tail clearance along with time is displayed through a shield tail clearance dynamic change diagram.
As an improvement, the segment real object diagram comprises a segment section schematic diagram and a plurality of monitoring point real shot diagrams, the plurality of monitoring points corresponding to the calibration device are displayed on the segment section schematic diagram, and each monitoring point is provided with one monitoring point real shot diagram corresponding to the monitoring point real shot diagram.
Has the advantages that: after the technical scheme is adopted, compared with the prior art, the invention has the following technical effects:
(1) the calibration method with unique design of the invention adopts a digital image correlation method, can well solve the defects of large identification error and inaccurate measurement result in the shield construction environment in the prior art, and lays a foundation for the subsequent shield measurement.
(2) The calibration process is convenient and effective, and is easy to operate.
(3) Independently research and develop the data acquisition unit, simple to operate, it is clear to gather the image, successfully is applied to the shield and constructs the job site.
(4) The measuring method is reasonable, the measuring result is accurate, the applicability is strong, the stability is high, and non-contact real-time automatic measurement is realized.
(5) And developing an automatic shield tail clearance measuring system interface, visually displaying a measuring result, visually displaying and guiding construction, and realizing fine construction of a shield method.
Drawings
FIG. 1 is a schematic diagram of a calibration process according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the relative position of the shield tail clearance according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of actual measurements of one embodiment of the present invention;
FIG. 4 is a flow chart of a measurement system according to an embodiment of the present invention;
FIG. 5 is a side view of a data acquisition device according to one embodiment of the present invention;
FIG. 6 is a top view of FIG. 5;
FIG. 7 is a right side view of FIG. 5;
FIG. 8 is a top view of a shield tail clearance in accordance with an embodiment of the present invention;
FIG. 9 is a side view of a shield tail clearance in accordance with an embodiment of the present invention;
FIG. 10 is a real shot of FIG. 2;
FIG. 11 is a view of an actual shot and map of the tail clearance of the shield according to one embodiment of the present invention;
FIG. 12 is a display of an interface according to one embodiment of the invention;
FIG. 13 is a schematic diagram of a prior art SRGD detector;
FIG. 14 is a schematic view of a prior art SRGD detector;
FIG. 15 is a block diagram of another prior art system;
fig. 16 is an image captured by another prior art video sensor.
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are described in further detail below with reference to the embodiments and the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device, component, or structure referred to must have a particular orientation, be constructed or operated in a particular orientation, and should not be construed as limiting the present invention.
It will be further understood that the terms "comprises/comprising," "consists of … …," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product, apparatus, process, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product, apparatus, process, or method if desired. Without further limitation, an element defined by the phrases "comprising/including … …," "consisting of … …," or "comprising" does not exclude the presence of other like elements in a product, device, process, or method that comprises the element.
The following will further explain the specific implementation method of the present invention with reference to the attached drawings.
The invention firstly provides a calibration method for shield tail clearance measurement, which comprises the following steps:
s11: a calibration device 102 with a characteristic pattern is arranged on the end face of the duct piece 101 and is abutted against the inner wall of the shield shell 103; due to the light problem of the shield construction environment, the calibration device is arranged to facilitate identification and image acquisition, and as shown in fig. 1 and 2, the calibration device 102 is a white calibration plate with black bars, and the characteristic graph is black bars.
S12: installing a data acquisition device 2 on the inner wall of the shield shell at a certain distance from the calibration device, and enabling a lens of the data acquisition device to face the calibration device;
as shown in fig. 3, in the shield site, the data acquisition device 2 is installed in the middle gap between the upper and lower shield thrust cylinders 5 and fixed on the inner wall of the shield shell; the data acquisition device 2 is used for acquiring the image of the calibration device 102 and the corresponding acquisition distance during calibration;
s13: after the shield is installed, the shield can be simulated to advance, as shown in fig. 1, the calibration device 102 is moved from near to far from the data acquisition device 2 to a plurality of different positions, the data acquisition device 2 acquires images of the calibration device at the plurality of positions, and the distances from the data acquisition device to the calibration device at the plurality of positions are acquired;
in the invention, the data acquisition device 2 is provided with an image acquisition module and a laser ranging module, wherein the image acquisition module can acquire images of the calibration device at a plurality of positions in the process of simulating shield propulsion, and the laser ranging module can acquire the acquisition distance of the data acquisition device;
in another embodiment of this step, a track may be disposed on the duct piece, the calibration device is disposed on the track, and the motor controls the calibration device to move from near to far on the track from the data acquisition device, so as to mark the scales on the track, or set the moving distance, thereby obtaining the distance between the data acquisition device and the calibration device at the plurality of positions.
S14: extracting the pixel number of the calibration device image at each distance, and combining the size of the characteristic graph to obtain the size of the calibration device image pixel at the corresponding distance, namely obtaining the corresponding relation between the size of the calibration device image pixel and the distance;
according to the invention, the size of the characteristic graph is the width of the black strip on the calibration plate, the actual size of each pixel is obtained by combining the number of pixels in the obtained width range of the black strip and dividing the width of the black strip by the number of pixels, and the pixel sizes of the images obtained under different acquisition distances are different, so that the pixel sizes of the images of a plurality of calibration devices and the corresponding acquisition distances form a one-to-one correspondence relationship.
S15: obtaining the number of pixels between the boundary of the characteristic pattern and the inner wall of the shield shell according to the size of the pixels of the image of the calibration device and the distance between the boundary of the characteristic pattern and the inner wall of the shield shell, thereby obtaining the zero point position of the calibration device corresponding to the inner wall of the shield shell at each distance;
since it is difficult to identify the boundary of the shield shell during image acquisition, it is essential to determine the shield shell boundary in order to obtain the shield tail clearance, that is, in the measurement scheme of the present invention, it is necessary to determine the foot point of the calibration device contacting the inner wall of the shield shell, that is, the zero point position of the shield shell, in the acquired image.
In the invention, as shown in fig. 2, fig. 2 is a schematic diagram of relative positions of a shield tail gap, which is a diagram showing a rubber sealing strip 104, a duct piece 101, a shield tail gap 105 and a shield shell 103, the distance between the boundary of a feature pattern and the inner wall of the shield shell, that is, the distance between the boundary of a black bar and the inner wall of the shield shell 103 is determined, the obtained pixel size is divided by the distance value, so as to obtain how many pixels are between the boundary of the feature pattern and the inner wall of the shield shell, and the pixel size and the pixel number are known between the boundary of the feature pattern and the inner wall of the shield shell, so that the zero point position of a calibration device corresponding to the inner wall of the shield.
S16: because the relationship between the pixel size and the distance and the relationship between the zero point position and the distance are a plurality of discrete points, data fitting needs to be performed on the corresponding relationship between the size and the distance of the pixels of the fixed device image under each distance to obtain a relationship function between the pixel size and the distance; simultaneously, performing data fitting on the corresponding relation between the zero position of each distance fixed device on the inner wall of the shield shell and the distance to obtain a relation function between the zero position and the distance;
s17: and completing calibration, wherein the obtained relation function is used for actual measurement.
The calibration method with the unique design of the invention adopts a digital image correlation method, can well overcome the defects of large identification error and inaccurate measurement result in the shield construction environment in the prior art, and lays a foundation for subsequent shield measurement.
The invention further provides a shield tail clearance real-time automatic measurement method based on the calibration method, which comprises the following steps:
s21: after calibration is completed, actual shield propelling is carried out, the data acquisition device acquires an image of a lower shield tail gap at each moment in the shield propelling process, and meanwhile, the acquisition distance of the data acquisition device at the corresponding moment is acquired;
in the invention, an image acquisition module is adopted to shoot an image of a calibration device at each moment in the shield advancing process, and a laser ranging module is adopted to measure the acquisition distance from a data acquisition device to a point to be measured;
s22: the image acquisition module shoots to obtain a lower shield tail gap image at each moment, and then the pixel number of the lower shield tail gap image at each moment is extracted; this step is done on the computer;
as shown in fig. 10, the acquired shield tail clearance real shot image can clearly show the position relationship of the duct piece and the outer contour thereof, the shield tail clearance and the shield shell, and provides powerful data support for accurately measuring the shield tail clearance value.
S23: calculating the pixel size and the zero position in the shield tail gap image according to the acquired distance according to the relation function of the pixel size and the distance obtained in the calibration link and the relation function of the zero position and the distance; the method for calculating the pixel size and the zero position is similar to that in the calibration link, and repeated description is omitted here;
s24: and calculating to obtain a shield tail clearance value in the image according to the pixel number, the pixel size and the zero position of the shield tail clearance image.
The specific calculation can be completed on a computer, and referring to a calculation result diagram shown in fig. 11, as can be seen from the diagram, the shield tail clearance value can be clearly and accurately measured, and the measurement result is visualized.
In an example, because the calibration and the actual measurement points may have deviation under the influence of field conditions and cannot represent the situation of the section of the whole duct piece, a plurality of measurement points are collected in the circumferential direction of the section of the duct piece, a duct piece section graph is drawn on a computer through the plurality of measurement points, and as shown in fig. 12, the shield tail clearance value of the distance between the duct piece and the shield shell is obtained, so that the method is more intuitive and more accurate.
The invention provides a shield tail clearance real-time automatic measurement system, which comprises a calibration device 102, a data acquisition device 2, a data processing device 301 and a terminal device 401, and concretely refers to the figures 1, 2 and 5, wherein,
the calibration device 102 is arranged on the end face of the duct piece 101 before measurement and is used for identifying the data acquisition device 2 during measurement; due to the light problem of the shield construction environment, and because only the segment boundary can be identified during image acquisition, the shield shell has no boundary at the visual angle, and the identification and image acquisition are facilitated by arranging the calibration device;
the data acquisition device 2 is arranged on the inner wall of the shield shell 103 and is provided with an image acquisition module 205 and a laser ranging module 204, wherein the image acquisition module is used for acquiring images of the calibration device at a plurality of positions in the process of simulating shield propulsion and acquiring shield tail gap images at each moment in the actual shield propulsion process, and the laser ranging module is used for acquiring the acquisition distance of the data acquisition device;
the data processing device 301 is provided with a feature extraction module and a calculation module, wherein the feature extraction module can extract the pixel number of an image, and the calculation module can calculate the pixel size and further calculate the shield tail clearance value according to the pixel number;
the terminal device 401 has a display interface, and can display a real-time measurement result state diagram based on the calculation processing result of the calculation module.
In one example, as shown in fig. 1 and fig. 2, the calibration device 102 in the present invention is a white calibration plate with black bars, which is fixed on the section of the segment and abuts against the inner wall of the shield shell, so that the clear identification during image acquisition can be facilitated.
Referring to fig. 4 again, fig. 4 is a flow chart of the measurement system, a section of a duct piece 101 is provided with a plurality of monitoring points 106, each monitoring point corresponds to a calibration device, each monitoring point is connected with a hub 209 through a network cable 210, the hub is connected with a data processing device 301, and the data processing device 301 is connected with a terminal device 401 and a shield monitoring device.
In an example, see fig. 5, data acquisition device 2 still has infrared light filling lamp 206 for carry out the light filling when measuring that ambient light is not enough or there is external light to disturb, so can let the environmental color more single, convenient discernment section of jurisdiction boundary.
In one example, the image acquisition module is an industrial camera, and the image obtained by the industrial camera through the shield tail gap has stronger adaptability and clearer imaging.
In one example, referring to fig. 5, 6 and 7, the data acquisition device 2 comprises a mounting plate 201, a bracket 202 and a main body 203, wherein the mounting plate is fixedly mounted on the inner wall of the shield shell 103, the bracket is fixed on the mounting plate and radially extends into the shield tunnel for a certain length, the length of the extension is enough to enable the lenses of the laser ranging module 204 and the image acquisition module 205 to conveniently shoot the gap between the tail of the shield, the main body is connected to the lower part of the bracket, and the laser ranging module and the image acquisition module are arranged in the main body. The data acquisition device of the invention is convenient to install and use on site, and clear shield tail clearance images can be easily obtained by combining the arrangement of the calibration device,
further, the bracket 202 is formed with a linear retaining groove 207 along the longitudinal direction thereof, the main body portion is inserted into the retaining groove from the lower portion of the bracket through a screw 208, and the upper portion of the bracket is fixed by a nut. Through setting up the bar spacing groove for can be in the radial direction in tunnel the certain limit in the adjustment laser ranging module and the extension distance of image acquisition module, thereby can adapt to different construction environment better, be applicable to different shield tail clearance under the different shield structure sizes and measure.
In one example, the data processing device can adopt a shield PLC, and the calculation module adopts a digital image correlation method to calculate a shield tail clearance value according to numerical values. Referring to fig. 8 and 9, a digital image processing technology is applied, a computer is used as a carrier, a related image processing algorithm is applied to effectively process the image acquired by the system, image features are extracted, and a measurement result obtained according to numerical calculation is more accurate.
As another important improvement of the present invention, referring to fig. 12, displaying the real-time measurement result status on the terminal device includes: the shield tail clearance value of the top and the bottom of the duct piece is displayed through the relative position relation top view of the duct piece and the shield shell, the shield tail clearance real shot image is displayed through the duct piece real object diagram, and the dynamic change trend of the shield tail clearance along with the time is displayed through the shield tail clearance dynamic change diagram. By developing an interface of the shield tail clearance automatic measuring system, the view is automatically drawn on the terminal equipment, so that an operator can visually know the measured value and the dynamic change trend of the shield tail clearance in a shield operation room or on an industrial tablet personal computer on a construction site, the construction is visually guided, the shield posture can be timely adjusted, and the fine construction of a shield method is realized.
Further, referring to fig. 12, the segment real image includes a segment cross-sectional diagram and a plurality of real shot images of monitoring points, the plurality of monitoring points corresponding to the calibration device are displayed on the segment cross-sectional diagram, and each monitoring point has a real shot image of the monitoring point corresponding thereto. The section schematic diagram of the duct piece is positioned at the center of the duct piece real object diagram, four monitoring points, namely, a first monitoring point, a second monitoring point, a third monitoring point and a fourth monitoring point, are arranged on the section schematic diagram of the duct piece and correspond to the first monitoring point, the second monitoring point, the third monitoring point and the fourth monitoring point respectively, the real shot images of the four monitoring points are positioned on the upper left, the lower left, the upper right and the lower right of the duct piece real object diagram and correspond to the corresponding monitoring points, and the view is more visual and more vivid.
According to the visual real-time automatic measurement system, the local duct piece at the shield tail gap calibrated by the laser ranging module is subjected to image acquisition, a digital image processing technology is applied, a computer is used as a carrier, a related image processing algorithm is used for effectively processing the system acquired image, image pixels are extracted, the size of the shield tail gap is obtained through relational calculation, and non-contact real-time automatic measurement is realized. The method has the advantages of reasonable measurement method, accurate measurement result, strong applicability, high stability, visual display and guidance of construction, and realization of fine construction of the shield method.
The invention carries out field test on a certain standard section of a Beijing new airport line, records shield tail clearance real-time data measured by the shield tail clearance automatic measuring system in the shield advancing process, the measuring result is basically consistent with manual measurement, the data is stable, and the real-time performance of the data is incomparable with the manual measurement.
Thus, it should be understood by those skilled in the art that while exemplary embodiments of the present invention have been illustrated and described in detail herein, many other variations and modifications can be made, which are consistent with the principles of the invention, from the disclosure herein, without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (11)
1. A calibration method for shield tail clearance measurement is characterized in that: the method comprises the following steps:
s11: a calibration device with a characteristic pattern is arranged on the end surface of the duct piece and is abutted against the inner wall of the shield shell;
s12: installing a data acquisition device on the inner wall of the shield shell at a certain distance from the calibration device, and enabling a lens of the data acquisition device to face the calibration device;
s13: simulating shield propulsion, moving the calibration device from near to far from the data acquisition device to a plurality of different positions, acquiring images of the calibration device at the plurality of positions by the data acquisition device, and acquiring distances between the data acquisition device at the plurality of positions and the calibration device;
s14: extracting the pixel number of the calibration device image at each distance, and combining the size of the characteristic graph to obtain the size of the calibration device image pixel at the corresponding distance, namely obtaining the corresponding relation between the size of the calibration device image pixel and the distance;
s15: obtaining the number of pixels between the boundary of the characteristic pattern and the inner wall of the shield shell according to the size of the pixels of the image of the calibration device and the distance between the boundary of the characteristic pattern and the inner wall of the shield shell, thereby obtaining the zero point position of the calibration device corresponding to the inner wall of the shield shell at each distance;
s16: performing data fitting on the corresponding relation between the size of each pixel of the fixed device image under each distance and the distance to obtain a relation function between the size of the pixel and the distance; simultaneously, performing data fitting on the corresponding relation between the zero position of each distance fixed device on the inner wall of the shield shell and the distance to obtain a relation function between the zero position and the distance;
s17: and finishing calibration.
2. The calibration method according to claim 1, wherein the calibration device is a white calibration plate with black bars, the feature pattern is a black bar, and the dimension of the feature pattern is the width of the black bar.
3. A shield tail clearance real-time automatic measurement method based on the calibration method of claim 1 or 2 is characterized in that: the method comprises the following steps:
s21: after calibration is completed, actual shield propelling is carried out, the data acquisition device acquires an image of a lower shield tail gap at each moment in the shield propelling process, and meanwhile, the acquisition distance of the data acquisition device at the corresponding moment is acquired;
s22: extracting the pixel number of a shield tail gap image at each moment;
s23: calculating the pixel size and the zero position in the shield tail gap image according to the acquired distance according to the relation function of the pixel size and the distance obtained in the calibration link and the relation function of the zero position and the distance;
s24: and calculating to obtain a shield tail clearance value in the image according to the pixel number, the pixel size and the zero position of the shield tail clearance image.
4. The measuring method according to claim 3, further comprising the steps of:
a plurality of measuring points are collected in the circumferential direction of the section of the duct piece, a duct piece section figure is drawn on a computer through the plurality of measuring points, and a shield tail gap value between the duct piece and a shield shell is obtained.
5. A real-time automatic measuring system for the measuring method of claim 3 or 4, characterized in that: comprises a calibration device, a data acquisition device, a data processing device and a terminal device, wherein,
the calibration device is arranged on the end face of the duct piece before measurement and is used for identifying by the data acquisition device;
the data acquisition device is arranged on the inner wall of the shield shell and is provided with an image acquisition module and a laser ranging module, wherein the image acquisition module is used for acquiring images of the calibration device at a plurality of positions in the process of simulating shield propulsion and acquiring shield tail gap images at each moment in the process of actual shield propulsion, and the laser ranging module is used for acquiring the acquisition distance of the data acquisition device;
the data processing device is provided with a feature extraction module and a calculation module, wherein the feature extraction module can extract the pixel number of an image, and the calculation module can calculate the pixel size and further calculate the shield tail clearance value according to the pixel number;
the terminal equipment is provided with a display interface and can display a real-time measurement result state diagram based on the calculation processing result of the calculation module.
6. The automatic measuring system of claim 5, wherein the calibration device is a white calibration plate with black bars.
7. The automatic measuring system of claim 5, wherein the data collecting device further comprises an infrared light supplement lamp for supplementing light when ambient light is insufficient or external light is interfered.
8. The automatic measuring system of claim 5, wherein the data collecting device comprises a mounting plate, a bracket and a main body part, the mounting plate is used for being mounted and fixed on the inner wall of the shield shell, the bracket is fixed on the mounting plate and extends to a certain length in the radial direction of the shield tunnel, the main body part is connected to the bracket, and the image collecting module and the laser ranging module are arranged in the main body part.
9. The automatic measuring system of claim 8, wherein the bracket has a longitudinal slot, the main body is disposed at a lower portion of the bracket and is inserted into the slot via a screw, and the upper portion of the bracket is fixed by a nut.
10. The automatic measurement system of claim 5, wherein the real-time automatic measurement status map comprises: the device comprises a top view, a side view, a segment real object view and a shield tail gap dynamic change chart of relative position relations between segments and a shield shell; the shield tail clearance values of the left side and the right side of the duct piece are displayed through a relative position relation top view of the duct piece and the shield shell, the shield tail clearance values of the top and the bottom of the duct piece are displayed through a relative position relation side view of the duct piece and the shield shell, a real shot diagram of the shield tail clearance is displayed through a duct piece real object diagram, and a dynamic change trend of the shield tail clearance along with time is displayed through a shield tail clearance dynamic change diagram.
11. The automatic measuring system of claim 10, wherein the segment real image comprises a segment cross-sectional diagram and a plurality of real shot images of monitoring points, the plurality of monitoring points corresponding to the calibration device are displayed on the segment cross-sectional diagram, and each monitoring point has a real shot image of the monitoring point corresponding thereto.
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| CN112556592B (en) * | 2020-12-23 | 2022-08-19 | 中铁工程装备集团有限公司 | Shield tail clearance measurement system and method based on visual positioning |
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| JPH0860980A (en) * | 1994-08-25 | 1996-03-05 | Hitachi Constr Mach Co Ltd | Device and method for measuring tail clearance of shield machine |
| JP3915192B2 (en) * | 1997-09-24 | 2007-05-16 | 石川島播磨重工業株式会社 | Tail clearance measuring device for shield machine |
| JP4041910B2 (en) * | 2002-08-05 | 2008-02-06 | 株式会社Ｉｈｉ | Equipment for measuring the distance between tail plate and segment of shield excavator |
| CN102445157A (en) * | 2011-09-21 | 2012-05-09 | 上海隧道工程股份有限公司 | Shield gap measuring system |
| CN104863118A (en) * | 2015-04-17 | 2015-08-26 | 中国矿业大学(北京) | Stratum settlement control method based on shield excavation gap |
| CN106930770B (en) * | 2017-02-06 | 2019-04-19 | 西安科技大学 | Shield machine shield gap estimation method based on convolutional neural networks |
| CN110243300B (en) * | 2019-07-10 | 2021-03-23 | 石家庄铁道大学 | Shield tail clearance measuring method and system based on machine vision technology |
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