CN111445509B - TBM hob abrasion geometric dimension visual measurement method and system - Google Patents
TBM hob abrasion geometric dimension visual measurement method and system Download PDFInfo
- Publication number
- CN111445509B CN111445509B CN202010190134.XA CN202010190134A CN111445509B CN 111445509 B CN111445509 B CN 111445509B CN 202010190134 A CN202010190134 A CN 202010190134A CN 111445509 B CN111445509 B CN 111445509B
- Authority
- CN
- China
- Prior art keywords
- hob
- image
- coordinate
- corrected
- radius
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005299 abrasion Methods 0.000 title claims abstract description 37
- 238000000691 measurement method Methods 0.000 title claims abstract description 15
- 230000000007 visual effect Effects 0.000 title claims abstract description 14
- 238000005259 measurement Methods 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 15
- 238000000034 method Methods 0.000 claims description 31
- 238000012800 visualization Methods 0.000 claims description 16
- 238000012937 correction Methods 0.000 claims description 14
- 238000005507 spraying Methods 0.000 claims description 12
- 239000000463 material Substances 0.000 claims description 8
- 230000008569 process Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 4
- 238000000605 extraction Methods 0.000 claims description 3
- 238000007781 pre-processing Methods 0.000 claims description 3
- 239000007921 spray Substances 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 2
- 238000013507 mapping Methods 0.000 claims description 2
- 239000003973 paint Substances 0.000 description 6
- 238000010276 construction Methods 0.000 description 4
- 239000011435 rock Substances 0.000 description 4
- 230000005641 tunneling Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000011545 laboratory measurement Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000003708 edge detection Methods 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
- 239000012634 fragment Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 239000004005 microsphere Substances 0.000 description 1
- 150000007524 organic acids Chemical class 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/60—Analysis of geometric attributes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20024—Filtering details
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
- G06T2207/30164—Workpiece; Machine component
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/30—Computing systems specially adapted for manufacturing
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Geometry (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a TBM hob abrasion geometric dimension visual measurement method and a TBM hob abrasion geometric dimension visual measurement system, wherein the TBM hob abrasion geometric dimension visual measurement method comprises the following steps: carrying out image shooting on the preprocessed TBM hob to obtain an unworn hob image; performing edge identification on the hob image of the hob by utilizing graphic processing to obtain the information C of each hob is (d is ，r is ) Further identifying the cutter number and determining the radius of the ith hob; and acquiring images of the hob with the worn hob and processing the images, acquiring information of each worn hob, determining the hob number, and subtracting the radius of the worn hob from the radius of the unworn hob with the hob number to obtain the wear condition of each hob.
Description
Technical Field
The invention relates to the field of cutter wear measurement, in particular to a TBM (tunnel boring machine) hob wear geometric dimension visual measurement method and system.
Background
Along with the development of tunnel and underground space engineering, TBM (tunnel boring machine) is by more and more use, and TBM utilizes disc cutter to break the rock, and at broken rock in-process, the hobbing cutter receives rock friction, rock fragment impact, and the hobbing cutter inevitable wearing and tearing that can take place includes: normal wear and abnormal wear. The normal wear refers to the process of uniform reduction of the cutter ring in the diameter direction, and the abnormal wear mainly refers to cutter ring fracture, tipping, edge rolling, eccentric wear and the like. When the normal wearing capacity of the cutter ring reaches a certain degree or abnormal wearing occurs, the hob needs to be replaced, otherwise, the load and the wearing of other hobs on the disc can be increased, and the hob of the whole cutterhead can be completely scrapped seriously. According to statistics, in the replaced hobbing cutters, the hobbing cutters which are normally worn and need to be replaced account for more than 90% of the replaced hobbing cutters, TBM is stopped at the first stage of measurement of the abrasion loss of the hobbing cutters, and each hobbing cutter is manually climbed on a cutter disc to carry out caliper measurement, so that the method not only consumes a large amount of manpower and material resources, but also increases the danger coefficient of constructors.
In the prior art, manual instruments such as calipers and roundness measuring instruments are generally used manually to directly climb on a cutter head to measure the size of a hob so as to determine the abrasion loss of the hob. The measuring efficiency is low, the measuring consumes time and labor, the construction safety problem is great, and the accuracy is seriously insufficient due to the artificial introduction of errors. The hob abrasion measurement in the current stage is based on laboratory measurement, the construction conditions of the tunnel boring machine are complex and difficult to copy, and meanwhile, the abrasion states of all the hobs are different, so that the laboratory measurement of the whole hob of the cutter is difficult.
The hob abrasion loss detection method and the hob abrasion loss detection device disclosed in the prior literature are characterized in that a mark is arranged at a first preset distance from a first side to the edge of a blade; acquiring a local image of the hob, wherein the local image comprises a mark and part of the edge of the hob; determining the actual distance from the edge of the blade to the mark along the first preset direction according to the local image; and determining the abrasion loss of the hob according to the difference between the initial distance and the actual distance. However, the invention still does not solve the problem of visual detection of the abrasion loss of the on-site hob, and the hob numbers of the hobs on the hob disc cannot be positioned to determine the abrasion loss of the hobs.
Disclosure of Invention
Aiming at the problems, the invention aims to provide a TBM (tunnel boring machine) hob abrasion geometric dimension visual measurement method and a TBM hob abrasion geometric dimension visual measurement system, which can effectively solve the problem of pure manual measurement of field construction hob abrasion, construct a hob abrasion geometric dimension visual measurement system, accurately position the hob cutter number, visually measure the hob abrasion through images, improve the measurement precision and reduce the manual labor.
In order to achieve the purpose, the invention adopts the following technical scheme: a TBM hob abrasion geometric dimension visual measurement method comprises the following steps: 1) Carrying out image shooting on the preprocessed TBM hob to obtain an unworn hob image; 2) Utilizing graphic processing to carry out edge identification on the hob image of the cutter head, and obtaining the information C of each hob is (d is ，r is ) Further identifying the cutter number and determining the radius of the ith hob; wherein d is is The corrected central coordinates (x) of the hob image are shot for the ith hob in the s th time is ，y is )，r is The radius of the ith hob, s =1,2,3, for the corrected hob image taken the s time; 3) And acquiring images of the hob with the worn hob and processing the images, acquiring information of each worn hob, determining the hob number, and subtracting the radius of the worn hob from the radius of the unworn hob with the hob number to obtain the wear condition of each hob.
Further, the preprocessing comprises setting a visualization system and establishing a cutterhead rectangular coordinate system;
the arrangement of the visualization system is as follows: a hole is formed above a front shield baffle of the TBM, the hole does not interfere with other parts of the TBM hob, a flange plate is welded at the position of the hole formed above the front shield baffle, and a visualization system is installed through the flange plate; the visualization system adopts a fisheye lens camera;
the cutter head rectangular coordinate system is established by spraying reflective spraying materials on the cutter holder: a rectangular coordinate system is drawn on the cutter head by using the light-reflecting spraying material, one of the rectangular coordinate systems is set to be 1 axis, namely y axis, and the other rectangular coordinate system is set to be 2 axes, namely x axis, and the coordinate system is a source coordinate system at the moment.
Further, the image processing includes the steps of: (1) Using a Gaussian filter method toFiltering the hob image; (2) Carrying out image gray histogram representation on the filtered image according to the size of a gray value, and then establishing image binaryzation; (3) Obtaining the central coordinate (x) of the hob is ，y is ) And radius r is (ii) a (4) When the tunnel boring machine is not started, correcting pixel points of the characteristic points shot by the fisheye lens camera, and acquiring coordinate values and cutter numbers of each corrected hob; (5) And identifying the position information of the hob after the tunnel boring machine works for a period of time.
Further, in the step (3), the hob image captured by the fisheye lens camera is grayed, one extraction threshold T is set, the hob image is scanned line by line from the periphery to the center, and when the brightness difference on the scanning line is greater than the threshold, namely the difference between the maximum value and the minimum value of the pixels in the line is greater than the threshold, the right boundary and the right tangent point rq of the image are obtained, the other three boundaries are the same as the above, the four boundaries and the upper tangent point tq, the left tangent point lq and the lower tangent point bq are obtained, and the center coordinate (x ') of the hob image is obtained' is ，y′ is ) And radius r' is ：
Further, the center coordinate O (x ') of the image' is ，y' is ) Radius of r' is One distortion point D (x ') on the pixel of the fish-eye image at the edge of the hob' bis ，y' bis ) The corresponding point corrected by the longitude coordinate correction method is d (x) bis ，y bis ) And obtaining the following according to a mapping formula:
obtaining all pixel points (x) of the corrected hob edge image bis ,y bis ) N represents the number of pixel points on the edge of the hob; all pixel points (x) of the corrected hob edge image bis ,y bis ) The central coordinates (x) of the hob are obtained by using least square method circle fitting is ，y is ) And radius r is 。
Further, in the step (4), the specific acquisition method includes the following steps:
(4.1) the coordinates of the characteristic points shot when the tunnel boring machine is not started are recorded as T 11 (x′ 11 ，y′ 11 )、T 21 (x′ 21 ，y′ 21 ) Through correction, the coordinates are respectively t 11 (x 11 ，y 11 )、t 21 (x 21 ，y 21 )：
(4.2) obtaining an equation of the arrangement rule of the hob after correction according to a preset hob coordinate equation;
and (4.3) obtaining the number of the corrected hob according to the equation of the arrangement rule of the hob after correction and a preset fixed relation between the coordinate value of the characteristic point and the coordinate value of the center of each hob.
Further, in the step (4.2), the x of the hob is obtained according to the Archimedes spiral equation is ，y is The coordinate equation is:
x is ＝b is θ is cosθ is ，y is ＝b is θ is sinθ is ；
b is is the distance between two adjacent curves of the helix, theta is Angle of rotation of the hob, θ is ＝arctan(x is /y is )；
Therefore, the equation for obtaining the corrected hob arrangement rule is as follows:
x i1 ＝b i1 θ i1 cosθ i1 ,y i1 ＝b i1 θ i1 sinθ i1 ；
further, in the step (4.2), the method for setting the fixed relation between the feature point coordinate value and the central coordinate value of each hob is as follows:
respectively spraying reflective spray on the x axis and the y axis of the rectangular coordinate system of the cutter head to form a characteristic point t js (x js ,y js ) J =1,2 is the number of feature points; since the tunnel boring machine has been designed in advance for the arrangement of the roller cutters during the cutter head design, the equation for the archimedean spiral is known, including the central coordinate values (x) of the individual roller cutters is ，y is ) And b is 、θ is The central coordinate value of each hob and the coordinate value of the feature point are known, and the fixed relation of the central coordinate value of each hob and the coordinate value of the feature point is obtained as follows:
wherein l is The distance from the characteristic point to the center of the hob is shown, the distance from the center of each hob to the characteristic point is known, and the number of the hob is determined according to the distance; i =1,2,3.. N knife position number, (x) is ，y is ) The coordinate value of the hob meets the Archimedes spiral equation;
and substituting the equation of the corrected hob arrangement rule into a fixed relation between the central coordinate value of the hob and the coordinate value of the characteristic point to obtain the number of the corrected hob.
Further, in the step (5), the coordinate after the correction of the un-started feature point of the tunnel boring machine is t 11 (x 11 ，y 11 )、t 21 (x 21 ，y 21 ) And the coordinates of the corrected feature points after rotation are recorded as t 12 (x 12 ，y 12 )，t 22 (x 22 ，y 22 ) The two have the following relationship:
Δx 1 ＝|x 22 -x 21 |，Δy 1 ＝|y 22 -y 21 |，
and obtaining the coordinates of the corrected characteristic points after rotation so as to establish a rectangular coordinate system of the cutter head, and obtaining an equation of the arrangement rule of the corrected hob according to a preset hob coordinate equation:
x i2 ＝b i2 θ i2 cosθ i2 ,y i2 ＝b i2 θ i2 sinθ i2 ，
and substituting the equation of the arrangement rule of the corrected hobs into a fixed relational expression between the coordinate value of the characteristic point and the coordinate value of the center of each hob, and solving the number of the hobs.
A TBM hob abrasion geometric dimension vision measurement system comprises an unworn hob image acquisition module, a hob radius determination module and a hob abrasion determination module; the unworn cutter hob image acquisition module is used for carrying out image shooting on the preprocessed TBM hob to acquire an unworn cutter hob image; the hob radius determining module performs edge identification on the hob image of the hob by utilizing graphic processing to acquire information C of each hob is (d is ，r is ) Further identifying the cutter number and determining the radius of the ith hob; wherein d is is The corrected central coordinates (x) of the hob image are obtained for the ith hob in the s-th shooting is ，y is )，r is For the ith bundle of corrected hob image shot for the s timeRadius of hob, s =1,2,3.; the hob abrasion determining module acquires an image of a hob of the abraded hob and processes the image, acquires information of each abraded hob, determines the number of the hob, and subtracts the radius of the abraded hob from the radius of the unworn hob of the number of the hob to obtain the abrasion condition of each hob.
Due to the adoption of the technical scheme, the invention has the following advantages: 1. according to the invention, the positions of the hobs can be positioned by shooting images by using a camera in the actual tunneling process, and the abrasion loss of the hobs can be measured, so that the original manual measurement is replaced, the safety risk in the construction process is relieved, the measurement precision is improved, and the manual measurement error is reduced; the method can be used for measuring under the actual tunneling working condition, and is strong in practicability and less in human factor addition. 2. According to the invention, holes are formed above a TBM front shield baffle, a flange plate is welded, a visualization system is installed, images are shot on the cutter head and the hob by using the visualization system, the visualization system adopts a fisheye lens camera, the visual system can have an observable range of 180 degrees, and meanwhile, the lens can also rotate by a certain angle, so that full-coverage shooting of the cutter head and the hob is realized. 3. According to the invention, the reflecting material is sprayed on the hob holder, the reflecting mark is fixed, and the hob number of the hob can be determined through the reflecting mark and the arrangement rule of the hob on the hob disc; and then positioning each hob and measuring the abrasion loss of the hob are completed.
Detailed Description
The present invention will be described in detail with reference to examples.
The invention provides a TBM hob abrasion geometric dimension visual measurement method, which comprises the following steps:
1) Carrying out image shooting on the preprocessed TBM hob to obtain an unworn hob image;
the preprocessing comprises setting a visualization system and establishing a cutter rectangular coordinate system;
wherein, the arrangement of the visualization system is as follows: a hole is formed above a front shield baffle of the TBM, the hole does not interfere with other parts of the TBM hob, a flange plate is welded at the position of the hole formed above the front shield baffle, and a visualization system is installed through the flange plate; in this embodiment, the visualization system employs a fisheye lens camera, which has an observable range of 180 degrees, and the fisheye lens can also rotate by a certain angle, so as to realize full-coverage shooting of a cutter head and a disc cutter of the TBM.
The cutterhead rectangular coordinate system is established by spraying reflective spraying materials on the cutter holder: a rectangular coordinate system is drawn on the cutter head by using the light-reflecting spraying material, one of the rectangular coordinate systems is set to be 1 axis (namely y axis), and the other rectangular coordinate system is set to be 2 axes (namely x axis), and the coordinate system is a source coordinate system at the moment. The reflective paint is reflective paint, and the reflective principle of the reflective paint is that irradiated light is reflected back to the sight of a person through the reflective microspheres to form a reflective effect, the reflective paint can be sprayed on an uneven surface, and meanwhile, the reflective paint has the capabilities of preventing fading and stripping of colors, resisting corrosion and preventing the paint from falling off easily.
The hob position is scaled as: the distance between the axis of the cutter shaft of the hob and the origin of a rectangular coordinate system is obtained by combining the arrangement rule of the hobs on the cutter head through the reflective marks sprayed in advance, the arrangement mode of the hobs comprises the arrangement modes of concentric circles, archimedes spiral lines and the like, and the arrangement mode is generally the Archimedes spiral lines;
shooting images of the hobs, obtaining coordinates of each hob, calculating, and determining the number of each hob; establishing a relation between the hob image pixel size and the actual hob size by combining the actual hob size, and regarding the relation as system calibration;
wherein the hob image contains the hob edge. The hob image of the unworn cutterhead includes individual hobs and light reflecting markings.
2) Utilizing graphic processing to carry out edge identification on the hob image of the cutter head, and obtaining the information C of each hob is (d is ，r is ) Further identifying the cutter number and determining the radius of the ith hob; wherein d is is The corrected central coordinates (x) of the hob image are obtained for the ith hob in the s-th shooting is ，y is )，r is The radius of the ith hob, s =1,2,3, for the corrected hob image taken the s time;
3) And acquiring an image of the hob with the worn hob, processing the image, acquiring information of each worn hob, determining the number of the hob, and subtracting the radius of the worn hob from the radius of the unworn hob with the number of the hob to obtain the wear condition of each hob.
In the step 1), the visualization system adopts a box structure, a hole is formed in the front of the box structure, a flange is welded at the hole, the fisheye lens camera is installed at the hole through the flange, parallel light source devices are respectively arranged on two sides of the fisheye lens camera, and the fisheye lens can rotate up and down, left and right; the collimated light source is forward illuminated to give a sufficient source of light.
In the step 1), before shooting the TBM hob image, the hob attitude needs to be adjusted: the fisheye camera can completely shoot all the hobs on the cutter head, the fisheye camera is rotated, light is projected to the back area of the cutter head, the light can at least achieve the purposes of obtaining the pictures of the hobs and tracking the edges of the hobs, and the sufficient shooting light source is guaranteed.
In the step 1), before acquiring the hob abrasion image, the calibration of the standard component needs to be performed on the unworn hob and the hob disc where the unworn hob is located, and through the calibration, the position of each hob on the hob disc, namely the number of the hob, can be known, and the mathematical relationship between the size of the hob and the size of the hob image can also be known. The initial distance is the radial distance from the edge of the hob to the hob shaft in an unworn state, namely the radius value of a circle enclosed by the edge of the hob.
When the roller is worn in the TBM tunneling process, the radial distance from the edge of the hob to the cutter shaft changes, the image of the hob is obtained again, the size change of the image from the edge of the hob to the radial direction of the cutter shaft is analyzed, the initial distance is compared, and the difference value of the two is the wear loss of the hob with the cutter number in the TBM tunneling process.
In the step 2) and the step 3), due to the adoption of backlight illumination and good illumination conditions, the edge of the hob image shot by the fisheye lens camera is represented by a step-type edge, the step-type edge is changed into an image with brightness in two adjacent areas, pixel gray values on two sides have obvious difference, the edge contour of the hob is extracted by adopting an edge detection algorithm based on the characteristic that the image gray values are suddenly changed, the circle center is determined by a circular fitting method, and the radius is known. The image processing specifically comprises the following steps:
(1) Filtering the hob image by adopting a Gaussian filtering method;
(2) Carrying out image gray histogram representation on the filtered image according to the gray value, and then establishing image binaryzation;
the method specifically comprises the following steps: all the gray values on the image are set to 0 or 255, i.e. the whole image exhibits a distinct black and white effect. The basic principle is that a threshold value is used as a demarcation point, the threshold value can be obtained through an image gray level histogram, and an object and a background in an image are considered to be two components to be distinguished.
(3) Obtaining the center coordinate (x) of the hob is ，y is ) And radius r is ：
The method comprises the steps of carrying out gray level processing on a hob image shot by a fish-eye lens camera, setting an extraction threshold value T, respectively scanning line by line and column by column from the periphery to the center, taking the example from the right to the left, obtaining a right boundary and a right tangent point rq of the image when the brightness difference on a scanning line is larger than the threshold value, namely the difference between the maximum value and the minimum value of pixels in the column is larger than the threshold value, obtaining four boundaries and tangent points tq (upper tangent point), lq (left tangent point) and bq (lower tangent point) of the image, and further obtaining a center coordinate (x 'of the hob image' is ，y′ is ) And radius r' is ：
By using longitude coordinate correction, the method uses longitude and latitude of a spherical surface to represent an object in a fisheye image, different pixels on each longitude have the same column coordinate value in a corrected image, and the center coordinate O (x' is ，y' is ) Radius of r' is One distortion point D (x ') on the pixel of the fish-eye image at the edge of the hob' bis ，y' bis ) The corrected corresponding point is d (x) bis ，y bis ) According to the reflectionThe equation can be found:
all pixel points (x) of the corrected hob edge image can be obtained bis ,y bis ) N represents the number of pixel points on the edge of the hob. Passing all pixel points (x) of the corrected hob edge image bis ,y bis ) Obtaining the central coordinate (x) of the hob by using least square method circle fitting is ，y is ) And radius r is ：
For a least squares circle fit, the optimal objective function for the square of the error is:
on the premise of keeping the characteristics of the optimized objective function, an error square needs to be defined, so that a square root is avoided, and a direct solution of a minimization problem can be obtained, which is defined as follows:
rewriting formula (2) as:
in order to ensure that the water-soluble organic acid, B ＝-2y is ,A＝-2x is 
equation (3) can be expressed as:
by the principle of least squares, the parameters A, B, C should be such that E is minimal. According to the minimum value solving method, A, B and C should satisfy the following conditions:
solving the system of equations, eliminating the parameter C first, then
Obtaining:
is of the formula
Obtaining:
order to
Writing the formulas (7) and (8) into a matrix form:
according to the formulae (14) and (6):
to obtain the best fitting center coordinate (x) is ，y is ) And radius r is ：
(4) When the tunnel boring machine is not started, correcting pixel points of the characteristic points shot by the fisheye lens camera, and acquiring coordinate values and cutter numbers of each corrected hob:
(4.1) the coordinates of the characteristic points shot when the tunnel boring machine is not started are recorded as T 11 (x′ 11 ，y′ 11 )、T 21 (x′ 21 ，y′ 21 ) Through correction, the coordinates are respectively t 11 (x 11 ，y 11 )、t 21 (x 21 ，y 21 )：
(4.2) obtaining an equation of the arrangement rule of the hob after correction according to a preset hob coordinate equation;
because the arrangement mode of the hob is an Archimedes spiral line, the x of the hob is obtained according to the Archimedes spiral equation is ，y is The coordinate equation is:
x is ＝b is θ is cosθ is ，y is ＝b is θ is sinθ is ；
b is the distance between two adjacent curves of the helix, angle θ is Every time a unit is added, the distance between two adjacent curves is increased by one unit. Theta.theta. is Angle of rotation of the hob, θ is ＝arctan(x is /y is )。
Therefore, the equation for obtaining the corrected hob arrangement rule is as follows:
x i1 ＝b i1 θ i1 cosθ i1 ,y i1 ＝b i1 θ i1 sinθ i1 ；
(4.3) obtaining the number of the corrected hob according to the equation of the arrangement rule of the hob after correction and a preset fixed relation between the coordinate value of the characteristic point and the coordinate value of the center of each hob;
the setting method of the fixed relational expression between the coordinate values of the characteristic points and the coordinate values of the center of each hob comprises the following steps:
respectively spraying reflective spray on the x axis and the y axis of the rectangular coordinate system of the cutter head to form a characteristic point t js (x js ,y js ) J =1,2 represents the number of feature points. Since the tunnel boring machine has been designed in advance for the arrangement of the cutters when designing the cutter head, the equation for the archimedean spiral is known, including the central coordinate values (x) of the cutters is ，y is ) And b is 、θ is The central coordinate values of all the hobs and the feature point coordinate values are known, and the fixed relation formula of the central coordinate values and the feature point coordinate values of each hob is obtained as follows:
wherein l is The distance from the characteristic point to the center of the hob is shown, the distance from the center of each hob to the characteristic point is known, and the hob number of the hob can be determined according to the distance; n knife number, (x =1,2,3.. Times is ，y is ) The coordinate value of the hob meets the Archimedes spiral equation;
substituting an equation of the arrangement rule of the corrected hob into a fixed relational expression of the central coordinate value of the hob and the coordinate value of the characteristic point to obtain the number of the corrected hob;
(5) Identifying the position information of the hob after the tunnel boring machine works for a period of time:
the tunnel boring machine advances by rotating the cutter head, and the characteristic points move relative to an originally established coordinate system after rotating for a certain angle. The coordinate of the tunnel boring machine after the correction of the un-started characteristic point is t 11 (x 11 ，y 11 )、t 21 (x 21 ，y 21 ) And the coordinates of the corrected feature points after rotation are recorded as t 12 (x 12 ，y 12 )，t 22 (x 22 ，y 22 ) The two have the following relationship:
Δx 1 ＝|x 22 -x 21 |，Δy 1 ＝|y 22 -y 21 |，
the coordinates of the corrected characteristic points after rotation can be obtained, so that a rectangular coordinate system of the cutter head can be established, and an equation of the arrangement rule of the corrected hob can be obtained according to a preset hob coordinate equation:
x i2 ＝b i2 θ i2 cosθ i2 ,y i2 ＝b i2 θ i2 sinθ i2 ，
and substituting the equation of the corrected hob arrangement rule into a fixed relational expression between the feature point coordinate value and the central coordinate value of each hob, and further solving the hob number of the hob.
The invention also provides a TBM hob abrasion geometric dimension vision measurement system, which comprises an unworn hob image acquisition module, a hob radius determination module and a hob abrasion determination module;
the unworn cutter hob image acquisition module is used for carrying out image shooting on the preprocessed TBM hob to acquire an unworn cutter hob image;
the hob radius determining module performs edge identification on the hob image of the hob by utilizing graphic processing to obtain information C of each hob is (d is ，r is ) Further identifying the cutter number and determining the radius of the ith hob; wherein d is is The corrected central coordinates (x) of the hob image are obtained for the ith hob in the s-th shooting is ，y is )，r is The radius of the ith hob, s =1,2,3, for the corrected hob image taken the s time;
and the hob abrasion determining module acquires an image of the hob of the abraded hob and processes the image, acquires information of each abraded hob, determines the number of the hob, and subtracts the radius of the abraded hob from the radius of the unworn hob of the number of the hob to obtain the abrasion condition of each hob.
The above embodiments are only for illustrating the present invention, and the structure, size, arrangement position and steps of each component can be changed, and on the basis of the technical scheme of the present invention, the improvement and equivalent transformation of the individual components and steps according to the principle of the present invention should not be excluded from the protection scope of the present invention.
Claims (10)
1. A TBM hob abrasion geometric dimension visual measurement method is characterized by comprising the following steps:
1) Carrying out image shooting on the preprocessed TBM hob to obtain an unworn hob image;
2) Utilizing graphic processing to carry out edge identification on the hob image of the cutter head, and obtaining the information C of each hob is (d is ，r is ) Further identifying the cutter number and determining the radius of the ith hob; wherein d is is The corrected central coordinates (x) of the hob image are obtained for the ith hob in the s-th shooting is ，y is )，r is The radius of the ith hob, s =1,2,3, for the corrected hob image taken the s time;
3) And acquiring an image of the hob with the worn hob, processing the image, acquiring information of each worn hob, determining the number of the hob, and subtracting the radius of the worn hob from the radius of the unworn hob with the number of the hob to obtain the wear condition of each hob.
2. The measurement method of claim 1, wherein: the preprocessing comprises setting a visualization system and establishing a cutterhead rectangular coordinate system;
the arrangement of the visualization system is as follows: a hole is formed above a front shield baffle of the TBM, the hole does not interfere with other parts of the TBM hob, a flange plate is welded at the position of the hole formed above the front shield baffle, and a visualization system is installed through the flange plate; the visualization system adopts a fisheye lens camera;
the cutterhead rectangular coordinate system is established by spraying reflective spraying materials on the cutter holder: a rectangular coordinate system is drawn on the cutter head by using the reflective spraying material, one of the rectangular coordinate systems is set to be a 1-axis (y-axis), and the other rectangular coordinate system is set to be a 2-axis (x-axis), and the coordinate system is a source coordinate system.
3. The measurement method of claim 1, wherein: the image processing comprises the following steps:
(1) Filtering the hob image by adopting a Gaussian filtering method;
(2) Carrying out image gray histogram representation on the filtered image according to the gray value, and then establishing image binaryzation;
(3) Obtaining the center coordinate (x) of the hob is ，y is ) And radius r is ；
(4) When the tunnel boring machine is not started, correcting pixel points of the characteristic points shot by the fisheye lens camera, and acquiring coordinate values and cutter numbers of each corrected hob;
(5) And identifying the position information of the hob after the tunnel boring machine works for a period of time.
4. A method of measurement as claimed in claim 3, characterized by: in the step (3), the hobbing cutter image shot by the fish-eye lens camera is grayed, an extraction threshold value T is set, line-by-line scanning is carried out from the periphery to the center, when the brightness difference on the scanning line is larger than the threshold value, namely the difference between the maximum value and the minimum value of the line of pixels is larger than the threshold value, the right boundary and the right tangent point rq of the image are obtained, the other three boundaries are the same, the four boundaries and the upper tangent point tq, the left tangent point lq and the lower tangent point bq are obtained, and further the center coordinate (x ') of the hobbing cutter image is obtained' is ，y′ is ) And radius r' is ：
5. The measurement method of claim 4, wherein: center coordinate O (x ') of image' is ，y' is ) Radius of r' is One distortion point D (x ') on the fish-eye image pixel of the hob edge' bis ，y' bis ) The corresponding point corrected by the longitude coordinate correction method is d (x) bis ，y bis ) And obtaining the following according to a mapping formula:
obtaining all pixel points of the corrected hob edge image ( xbis ,y bis ) N represents the number of pixel points on the edge of the hob; passing all pixel points (x) of the corrected hob edge image bis ,y bis ) Obtaining the central coordinate (x) of the hob by using least square method circle fitting is ，y is ) And radius r is 。
6. A measuring method according to claim 3, characterized in that: in the step (4), the specific acquisition method includes the following steps:
(4.1) recording the coordinate of the characteristic point shot when the tunnel boring machine is not started as T 11 (x′ 11 ，y′ 11 )、T 21 (x′ 21 ，y′ 21 ) The coordinates after correction are respectively t 11 (x 11 ，y 11 )、t 21 (x 21 ，y 21 )：
(4.2) obtaining an equation of the arrangement rule of the hob after correction according to a preset hob coordinate equation;
and (4.3) obtaining the number of the corrected hob according to an equation of the arrangement rule of the corrected hob and a preset fixed relational expression between the coordinate value of the characteristic point and the coordinate value of the center of each hob.
7. The measurement method of claim 6, wherein: in the step (4.2), the x of the hob is obtained according to the Archimedes spiral equation is ，y is The coordinate equation is:
x is ＝b is θ is cosθ is ，y is ＝b is θ is sinθ is ；
b is is the distance between two adjacent curves of the helix, theta is Angle of rotation of the hob, θ is ＝arctan(x is /y is )；
Therefore, the equation for obtaining the corrected hob arrangement rule is as follows:
x i1 ＝b i1 θ i1 cosθ i1 ,y i1 ＝b i1 θ i1 sinθ i1 ；
8. the measurement method of claim 6, wherein: in the step (4.2), the setting method of the fixed relation between the feature point coordinate value and the central coordinate value of each hob is as follows:
respectively spraying reflective spray on the x axis and the y axis of the rectangular coordinate system of the cutter head to form a characteristic point t js (x js ,y js ) J =1,2 is the number of feature points; since the tunnel boring machine has been designed in advance for the arrangement of the roller cutters during the cutter head design, the equation for the archimedean spiral is known, including the central coordinate values (x) of the individual roller cutters is ，y is ) And b is 、θ is The central coordinate value of each hob and the coordinate value of the feature point are known, and the fixed relation of the central coordinate value of each hob and the coordinate value of the feature point is obtained as follows:
wherein l is The distance from the characteristic point to the center of the hob is shown, the distance from the center of each hob to the characteristic point is known, and the hob number of the hob is determined according to the distance; n knife number, (x =1,2,3.. Times is ，y is ) The coordinate value of the hob in the ith step meets the Archimedes spiral equation;
and substituting the equation of the corrected hob arrangement rule into a fixed relation between the central coordinate value of the hob and the coordinate value of the characteristic point to obtain the number of the corrected hob.
9. The measurement method according to claim 3, 6, 7 or 8, wherein: in the step (5), the coordinate after the correction of the un-started feature point of the tunnel boring machine is t 11 (x 11 ，y 11 )、t 21 (x 21 ，y 21 ) And the coordinates of the corrected feature points after rotation are recorded as t 12 (x 12 ，y 12 )，t 22 (x 22 ，y 22 ) The two have the following relationship:
Δx 1 ＝|x 22 -x 21 |，Δy 1 ＝|y 22 -y 21 |，
and obtaining the coordinates of the corrected characteristic points after rotation so as to establish a rectangular coordinate system of the cutter head, and obtaining an equation of the arrangement rule of the corrected hob according to a preset hob coordinate equation:
x i2 ＝b i2 θ i2 cosθ i2 ,y i2 ＝b i2 θ i2 sinθ i2 ，
and substituting the equation of the corrected hob arrangement rule into a fixed relational expression between the feature point coordinate value and the central coordinate value of each hob, and solving the hob number of each hob.
10. The utility model provides a TBM hobbing cutter wearing and tearing geometry vision measurement system which characterized in that includes: the hob abrasion detection device comprises an unworn hob image acquisition module, a hob radius determination module and a hob abrasion determination module;
the unworn cutter hob image acquisition module is used for carrying out image shooting on the preprocessed TBM hob to acquire an unworn cutter hob image;
the hob radius determining module performs edge identification on the hob image of the hob by utilizing graphic processing to acquire information C of each hob is (d is ，r is ) Further identifying the cutter number and determining the radius of the ith hob; wherein d is is The corrected central coordinates (x) of the hob image are obtained for the ith hob in the s-th shooting is ，y is )，r is The radius of the ith hob, s =1,2,3, for the corrected hob image taken the s time;
the hob abrasion determining module acquires an image of a hob of the abraded hob and processes the image, acquires information of each abraded hob, determines the number of the hob, and subtracts the radius of the abraded hob from the radius of the unworn hob of the number of the hob to obtain the abrasion condition of each hob.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010190134.XA CN111445509B (en) | 2020-03-18 | 2020-03-18 | TBM hob abrasion geometric dimension visual measurement method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010190134.XA CN111445509B (en) | 2020-03-18 | 2020-03-18 | TBM hob abrasion geometric dimension visual measurement method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111445509A CN111445509A (en) | 2020-07-24 |
| CN111445509B true CN111445509B (en) | 2023-04-14 |
Family
ID=71655691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010190134.XA Active CN111445509B (en) | 2020-03-18 | 2020-03-18 | TBM hob abrasion geometric dimension visual measurement method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111445509B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112182973B (en) * | 2020-09-30 | 2022-11-04 | 山东大学 | TBM (Tunnel boring machine) operation parameter optimization method considering cutter vibration and rock slag geometric information |
| CN112634345B (en) * | 2020-12-18 | 2023-03-31 | 福州华虹智能科技股份有限公司 | Method for extracting mine wall image based on image characteristic information of least square method |
| CN113269766A (en) * | 2021-06-07 | 2021-08-17 | 中铁工程装备集团有限公司 | Hob abrasion detection method, hob abrasion detection device, hob abrasion detection equipment and readable storage medium |
| CN115302846A (en) * | 2022-10-10 | 2022-11-08 | 苏州鼎佳精密科技股份有限公司 | Die-cutting machine |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4845763A (en) * | 1987-11-06 | 1989-07-04 | General Motors Corporation | Tool wear measurement by machine vision |
| CN102278961A (en) * | 2011-03-21 | 2011-12-14 | 天津大学 | Heading machine disc cutter wear extent pre-estimate calculating method |
| CN208887584U (en) * | 2018-07-02 | 2019-05-21 | 中国水利水电第一工程局有限公司 | Hob abrasion amount detecting device |
-
2020
- 2020-03-18 CN CN202010190134.XA patent/CN111445509B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4845763A (en) * | 1987-11-06 | 1989-07-04 | General Motors Corporation | Tool wear measurement by machine vision |
| CN102278961A (en) * | 2011-03-21 | 2011-12-14 | 天津大学 | Heading machine disc cutter wear extent pre-estimate calculating method |
| CN208887584U (en) * | 2018-07-02 | 2019-05-21 | 中国水利水电第一工程局有限公司 | Hob abrasion amount detecting device |
Non-Patent Citations (1)
| Title |
|---|
| 蔡昱 ; 祝和意 ; 杨小玉 ; 委玉奇 ; 陈馈 ; .秦岭隧洞TBM滚刀异常磨损规律分析及处置.甘肃科学学报.2018,(05),全文. * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111445509A (en) | 2020-07-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111445509B (en) | TBM hob abrasion geometric dimension visual measurement method and system | |
| US11105624B2 (en) | Methods and apparatus to track a blade | |
| CN102501140B (en) | Method for positioning and monitoring wear of ball nose end mill cutter | |
| CN107203973B (en) | Sub-pixel positioning method for center line laser of three-dimensional laser scanning system | |
| US5604583A (en) | Computer vision inspection station | |
| CN113537018B (en) | Water and soil conservation monitoring method based on multi-time-phase satellite remote sensing and unmanned aerial vehicle technology | |
| CN111255636A (en) | Method and device for determining tower clearance of wind generating set | |
| CN210573937U (en) | Online three-dimensional imaging device of roll surface of roll squeezer | |
| CN107747910A (en) | The tunnel mark point coordinates laser measurement system and method for a kind of vision guide | |
| CN110472722A (en) | Steel billet counting device and method based on machine vision technique | |
| Xu et al. | Fast on-machine profile characterization for grinding wheels and error compensation of wheel dressing | |
| CN107631702A (en) | A kind of non-contact type rotary shaft coaxiality error detection method and device | |
| CN110617772A (en) | Non-contact type line diameter measuring device and method | |
| WO2021114650A1 (en) | Tailskin clearance measurement system based on high-resolution camera image collection and processing | |
| CN113222955A (en) | Gear size parameter automatic measurement method based on machine vision | |
| CN111882569A (en) | Machine vision-based pointer type pressure gauge automatic calibrator indication value reading method | |
| CN113607058B (en) | Straight blade size detection method and system based on machine vision | |
| CN105806269B (en) | The portable non-contacting tree parameters measuring device of one kind and measurement method | |
| CN116883446B (en) | Real-time monitoring system for grinding degree of vehicle-mounted camera lens | |
| CN109345500A (en) | A kind of machine tool knife position of cusp calculation method based on machine vision | |
| Kong et al. | An automatic and accurate method for marking ground control points in unmanned aerial vehicle photogrammetry | |
| CN111784643A (en) | Tire tangent plane obtaining method and system based on cross line structured light | |
| CN115388798A (en) | Method and device for rapidly measuring deformation of tunnel excavation surface | |
| CN114166144A (en) | Method for calibrating machined profile after gear chamfering machining and clamping | |
| CN113639643A (en) | Crop seedling-stage height detection method based on RGB-D depth camera |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |