CN111457904A - Be used for two shield TBM vision measurement systems - Google Patents
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- CN111457904A CN111457904A CN202010205979.1A CN202010205979A CN111457904A CN 111457904 A CN111457904 A CN 111457904A CN 202010205979 A CN202010205979 A CN 202010205979A CN 111457904 A CN111457904 A CN 111457904A
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a vision measuring system for a double-shield TBM (tunnel boring machine), which comprises a photosensitive target, a laser, a target and a controller, wherein the laser is arranged on the target and is fixed on the rear end surface of a front shield body; when the double-shield TBM tunnels a curve tunnel, the laser emits laser, the laser is emitted onto an optical sensor in a light-sensitive target to obtain a light spot image for real-time processing, and the pose information of the anterior shield is calculated through a certain algorithm, so that the relative pose between the anterior shield and the support shield is obtained, and the real-time performance and the data accuracy are improved.
Description
Technical Field
The invention relates to a monocular vision technology, in particular to a vision measuring system for a double-shield TBM.
Background
In underground construction processes of subways, tunnels and the like, the shield construction method has the advantages of high automation degree, safety, high efficiency, high precision, small interference to surrounding earth surface environments and the like, and is widely developed and applied. The shield construction method is a method for tunnel construction operation by using a shield machine[1]. After the shield is installed in the working shaft at the starting position, the shield starts to tunnel along the design axis of the tunnel, segments of the shield are assembled to form a lining while the shield tunnels, and the lining is reinforced through concrete, so that the tunnel is formed. Since 1928 the first tunnel constructed by the shield method in the world had a development history of more than 180 years since the construction of the london thames river, the project initiated the first river of the tunnel constructed by the shield method. Subsequently, shield tunneling has been developed further in countries such as the united kingdom, germany, the united states, japan, france, and china. In the 90 s of the 20 th century, the shield construction method has been developed rapidly and has gained frightening and horror achievements, and the Japan Tokyo gulf road tunnel is named as the engineering model of the ultra-large road traffic shield construction method tunnel. Since the 21 st century, the tunnel and underground railway industry in China enters a high-speed development era, and China becomes the largest tunnel and underground engineering construction market in the world and has a wide development prospect. At present, urban rail transit construction in China is facing unprecedented high-speed development, and major cities such as Beijing, Shanghai, Guangzhou and the like continue to develop tunnel engineering construction at the investment rate of billions every year.
With the wide application of the shield construction method, the shield machine has faster development, and the advanced shield machine gives full play to the superiority in the underground engineering[2]. The Double-Shield hard rock tunnel boring machine (Double Shield Universal compact TBM, DSUC TBM for short) integrates electricity, machine, gas, liquid, light and information technologies, and is a novel, advanced, efficient and highly intelligent Shield boring machine. The double-shield hard rock tunnel boring machine mainly comprises a cutter head and a drive thereof,A front shield body of a main bearing, a rear shield body provided with a supporting device, a telescopic oil cylinder, an assembling system and the like[3]. The front shield body is connected with the rear shield body through a telescopic oil cylinder, and the telescopic oil cylinder realizes the front and rear telescopic of the front shield body relative to the rear shield body through the front and rear telescopic; the joints of the two ends of the telescopic oil cylinders are provided with spherical hinges and are distributed annularly, a certain rotary swing angle is ensured between the front shield body and the rear shield body by controlling different telescopic oil cylinders, the telescopic oil cylinders can realize front and back telescopic, so that the front shield body can move relative to the rear shield body in a pose manner, and the front and back distance variation range of the front shield relative to the rear shield is 3.5-5 m. The double-shield hard rock tunnel boring machine can solve the problems of small-radius turning tunnels, high rock strength, complex rock properties and the like, has the characteristics of high construction speed, high efficiency and high quality, and is the primary choice in hard rock tunneling and the like.
In the construction process, the shield machine can only move forward and cannot move back, the construction requirement on the tunneling pose of the shield machine is accurate, and the tunnel can be ensured to be smoothly communicated only by ensuring that the shield machine tunnels along the established design route of the tunnel. Real-time measurement of the pose of the shield machine is an important method for ensuring accurate construction. During the tunneling process of the shield tunneling machine, the pose of the shield tunneling machine is accurately measured in real time, and the pose of the shield tunneling machine is adjusted in time by combining a set tunnel design curve, so that the deviation between an actual tunneling line of the shield tunneling machine and the set design curve is ensured to be within a certain range[4,5]. For a double-shield hard rock tunnel boring machine, at present, a better guide system for measuring the position of an anterior shield body in real time is lacked, and particularly, the space accurate positioning of the head center of the anterior shield body is lacked[6]. With the practical application of the double-shield hard rock tunnel boring machine becoming more and more extensive, the accurate spatial positioning of the front shield head center and the relative pose of the support shield become urgent matters.
Aiming at the technical problems, how to provide a convenient and low-repeatability double-shield TBM vision measuring system becomes a long-term technical appeal for technical personnel in the field.
Disclosure of Invention
In order to overcome the defects in the background technology, the invention provides the method for measuring the relative pose between the front shield and the support shield of the double-shield TBM in the tunneling construction, which can efficiently and accurately solve the problem.
In order to achieve the above purpose, the invention adopts the following technical scheme:
1. a vision measurement system for a double-shield TBM comprises a double shield consisting of a front shield body and a rear shield body, a laser, a target and a controller; the front shield body is provided with a target with a laser, and the front shield body and the rear shield body are connected through an oil cylinder; a photosensitive target with an optical sensor is arranged on the rear shield body; the input end of the optical sensor receives a light spot image of the slave laser; the output end of the controller outputs the facula image through the network, and the method comprises the following steps
a. The target adopts a method defined by a space coordinate system to process the optical signal output by the laser to establish a coordinate system of the target;
b. the controller processes the received light spot image in real time to establish a centroid coordinate of the light spot;
c. and inputting the coordinates of the centroid of the light spot and the coordinates of the optical signal in the target coordinate system into a vision algorithm, so as to solve the relative pose between the target and the optical sensor, and thus, the measurement of the relative pose between the front shield and the support shield of the double-shield TBM can be completed.
The four corners of the target are provided with lasers; the middle of the target is respectively connected with at least two lasers through hollow columns for installation.
The controller processes the received light spot image in real time, and the method comprises the following steps:
a. carrying out graying processing, image filtering, binarization processing and image enhancement on the light spot image, and extracting the central position of the light spot of the laser in the image;
b. directly reading the light spot center position proposed after the image processing through the optical sensor coordinate system defined by the photosensitive target;
the establishment of the optical target coordinate system comprises the following steps:
a. firstly, arranging more than two stations, transmitting geodetic coordinates into an oil cylinder arranged between the front shield and the rear shield to determine the position of a total station, and directly measuring the coordinates of a point position of a laser;
b. and the coordinates of the light spot are coordinates under a total station coordinate system, and the coordinates of the laser on the target are determined through a space vector relation in the definition of the space coordinate system.
The relative pose between the anterior shield and the support shield is obtained by the following method: and inputting the coordinates of the centroid of the light spot and the coordinates of the laser under a target coordinate system into a PNP algorithm by adopting a PNP algorithm, and solving 6-degree-of-freedom information of the front shield of the double-shield TBM by combining a related method of coordinate system conversion in space.
Advantageous effects
1. In the process of double-shield TBM tunneling, the method can obtain clear target images in severe environment, and further can accurately judge the posture of the anterior shield.
2. In the process of double-shield TBM tunneling, the method can efficiently and quickly acquire the front shield attitude, thereby realizing the real-time measurement effect and improving the accuracy.
3. The invention adopts corresponding protection means on key devices, selects relatively stable devices on hardware design, can ensure the stable measurement of the whole system during the double-shield TBM tunneling, and is more convenient for equipment replacement.
Drawings
Fig. 1 is a schematic structural diagram of a dual-shield TBM vision measuring system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a coordinate system of a dual shield TBM vision measuring system according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of a vision measurement structure using the dual shield TBM shown in FIG. 1 according to an embodiment of the present invention;
Detailed Description
In order to make the technical solutions in the present application better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
1. Referring to fig. 1, the double-shield TBM vision measuring system includes a laser 101, an aluminum profile target 102, a photosensitive target 103, and a controller 104, where the laser 101 is installed on the aluminum profile target 102, the installed targets 102 are collectively named as optical targets in the present invention, the optical targets 102 are installed on a rear end face of a front shield body 201 of the double-shield TBM, the photosensitive target 103 is installed on a front end face of a rear shield body 202 of the double-shield TBM, an optical sensor 105 (industrial camera) is installed inside the photosensitive target 103, laser light emitted by the laser 101 is incident on the optical sensor 105 in the photosensitive target 103, and the laser 101 and the optical sensor 105 are respectively connected to the controller 104.
2. Referring to the attached figure 2, the lasers are installed on the aluminum profile target at the installation positions shown in the figure, the two lasers in the middle are installed on the hollow upright column with the length of about 20cm, and then the lasers are fixed on the aluminum profile target, and the depth precision is measured. The invention uniformly names the aluminum profile targets after the laser is installed as optical targets.
3. After the optical target is installed, a coordinate system of the optical target needs to be defined, measurement is carried out through a total station instrument in a prism-free mode by means of the total station instrument, at first, more than two stations are arranged, geodetic coordinates are transmitted to a telescopic oil cylinder arranged between a front shield and a support shield, then the total station instrument is installed at the position, and optical center coordinates of a laser are directly measured, wherein the stations refer to the position where the total station instrument is erected. The total station needs to be erected at the position to perform subsequent measurement, and the site is arranged, namely a prewelded part is welded at a certain position. After obtaining the coordinates of the laser in the total station coordinate system, defining the coordinate system by using a space vector method in the space coordinate system definition, firstly setting the position of the laser as shown in fig. 2, and setting the vector relationship established between the laser 3 and the laser 4 as
The vector relation between the laser 3 and the laser 1 is set as
The vector relation between the laser 3 and the laser 2 is set as
The vector relationship between the laser 3 and the laser 3 is set as
The vector relationship between the laser 3 and the laser 5 is set as
The vector relationship between the laser 3 and the laser 6 is set as
Since the optical target has no point positions in one-to-one correspondence during the processing, the laser 3 is set as the origin of the optical target, the line (vector) connecting the laser 3 and the laser 4 is the X axis, and then:
x＝|X|；
y＝|Y|；
z＝|Z|；
R＝[x y z]；
the coordinate system of the laser on the target can be established through the calculation.
4. According to the double-shield TBM vision measuring system, the optical target is placed at the rear end of the front shield of the double-shield TBM, the optical sensor is placed on the front end face of the support shield, and the laser emitted by the laser is emitted into the optical sensor in the photosensitive target when the double-shield TBM tunnels in the curve tunnel to obtain the light spot image, and the light spot image is sent to the controller to be processed in real time.
5. Wherein the real-time processing comprises: and carrying out operations such as graying, binaryzation, image enhancement, image noise reduction and the like on the light spot image, and finishing the extraction of the central coordinates of the light spots.
6. And directly reading the central coordinate of the laser light spot extracted in the last step through the self-defined optical sensor coordinate system of the photosensitive target.
7. By means of an EPNP algorithm in the PNP algorithm, the 6-degree-of-freedom calculation of the double-shield TBM anterior shield can be completed. The method comprises the following specific steps: the laser is a characteristic point, the coordinates of the characteristic point under a target coordinate system are obtained, the projection coordinates of the characteristic point in an image are obtained through real-time image processing, and the two groups of coordinates are input into an EPNP algorithm according to a set sequence, so that the relative pose between the front shield and the support shield of the double-shield TBM can be obtained.
8. Through the series of measures, the relative pose between the anterior shield and the support shield of the double-shield TBM can be extracted in real time, and further the measurement work between the anterior shield and the support shield of the double-shield TBM is completed.
9. The above description of the disclosed embodiments is only for the specific implementation of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered by the scope of the present invention. Therefore, the present invention should not be limited to the embodiments shown herein, and the scope of the present invention should be defined by the appended claims.
Claims (5)
1. A vision measurement system for a double-shield TBM comprises a double shield consisting of a front shield body and a rear shield body, a laser, a target and a controller; the method is characterized in that: the front shield body is provided with a target with a laser, and the front shield body and the rear shield body are connected through an oil cylinder; a photosensitive target with an optical sensor is arranged on the rear shield body; the input end of the optical sensor receives a light spot image of the slave laser; the output end of the controller outputs the facula image through the network, and the method comprises the following steps
a. The target adopts a method defined by a space coordinate system to process the optical signal output by the laser to establish a coordinate system of the target;
b. the controller processes the received light spot image in real time to establish a centroid coordinate of the light spot;
c. and inputting the coordinates of the centroid of the light spot and the coordinates of the optical signal in the target coordinate system into a vision algorithm, so as to solve the relative pose between the target and the optical sensor, and thus, the measurement of the relative pose between the front shield and the support shield of the double-shield TBM can be completed.
2. The dual shield TBM vision measuring system of claim 1, characterized in that lasers are disposed at each of four corners of the target; the middle of the target is respectively connected with at least two lasers through hollow columns for installation.
3. The dual shield TBM vision measuring system of claim 1, wherein said controller processes received spot images in real time, comprising the steps of:
a. carrying out graying processing, image filtering, binarization processing and image enhancement on the light spot image, and extracting the central position of the light spot of the laser in the image;
b. and directly reading the light spot center position proposed after the image processing through the self-defined optical sensor coordinate system of the photosensitive target.
4. The dual shield TBM vision measurement system of claim 2, wherein the establishment of the optical target coordinate system is obtained by:
a. firstly, arranging more than two stations, transmitting geodetic coordinates into an oil cylinder arranged between the front shield and the rear shield to determine the position of a total station, and directly measuring the coordinates of a point position of a laser;
b. and the coordinates of the light spot are coordinates under a total station coordinate system, and the coordinates of the laser on the target are determined through a space vector relation in the definition of the space coordinate system.
5. The double shield TBM vision measuring system of claim 1, wherein the relative pose between the anterior shield and the support shield is obtained by: and inputting the coordinates of the centroid of the light spot and the coordinates of the laser under a target coordinate system into a PNP algorithm by adopting a PNP algorithm, and solving 6-degree-of-freedom information of the front shield of the double-shield TBM by combining a related method of coordinate system conversion in space.
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| CN202010205979.1A CN111457904A (en) | 2020-03-20 | 2020-03-20 | Be used for two shield TBM vision measurement systems |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112525158A (en) * | 2020-11-16 | 2021-03-19 | 江苏集萃智能光电***研究所有限公司 | Double-shield six-degree-of-freedom measurement method and system based on monocular vision system |
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| CN112525158A (en) * | 2020-11-16 | 2021-03-19 | 江苏集萃智能光电***研究所有限公司 | Double-shield six-degree-of-freedom measurement method and system based on monocular vision system |
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