CN111766562B - Tunnel tunneling guiding method and system - Google Patents
Tunnel tunneling guiding method and system Download PDFInfo
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- CN111766562B CN111766562B CN202010912916.XA CN202010912916A CN111766562B CN 111766562 B CN111766562 B CN 111766562B CN 202010912916 A CN202010912916 A CN 202010912916A CN 111766562 B CN111766562 B CN 111766562B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
- G01S5/163—Determination of attitude
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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Abstract
The invention provides a tunnel tunneling guiding method and a guiding system, wherein the method comprises the following steps: acquiring the position coordinates of a double-screen laser target installed on the tunneling equipment; controlling an indicating laser to rotate according to the change value of the position coordinate, so that an indicating laser beam emitted by the indicating laser irradiates the double-screen laser target, and light spots are formed on a front screen and a rear screen of the double-screen laser target respectively; calculating the direction vector of the indication laser beam according to the coordinates of light spots formed by the indication laser beam on the front screen and the rear screen of the double-screen laser target respectively, so as to obtain the current attitude of the tunneling equipment; acquiring a distance value between the indicating laser and the tunneling equipment; and S5, combining the current attitude and the distance value to obtain the six degrees of freedom of the tunneling equipment. The method has the advantages of lower cost, higher guiding precision, smaller influence by external environment and contribution to ensuring the quality of the tunneling tunnel.
Description
Technical Field
The invention relates to the technical field of tunneling guidance, in particular to a tunneling guidance method and a tunneling guidance system.
Background
The guide system is indispensable equipment in the construction process of various underground tunnel roadways and other infrastructure construction facilities, and the guide system can ensure that the tunneling direction of the tunneling equipment is accurate in the tunneling construction process, so that the accuracy of controlling the axis of the tunnel is improved, the construction route is consistent with the design, and the construction quality and safety are ensured.
At present, the existing guide system mainly realizes tunneling guide through a measuring robot and a single-screen laser target, but the tunnel construction environment is severe, the protective requirement of the measuring robot is high, and once the measuring robot is damaged, the maintenance is difficult, so the protective requirement is high; in addition, the measuring robot has more functions, and only the target identification and aiming and coordinate measuring functions are applied in the tunneling guide, so that the resource waste is caused, and the cost of the whole guide system is increased; in addition, when the measuring robot and the common laser target are used for guiding, the measuring robot is required to accurately aim at the center of the common laser target, coordinate measurement can be carried out by the measuring robot, and attitude measurement can be carried out by the laser target. Therefore, a tunnel tunneling guiding method and a guiding system with higher guiding precision, less influence from the external environment and lower cost are needed.
Disclosure of Invention
The invention aims to provide a tunnel tunneling guiding method and a tunnel tunneling guiding system, which are lower in cost, higher in guiding precision, less influenced by external environment and beneficial to ensuring the quality of a tunnel.
The technical scheme provided by the invention is as follows:
the invention provides a tunneling guide method, which comprises the following steps:
acquiring the position coordinates of a double-screen laser target installed on the tunneling equipment through a sighting camera;
controlling an indicating laser to rotate according to the change value of the position coordinate, enabling an indicating laser beam emitted by the indicating laser to irradiate the double-screen laser target, forming light spots on a front screen and a rear screen of the double-screen laser target respectively, and acquiring coordinates of the light spots formed on the front screen and the rear screen respectively through the aiming camera;
calculating the direction vector of the indication laser beam according to the coordinates of light spots formed by the indication laser beam on the front screen and the rear screen respectively, so as to obtain the current attitude of the tunneling equipment;
acquiring a distance value between the indicating laser and the tunneling equipment;
and combining the current attitude and the distance value to obtain the six degrees of freedom of the tunneling equipment.
The method comprises the steps of obtaining position coordinates of a double-screen laser target on the tunneling device, adjusting an indicating laser according to a change value of the position coordinates when the position of the tunneling device changes, enabling an indicating laser beam emitted by the indicating laser to irradiate the double-screen laser target, forming light spots on a front screen and a rear screen of the double-screen laser target respectively, calculating a direction vector of the indicating laser beam through the coordinates of the two light spots, obtaining the current posture of the tunneling device, obtaining a distance value between the indicating laser and the tunneling device, combining the distance value with the current posture, obtaining six degrees of freedom of the tunneling device, and guiding the tunneling of the tunneling device. When the method is used for guiding, a measuring robot is not needed, the cost is lower, the influence of the external environment is small, the guiding precision is higher, and the quality of the tunnel is favorably ensured.
Further, when the position coordinates of a double-screen laser target installed on the tunneling equipment are obtained, the light spot coordinates of a rear-view light source installed on the double-screen laser target are obtained through a sighting camera and serve as the position coordinates;
the controlling and indicating laser to rotate according to the change value of the position coordinate specifically comprises:
calculating the change value of the spot coordinate of the rear-view light source in the image coordinate system of the aiming camera;
calculating an angle value required to rotate the indicating laser according to the change value;
and controlling the indicating laser to rotate according to the angle value, so that the indicating laser beam emitted by the indicating laser irradiates on the double-screen laser target.
The rear-view light source adopts a large divergence angle laser or a light-emitting LED, the wavelength of the light source is single wavelength including but not limited to visible light band and infrared band, the rear-view light source is fixedly connected with the double-screen laser target, is placed outside the laser target and can be placed above, below, on the left side or on the right side, and in the tunneling process of the tunneling equipment, the rear-view light source changes along with the position changes of the double-screen laser target and the tunneling equipment; the aiming camera comprises a CCD or CMOS sensor, a lens, an optical filter, a processing circuit and the like, and can quickly obtain the spot coordinate of the rearview light source through the aiming camera, so that the spot coordinate can be used as the position coordinate of the double-screen laser target, the change value of the spot coordinate in the image coordinate system of the aiming camera is calculated, the angle value of the indicated laser needing to rotate is calculated according to the change value, the indicated laser is controlled to rotate according to the angle value, and the indicated laser beam emitted by the indicated laser can be irradiated on the double-screen laser target.
Further, forming the light spots on the front screen and the rear screen of the double-screen laser target respectively specifically comprises:
the indication laser beam penetrates through the semitransparent front screen to be irradiated onto the rear screen, and light spots are formed on the front screen and the rear screen respectively.
The front screen of the double-screen laser target is semi-transparent, so that the indicating laser beam can penetrate through the front screen to irradiate the rear screen when irradiating the double-screen laser target, and light spots are formed on the front screen and the rear screen respectively.
Further, before acquiring the position coordinates of the double-screen laser target installed on the tunneling device, the method further comprises the following steps:
and adjusting the orientation of the indicating laser to enable the indicating laser to face the double-screen laser target.
By adjusting the orientation of the pointing laser prior to steering, the pointing laser can be directed generally toward the dual-screen laser target, thereby ensuring that the pointing laser and the rear-view light source are within the field of view of the aiming camera.
In addition, the invention also provides a tunneling guide system, which comprises:
the laser target system comprises a processor and a double-screen laser target arranged on the tunneling equipment, and the double-screen laser target comprises a front screen and a rear screen;
a measurement station comprising an aiming camera, a controller, an indication laser, and a ranging module;
the aiming camera is used for acquiring the position coordinates of the double-screen laser target,
the controller is used for controlling the indication laser to rotate when the position coordinates are changed, so that the indication laser aims at the double-screen laser target and emits indication laser beams to the double-screen laser target, the indication laser beams respectively form light spots on the front screen and the rear screen, and the aiming camera is also used for acquiring the coordinates of the light spots respectively formed on the front screen and the rear screen;
the distance measuring module is used for measuring a distance value between the measuring station and the tunneling equipment;
the processor is used for calculating the direction vector of the indication laser beam according to the coordinates of the light spots formed by the indication laser beam on the front screen and the rear screen, acquiring the current attitude of the tunneling equipment, combining the current attitude and the distance value and acquiring the six degrees of freedom of tunneling of the tunneling equipment.
The method comprises the steps of obtaining position coordinates of a double-screen laser target on the tunneling equipment through a sighting camera, adjusting the steering of an indicating laser through a controller according to the change value of the position coordinates when the position of the tunneling equipment changes, enabling an indicating laser beam emitted by the indicating laser to irradiate the double-screen laser target, forming light spots on a front screen and a rear screen of the double-screen laser target respectively, calculating the direction vector of the indicating laser beam through the two light spots, obtaining the current posture of the tunneling equipment, obtaining the distance value between the indicating laser and the tunneling equipment through a distance measuring module, combining the distance value with the current posture, obtaining six degrees of freedom of the tunneling equipment, and guiding the tunneling of the tunneling equipment. When the system is used for guiding, a measuring robot is not needed, the cost is lower, and the influence of the external environment is smaller, so that the guiding precision is higher, and the quality of the tunnel is favorably ensured.
Furthermore, the measuring station also comprises a holder base, a double-shaft holder is arranged on the holder base,
the indication laser is installed at the geometric center of the double-shaft holder, and the controller controls the indication laser to rotate through the double-shaft holder.
The structure form of biax cloud platform includes but not limited to U type structure, return type structure etc. and the biax cloud platform can just be put or hoist and mount, and be equipped with angle sensor on the biax cloud platform, angle sensor is used for providing horizontal perpendicular angle value, angle sensor's form includes but not limited to grating angle sensor, encoder, rotary transformer and circular magnetic grid sensor etc. indicates the laser instrument and installs the geometric center at the biax cloud platform, the controller can instruct the laser instrument to rotate through the control of biax cloud platform to the messenger instructs the laser beam of laser instrument transmission and shines on the double-screen laser target.
Further, the aiming camera is mounted on the holder base, and a lens of the aiming camera faces the double-screen laser target;
the distance measuring module is installed on the holder base or at the center of a rotating shaft of the double-shaft holder.
The aiming camera comprises a CCD or CMOS sensor, a lens, an optical filter, a processing circuit and the like, and can quickly obtain the position coordinates of the double-screen laser target by mounting the aiming camera on the tripod head base; the distance measuring module adopts laser rangefinder or UWB range finding principle, when the distance measuring module adopts UWB range finding principle, need install receiving module in double-screen laser target department, through installing the distance measuring module on the cloud platform frame or install the rotation axis center at the biax cloud platform, can record the distance value of survey station and double-screen laser target.
Furthermore, the laser target system also comprises a rear-view light source, the rear-view light source is installed on the double-screen laser target, and the aiming camera acquires the position coordinate of the double-screen laser target through the light spot coordinate of the rear-view light source in the image coordinate of the aiming camera.
The rear-view light source adopts a large divergence angle laser or a light-emitting LED, the wavelength of the light source is single wavelength including but not limited to visible light band and infrared band, the rear-view light source is fixedly connected with the double-screen laser target, is placed outside the laser target and can be placed above, below, on the left side or on the right side, and in the tunneling process of the tunneling equipment, the rear-view light source changes along with the position changes of the double-screen laser target and the tunneling equipment; the light spot coordinates of the back-view light source can be quickly obtained through the aiming camera, so that the light spot coordinates can be used as the position coordinates of the double-screen laser target, the change value of the light spot coordinates in an image coordinate system of the aiming camera is calculated, the angle value of the indicated laser needing to rotate is calculated according to the change value, the indicated laser is controlled to rotate according to the angle value, and the indicated laser beam emitted by the indicated laser can be irradiated on the double-screen laser target.
Further, the front screen is semitransparent, so that the indication laser beam penetrates through the front screen to be irradiated onto the rear screen, and light spots are formed on the front screen and the rear screen respectively.
The front screen of the double-screen laser target is semi-transparent, so that the indicating laser beam can penetrate through the front screen to irradiate the rear screen when irradiating the double-screen laser target, and light spots are formed on the front screen and the rear screen respectively.
Furthermore, an indication laser collimating mirror is arranged at the front end of the indication laser.
The indicating laser is a small divergence angle laser, and the light source wavelength is a single wavelength including but not limited to a visible light band and an infrared band; the indication laser collimator is used for shaping the indication laser beam, so that the divergence angle of the emergent laser is smaller, and the size of a light spot irradiated on the double-screen laser target is not too large.
According to the tunneling guide method and the tunneling guide system provided by the invention, the position coordinates of the double-screen laser target on the tunneling device are obtained, the indication laser is adjusted according to the change value of the position coordinates when the position of the tunneling device changes, the indication laser beam emitted by the indication laser can be irradiated on the double-screen laser target, light spots are respectively formed on the front screen and the rear screen of the double-screen laser target, the direction vector of the indication laser beam can be calculated according to the coordinates of the two light spots, so that the current posture of the tunneling device is obtained, and then the distance value and the current posture are combined by obtaining the distance value between the indication laser and the tunneling device, so that the six degrees of freedom of the tunneling device can be obtained, and the tunneling of the tunneling device is guided. When the method is used for guiding, a measuring robot is not needed, the cost is lower, the influence of the external environment is small, the guiding precision is higher, and the quality of the tunnel is favorably ensured.
Drawings
The foregoing features, technical features, advantages and embodiments of the present invention will be further explained in the following detailed description of the preferred embodiments, which is to be read in connection with the accompanying drawings.
FIG. 1 is a schematic flow diagram of an embodiment of the present invention;
fig. 2 is a schematic structural diagram of an embodiment of the present invention.
Reference numbers in the figures: 1-laser target system; 10-double screen laser target; 11-front screen; 12-rear screen; 13-a rear view light source; 2-a measuring station; 21-a sighting camera; 22-a controller; 23-an indicator laser; 24-a ranging module; 25-holder base; 26-a two-axis pan-tilt; 27-laser collimating mirror.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
Example 1
One embodiment of the present invention, as shown in fig. 1, provides a tunneling guide method, including the steps of:
and S1, acquiring the position coordinates of the double-screen laser target installed on the tunneling equipment, specifically, acquiring the position coordinates of the double-screen laser target installed on the tunneling equipment through the aiming camera. Compared with a common single-screen laser target in the prior art, the double-screen laser target is provided with a front screen and a rear screen, and light spots can be formed under the irradiation of an indication laser beam.
And S2, controlling the indicating laser to rotate according to the change value of the position coordinate, enabling the indicating laser beam emitted by the indicating laser to irradiate the double-screen laser target, forming light spots on the front screen and the rear screen of the double-screen laser target respectively, and acquiring the coordinates of the light spots formed on the front screen and the rear screen respectively through the aiming camera.
The indicating laser is a small divergence angle laser, the wavelength of a light source is a single wavelength including but not limited to a visible light band and an infrared band, the positions of the tunneling equipment and the double-screen laser target can be changed continuously along with the tunneling process of the tunneling equipment, so that the position coordinates are changed, the indicating laser is controlled to rotate according to the change value of the position coordinates, an indicating laser beam emitted by the indicating laser can be irradiated on the double-screen laser target, and a front light spot and a rear light spot are formed.
Preferably, forming the light spots on the front screen and the rear screen of the double-screen laser target respectively specifically comprises:
the indication laser beam passes through the semitransparent front screen to be irradiated on the rear screen, and light spots are formed on the front screen and the rear screen respectively.
The front screen of the double-screen laser target is semi-transparent, so that the indicating laser beam can penetrate through the front screen to irradiate the rear screen when irradiating the double-screen laser target, and light spots are formed on the front screen and the rear screen respectively.
And S3, calculating the direction vector of the indication laser beam according to the coordinates of the light spots formed on the front screen and the rear screen by the indication laser beam, so as to obtain the current posture of the tunneling device.
After light spots formed by the indicating laser beams on the front screen and the rear screen respectively are obtained, the direction vector of the indicating laser beams can be calculated according to the coordinates of the light spots, and therefore the current posture of the tunneling equipment is obtained.
And S4, acquiring a distance value between the indicating laser and the tunneling equipment.
And S5, combining the current attitude and the distance value to obtain the six degrees of freedom of the tunneling equipment.
The method comprises the steps of obtaining position coordinates of a double-screen laser target on the tunneling device, adjusting an indicating laser according to a change value of the position coordinates when the position of the tunneling device changes, enabling an indicating laser beam emitted by the indicating laser to irradiate the double-screen laser target, forming light spots on a front screen and a rear screen of the double-screen laser target respectively, calculating a direction vector of the indicating laser beam through the coordinates of the two light spots, obtaining the current posture of the tunneling device, obtaining a distance value between the indicating laser and the tunneling device, combining the distance value with the current posture, obtaining six degrees of freedom of the tunneling device, and guiding the tunneling of the tunneling device. When the method is used for guiding, a measuring robot is not needed, the cost is lower, the influence of the external environment is small, the guiding precision is higher, and the quality of the tunnel is favorably ensured.
Example 2
In an embodiment of the present invention, as shown in fig. 1, based on embodiment 1, when acquiring the position coordinates of the double-screen laser target installed on the heading equipment, the light spot coordinates of the rear-view light source installed on the double-screen laser target are acquired as the position coordinates by the aiming camera.
The rear-view light source adopts a large divergence angle laser or a light-emitting LED, the wavelength of the light source is single wavelength including but not limited to visible light wave band and infrared wave band, the rear-view light source is fixedly connected with the double-screen laser target and is arranged outside the laser target and can be arranged above, below, left side or right side, and in the tunneling process of the tunneling device, the rear-view light source changes along with the position changes of the double-screen laser target and the tunneling device, so that the light spot coordinate can be used as the position coordinate of the double-screen laser target.
Preferably, the controlling the indicating laser to rotate according to the change value of the position coordinate specifically includes:
and S21, calculating the change value of the spot coordinates of the rearview light source in the image coordinate system of the aiming camera.
And S22, calculating an angle value indicating the required rotation of the laser according to the change value.
And S23, controlling the indicating laser to rotate according to the angle value, and enabling the indicating laser beam emitted by the indicating laser to irradiate the double-screen laser target.
The aiming camera comprises a CCD or CMOS sensor, a lens, an optical filter, a processing circuit and the like, and can quickly obtain the spot coordinate of the rearview light source through the aiming camera, so that the spot coordinate can be used as the position coordinate of the double-screen laser target, the change value of the spot coordinate in the image coordinate system of the aiming camera is calculated, the angle value of the indicated laser needing to rotate is calculated according to the change value, the indicated laser is controlled to rotate according to the angle value, and the indicated laser beam emitted by the indicated laser can be irradiated on the double-screen laser target.
Preferably, before acquiring the position coordinates of the double-screen laser target installed on the heading equipment, the method further comprises the following steps:
and adjusting the orientation of the indicating laser to enable the indicating laser to face the double-screen laser target.
By adjusting the orientation of the pointing laser prior to steering, the pointing laser can be directed generally toward the dual-screen laser target, thereby ensuring that the pointing laser and the rear-view light source are within the field of view of the aiming camera.
Example 3
In an embodiment of the present invention, as shown in fig. 2, the present invention further provides a tunnel boring guiding system, which includes a laser target system 1 and a measuring station 2, wherein the laser target system 1 is installed on the boring equipment, the measuring station 2 is fixed at the rear end of the boring tunnel, and the position of the measuring station 2 is adjusted when the boring direction is adjusted for a certain distance or a larger distance.
The laser target system 1 comprises a processor and a double-screen laser target 10 installed on the tunneling device, wherein the double-screen laser target 10 comprises a front screen 11 and a rear screen 12.
The measuring station 2 comprises an aiming camera 21, a controller 22, an indication laser 23 and a ranging module 24; the aiming camera 21 is used for acquiring the position coordinates of the double-screen laser target 10, the controller 22 is used for controlling the indication laser 23 to rotate when the position coordinates are changed, so that the indication laser 23 aims at the double-screen laser target 10 and emits indication laser beams to the double-screen laser target 10, the indication laser beams respectively form light spots on the front screen 11 and the rear screen 12, and the aiming camera 21 is also used for acquiring the coordinates of the light spots respectively formed on the front screen 11 and the rear screen 12.
Preferably, the front panel 11 is translucent so that the pointing laser beam is irradiated through the front panel 11 onto the rear panel 12 and forms a spot on the front panel 11 and the rear panel 12, respectively.
By setting the front screen 11 of the double-screen laser target 10 to be semitransparent, when the indication laser beam irradiates the double-screen laser target 10, the indication laser beam penetrates through the front screen 11 to irradiate the rear screen 12, and light spots are formed on the front screen and the rear screen respectively.
The distance measuring module 24 is used for measuring a distance value between the measuring station 2 and the tunneling equipment; the processor is used for calculating a direction vector of the indication laser beam according to coordinates of light spots formed by the indication laser beam on the front screen 11 and the rear screen 12, obtaining the current attitude of the tunneling equipment, combining the current attitude and the distance value, and obtaining six degrees of freedom of tunneling of the tunneling equipment.
The position coordinates of the double-screen laser target 10 on the tunneling equipment are obtained through the aiming camera 21, when the position of the tunneling equipment changes, the steering of the indicating laser 23 is adjusted through the controller 22 according to the change value of the position coordinates, the indicating laser beam emitted by the indicating laser 23 can be irradiated on the double-screen laser target 10, light spots are formed on the front screen 11 and the rear screen 12 of the double-screen laser target 10 respectively, the direction vector of the indicating laser beam can be calculated through the coordinates of the two light spots, the current posture of the tunneling equipment is obtained, the distance value between the indicating laser 23 and the tunneling equipment is obtained through the distance measuring module 24, the distance value and the current posture are combined, six degrees of freedom of the tunneling equipment can be obtained, and the tunneling of the tunneling equipment is guided. When the system is used for guiding, a measuring robot is not needed, the cost is lower, and the influence of the external environment is smaller, so that the guiding precision is higher, and the quality of the tunnel is favorably ensured.
Example 4
In an embodiment of the present invention, as shown in fig. 2, based on embodiment 3, the measuring station 2 further includes a pan/tilt base 25, a two-axis pan/tilt 26 is mounted on the pan/tilt base 25, the indication laser 23 is mounted at a geometric center of the two-axis pan/tilt 26, and the controller 22 controls the indication laser 23 to rotate through the two-axis pan/tilt 26.
The structure form of the double-shaft holder 26 includes but is not limited to a U-shaped structure, a clip-shaped structure, etc., the double-shaft holder 26 can be placed or hoisted, and the double-shaft holder 26 is provided with an angle sensor, the angle sensor is used for providing a horizontal and vertical angle value, the form of the angle sensor includes but is not limited to a grating angle sensor, an encoder, a rotary transformer, a circular magnetic grating sensor, etc., the indication laser 23 is installed at the geometric center of the double-shaft holder, and the controller 22 can control the indication laser 23 to rotate through the double-shaft holder 26, so that the indication laser beam emitted by the indication laser 23 irradiates on the double-screen.
Preferably, the aiming camera 21 is installed on the tripod head base 25, and the lens of the aiming camera 21 faces the double-screen laser target 10; the distance measuring module 24 is installed on the pan-tilt base 25 or at the center of the rotation axis of the two-axis pan-tilt 26.
The aiming camera 21 comprises a CCD or CMOS sensor, a lens, an optical filter, a processing circuit and the like, and the position coordinates of the double-screen laser target 10 can be quickly obtained by mounting the aiming camera 21 on the holder base 25; distance measuring module 24 adopts laser rangefinder or UWB range finding principle, and when distance measuring module 24 adopted the UWB range finding principle, need locate to install receiving module at double-screen laser target 10, through installing distance measuring module 24 on cloud platform frame 25 or install the rotation axis center at biax cloud platform 26, can record the distance value of survey station 2 and double-screen laser target 10.
Preferably, the laser target system 1 further comprises a rear-view light source 13, the rear-view light source 13 is mounted on the double-screen laser target 10, and the aiming camera 21 acquires the position coordinates of the double-screen laser target 10 through the spot coordinates of the rear-view light source 13 in the image coordinates of the aiming camera 21.
The rear-view light source 13 adopts a large divergence angle laser or a light-emitting LED, the wavelength of the light source is single wavelength including but not limited to visible light band and infrared band, the rear-view light source 13 is fixedly connected with the double-screen laser target 10, is arranged outside the laser target and can be arranged above, below, on the left side or on the right side, and in the tunneling process of the tunneling device, the rear-view light source 13 changes along with the position changes of the double-screen laser target 10 and the tunneling device; the spot coordinates of the rearview light source 13 can be quickly obtained through the aiming camera 21, so that the spot coordinates can be used as the position coordinates of the double-screen laser target 10, the change value of the spot coordinates in the image coordinate system of the aiming camera 21 is calculated, the angle value of the indicated laser 23 needing to rotate is calculated according to the change value, the indicated laser 23 is controlled to rotate according to the angle value, and the indicated laser beam emitted by the indicated laser 23 can be irradiated on the double-screen laser target 10.
Preferably, the front end of the indicating laser 23 is provided with an indicating laser collimating mirror 27.
The indicator laser 23 is a small divergence angle laser, and the light source wavelength is a single wavelength, including but not limited to the visible and infrared bands; the indicating laser collimating lens 27 is used for shaping the indicating laser beam, so that the divergence angle of the emergent laser is smaller, and the size of a light spot irradiated on the double-screen laser target 10 is not too large.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. A tunneling guide method is characterized by comprising the following steps:
acquiring the position coordinates of a double-screen laser target installed on the tunneling equipment through a sighting camera;
controlling an indicating laser to rotate according to the change value of the position coordinate, enabling an indicating laser beam emitted by the indicating laser to irradiate the double-screen laser target, forming light spots on a front screen and a rear screen of the double-screen laser target respectively, and acquiring coordinates of the light spots formed on the front screen and the rear screen respectively through the aiming camera;
calculating the direction vector of the indication laser beam according to the coordinates of light spots formed by the indication laser beam on the front screen and the rear screen respectively, so as to obtain the current attitude of the tunneling equipment;
acquiring a distance value between the indicating laser and the tunneling equipment;
combining the current attitude and the distance value to obtain six degrees of freedom for tunneling the tunneling equipment;
when the position coordinates of a double-screen laser target installed on the tunneling equipment are obtained, the light spot coordinates of a rearview light source installed on the double-screen laser target are obtained through a sighting camera and serve as the position coordinates;
the controlling and indicating laser to rotate according to the change value of the position coordinate specifically comprises:
calculating the change value of the spot coordinate of the rear-view light source in the image coordinate system of the aiming camera;
calculating an angle value required to rotate the indicating laser according to the change value;
and controlling the indicating laser to rotate according to the angle value, so that the indicating laser beam emitted by the indicating laser irradiates on the double-screen laser target.
2. A tunneling guide method according to claim 1, wherein: the messenger instruct the instruction laser beam that the laser instrument sent to shine on the double screen laser target, and form the facula respectively on the preceding screen of double screen laser target, the back screen, specifically include:
the indication laser beam penetrates through the semitransparent front screen to be irradiated onto the rear screen, and light spots are formed on the front screen and the rear screen respectively.
3. A tunneling guide method according to claim 1, wherein: before the position coordinates of the double-screen laser target installed on the tunneling equipment are acquired, the method further comprises the following steps:
and adjusting the orientation of the indicating laser to enable the indicating laser to face the double-screen laser target.
4. A tunneling guide system, comprising:
the laser target system comprises a processor and a double-screen laser target arranged on the tunneling equipment, and the double-screen laser target comprises a front screen and a rear screen;
a measurement station comprising an aiming camera, a controller, an indication laser, and a ranging module;
the aiming camera is used for acquiring the position coordinates of the double-screen laser target,
the controller is used for controlling the indication laser to rotate when the position coordinates are changed, so that the indication laser aims at the double-screen laser target and emits indication laser beams to the double-screen laser target, the indication laser beams respectively form light spots on the front screen and the rear screen, and the aiming camera is also used for acquiring the coordinates of the light spots respectively formed on the front screen and the rear screen;
the distance measuring module is used for measuring a distance value between the measuring station and the tunneling equipment;
the processor is used for calculating a direction vector of the indication laser beam according to coordinates of light spots formed by the indication laser beam on the front screen and the rear screen, acquiring the current attitude of the tunneling equipment, and combining the current attitude and the distance value to acquire six degrees of freedom of tunneling of the tunneling equipment;
the front screen is semitransparent, so that the indicating laser beams penetrate through the front screen to be irradiated onto the rear screen, and light spots are formed on the front screen and the rear screen respectively.
5. A tunneling guide system according to claim 4, wherein: the measuring station also comprises a holder base, a double-shaft holder is arranged on the holder base,
the indication laser is installed at the geometric center of the double-shaft holder, and the controller controls the indication laser to rotate through the double-shaft holder.
6. A tunneling guide system according to claim 5, wherein: the aiming camera is installed on the holder base, and a lens of the aiming camera faces the double-screen laser target;
the distance measuring module is installed on the holder base or at the center of a rotating shaft of the double-shaft holder.
7. A tunneling guide system according to claim 4, wherein: the laser target system further comprises a rear-view light source, the rear-view light source is installed on the double-screen laser target, and the aiming camera acquires the position coordinate of the double-screen laser target through the light spot coordinate of the rear-view light source in the image coordinate of the aiming camera.
8. A tunneling guide system according to claim 4, wherein: and an indication laser collimating lens is arranged at the front end of the indication laser.
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| CN103234513B (en) * | 2013-04-18 | 2015-01-21 | 武汉理工大学 | Heading automatic-guiding system and guiding method based on camera lens and attitude and heading reference system |
| CN103344212A (en) * | 2013-07-01 | 2013-10-09 | 中铁隧道集团有限公司 | Laser target for measuring shield attitude angle and measuring method of laser target |
| CN108150154A (en) * | 2017-04-05 | 2018-06-12 | 湖南科天健光电技术有限公司 | The laser target and its measuring device of guidance system in railroad survey and constructing tunnel |
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