CN117075125A - Method for monitoring spatial attitude of model test shield tunneling machine based on laser range finder - Google Patents
Method for monitoring spatial attitude of model test shield tunneling machine based on laser range finder Download PDFInfo
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- CN117075125A CN117075125A CN202310950305.8A CN202310950305A CN117075125A CN 117075125 A CN117075125 A CN 117075125A CN 202310950305 A CN202310950305 A CN 202310950305A CN 117075125 A CN117075125 A CN 117075125A
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- laser
- range finder
- shield
- laser range
- machine
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- 230000005641 tunneling Effects 0.000 title claims abstract description 56
- 238000012360 testing method Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 21
- 238000012544 monitoring process Methods 0.000 title claims abstract description 13
- 238000004364 calculation method Methods 0.000 claims description 17
- 238000005259 measurement Methods 0.000 claims description 5
- 239000005337 ground glass Substances 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 2
- CLOMYZFHNHFSIQ-UHFFFAOYSA-N clonixin Chemical compound CC1=C(Cl)C=CC=C1NC1=NC=CC=C1C(O)=O CLOMYZFHNHFSIQ-UHFFFAOYSA-N 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000005338 frosted glass Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Classifications
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
-
- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a method for monitoring the spatial attitude of a model test shield tunneling machine based on a laser range finder, which comprises the following steps: the shield machine, the laser lamp, the laser range finder and the receiving screen are arranged at proper positions in the shield machine, and the laser emitted by the laser lamp is ensured to be parallel to the axis of the shield machine. And installing a receiving screen behind the shield tunnel, wherein the receiving screen is perpendicular to the axis of the shield tunnel. The laser range finder is installed on the receiving screen, and the position of the laser range finder on the receiving screen can be adjusted according to the test requirement. The bottom surface of the laser range finder is parallel to the receiving screen, and the laser emitted by the laser range finder is parallel to the axis of the shield tunnel. The tunneling distance of the shield tunneling machine can be measured through the laser range finder, the eccentric condition can be obtained by adjusting the superposition of the laser range finder and the laser lamp, the position of the shield tunneling machine on the screen can be calculated through the laser emitted by the laser lamp, and the specific parameters are the horizontal inclination angle and the vertical inclination angle.
Description
Technical Field
The invention designs a monitoring technology of a model shield machine based on a laser range finder, in particular to a monitoring method of the attitude and the space position of the model test shield machine.
Background
The shield machine model test adopting a certain specific ruler is an important means for researching the influence of the shield machine on stratum and the shield machine in the tunneling process. The shield machine can generate an inclination angle for various reasons in the tunneling process, and the tunneling can cause the shield machine to gradually deviate from the original tunneling route under the condition of a certain inclination angle. Therefore, the space position and the posture of the shield tunneling machine need to be monitored, and the tunneling direction is adjusted by means of the monitoring result. In the related art, the inventor considers that for an indoor model test, the spatial position change rule of a tunnel is very important for the safety and the authenticity of the test, and the lack of accurate shield tunneling machine spatial position data possibly leads to great discount on the reliability of the whole test, and meanwhile, the lack of corresponding data for knowing the tunneling direction is very unfavorable for the test item with small requirement on the tunneling error of the shield tunneling machine. Therefore, the method for accurately measuring the attitude and the spatial position of the shield tunneling machine in the model test process is very necessary.
Disclosure of Invention
The invention aims to provide a method for monitoring the spatial attitude of a model test shield tunneling machine based on a laser range finder, which is required to accurately measure the tunneling distance, the eccentricity, the horizontal inclination angle and the vertical inclination angle of the shield tunneling machine in order to provide richer and more accurate parameters for experiments, provide current spatial position and attitude parameters of the tunneling machine for the tunneling machine in real time and ensure that the shield tunneling machine can smoothly go out of a tunnel.
The invention realizes the aim of the invention, and adopts the following technical scheme:
the laser lamp is arranged at a proper position in the shield tunneling machine, so that the laser emitted by the laser lamp is ensured to be parallel to the axis of the shield tunneling machine. And installing a receiving screen behind the shield tunnel, wherein the receiving screen is perpendicular to the axis of the shield tunnel. The laser range finder is installed on the receiving screen, and the position of the laser range finder on the receiving screen can be adjusted according to the test requirement. The bottom surface of the laser range finder is parallel to the receiving screen, and the laser emitted by the laser range finder is parallel to the axis of the shield tunnel. The tunneling distance of the shield machine can be measured through the laser range finder, the eccentric condition can be obtained by adjusting the superposition of the laser range finder and the laser lamp, the attitude of the shield machine can be calculated by transmitting the laser of the laser lamp on the receiving screen, and the specific parameters are the horizontal inclination angle and the vertical inclination angle.
The working process and working principle of the invention are as follows:
the distance between the laser lamp on the shield machine and the receiving screen can be directly measured through the laser range finder, and the tunneling distance of the shield machine can be calculated by performing difference calculation on the distance between the laser lamp and the data during the hole entering. After the shield tunneling machine tunnels for a certain distance, the laser beam of the laser range finder may deviate from the laser lamp, and the position of the laser range finder is adjusted until the position coincides with the center of the laser lamp, and the eccentric distance of the shield tunneling machine can be calculated through the track of the laser range finder on the reflecting screen. As shown in fig. 6, the light-colored part (7) is light-tight ground glass with the bottom surface, so that diffuse reflection can be realized, and the laser range finder can better measure data; the dark part (8) is a laser light source, and the position can emit laser light to help the measurement of the dip angle data. The point position change of the laser on the receiving screen is measured, and the horizontal dip angle and the vertical dip angle can be calculated by combining the data of the laser range finder, so that the attitude correction is facilitated.
The system can measure the space position and the attitude of the shield machine in real time, and a tester can correct the azimuth of the shield machine by means of the information so as to ensure that the shield machine is tunneled smoothly to a designated position.
Compared with the prior art, the invention has the beneficial effects that:
firstly, the test result is comprehensive, and covers the tunneling distance, the eccentricity, the horizontal inclination angle and the vertical inclination angle, so that the current gesture and the space position of the shield machine can be comprehensively reflected, and the gesture adjustment of a tester is effectively facilitated; and secondly, the operation is simple and convenient, the composition of the hardware part is simple, and only the laser range finder, the laser lamp and the receiving screen are arranged, so that the workload of test personnel is small. Furthermore, the calculation workload is small, and related calculation software is matched, so that the working efficiency can be greatly improved.
The invention will be described in further detail with reference to the accompanying drawings and detailed description.
Drawings
FIG. 1 is a schematic view of the shield machine, laser lamp, receiving screen and laser range finder position according to the present invention
FIG. 2 is a schematic view of a receiving screen according to the present invention
FIG. 3 is a side view of the tunneling distance according to the present invention
FIG. 4 is a schematic view of the vertical tilt angle of the shield tunneling machine according to the present invention
FIG. 5 is a schematic diagram showing the horizontal inclination angle of the shield tunneling machine according to the present invention
FIG. 6 is a schematic diagram of a laser lamp
FIG. 7 is a schematic diagram of the eccentricity of the shield machine according to the present invention
FIG. 8 is a schematic view of vertical tilt calculation
FIG. 9 is a schematic diagram showing calculation of horizontal tilt angle
The method comprises the following steps: 1-a shield machine; 2-a laser lamp; 3-shield tunnel; 4-receiving a screen; 5-a laser range finder; 6, the laser emitted by the laser lamp is positioned on the upper position of the receiving screen; 7-laser frosted glass portion; 8-a laser light source section; 9-laser rangefinder initial position.
Detailed Description
According to one aspect of the embodiment of the invention, a method for monitoring the spatial position of a shield tunneling machine based on a large-scale model for indoor test of a laser range finder is provided, and the method comprises the following steps:
1. introduction to the apparatus
1) And a laser lamp. As shown in fig. 6, the light-colored part (7) is light-tight ground glass with the bottom surface, so that diffuse reflection can be realized, and the laser range finder can better measure data; the dark part (8) is a laser light source, and the position can emit laser light to help the measurement of the dip angle data. The measuring point position of the laser range finder is the target point cross.
2) A screen is received. The receiving screen is a disc-shaped member, and vertical and horizontal auxiliary lines are marked on the receiving screen, so that the data measurement is facilitated.
3) A laser range finder. Which is capable of measuring the distance between the laser shots at the target points.
2. Installation of equipment
1) And installing a laser lamp. And a laser lamp is arranged at a proper position in the shield machine, so that the laser emitted by the laser lamp is ensured to be parallel to the axis of the shield machine.
2) The receiving screen is installed. And a receiving screen is arranged at a proper position behind the shield tunnel, the receiving screen is kept perpendicular to the axis of the shield tunnel, and the receiving screen can receive the laser emitted by the laser range finder.
3) And a laser range finder is arranged on the receiving screen, the position of the laser range finder can be adjusted according to test requirements, and the laser emitted by the laser range finder is ensured to be parallel to the axis of the shield tunnel.
3. Measurement operation flow
After the inspection work of the instrument installation is completed, the position of the laser range finder is adjusted, so that laser emitted by the laser range finder is aligned to the cross position on the laser lamp. After the position of the laser range finder is adjusted, the current position of the laser range finder and the position of the laser emitted by the laser lamp on the receiving screen are recorded. The distance between the tunneling distance and the target point can be measured through the laser range finder, and the tunneling distance can be obtained through calculating the difference value between the tunneling distance and the data when the tunneling distance is in the tunnel; the eccentricity can be obtained by comparing the initial state and the current state of the laser range finder; the horizontal inclination angle and the vertical inclination angle of the shield machine can be calculated by processing the position information of the laser emitted by the laser lamp on the receiving screen.
4. Principle of data processing
Since the whole calculation flow is already embedded in the software program, excessive calculation is not needed in actual operation, and a specific formula calculation flow is as follows.
1) Tunneling distance calculation
By passing throughThe laser range finder can measure the distance between the reflecting screen and the target point as x, and the measured value is x when a hole is formed 0 The calculation formula of the tunneling distance deltax is as follows:
Δx＝x-x 0 [1]
2) Eccentricity calculation method
Referring to fig. 7, wherein (9) is the initial position of the laser range finder, (5) is the current position of the laser range finder, and Δr is the eccentricity of the shield machine.
3) Horizontal tilt and vertical tilt calculation
As shown in fig. 2, wherein (5) is the current position of the laser range finder and (6) is the upper position of the laser emitted by the laser lamp on the receiving screen. Let the vertical inclination angle be alpha 1 A vertical inclination angle alpha 2 The schematic diagrams are shown in fig. 8 and 9, and the calculation formulas are as follows.
The attitude of the shield machine can be reflected through the horizontal inclination angle and the vertical inclination angle of the shield machine, and the space position of the shield machine can be reflected through the tunneling distance and the eccentricity of the shield machine.
Claims (5)
1. A method for monitoring the space attitude of a model test shield machine based on a laser range finder comprises the following steps: the shield machine (1), the laser lamp (2), the laser range finder (5) and the receiving screen (4), wherein the laser lamp (2) is arranged at a proper position inside the shield machine (1) to ensure that the laser emitted by the laser lamp (2) is parallel to the axis of the shield machine (1);
the method is characterized in that a receiving screen (4) is arranged behind the shield tunnel (3), and the receiving screen (4) is perpendicular to the axis of the shield tunnel (3); a laser range finder (5) is arranged on the receiving screen (4), and the position of the laser range finder (5) on the receiving screen (4) can be adjusted according to the test requirement; the bottom surface of the laser range finder (5) is parallel to the receiving screen (4), and the laser emitted by the laser range finder (5) is parallel to the axis of the shield tunnel (3);
the tunneling distance of the shield tunneling machine (1) can be measured through the laser range finder (5), the eccentric condition can be obtained by adjusting the superposition of laser of the laser range finder (5) and the laser lamp (2), the attitude of the shield tunneling machine (1) can be calculated by sending laser through the laser lamp (2) on the receiving screen (4), and the specific parameters are the horizontal inclination angle and the vertical inclination angle.
2. The method for monitoring the spatial attitude of the model test shield tunneling machine based on the laser range finder, which is characterized in that the distance between the laser lamp on the shield tunneling machine and the receiving screen can be directly measured by the laser range finder, and the tunneling distance of the shield tunneling machine can be calculated by performing difference calculation with data in the process of entering a tunnel; after the shield tunneling machine tunnels a certain distance, the laser beam of the laser range finder deviates from the laser lamp, the position of the laser range finder is adjusted until the position coincides with the center of the laser lamp, and the eccentric distance of the shield tunneling machine is calculated through the track of the laser distance measurement on the reflecting screen; the light-colored part (7) is light-tight ground glass with the bottom surface, so that diffuse reflection can be realized, and the laser range finder can better measure data; the dark part (8) is a laser light source, and the position of the laser light source can emit laser to help to measure the inclination angle data; the point position change of the laser on the receiving screen is measured, and the horizontal dip angle and the vertical dip angle can be calculated by combining the data of the laser range finder, so that the attitude correction is facilitated.
3. The method for monitoring the spatial attitude of the model test shield tunneling machine based on the laser range finder according to claim 1 is characterized in that the tunneling distance calculation method comprises the following steps:
the distance between the reflecting screen and the target point can be measured by the laser range finder to be x, and the measured value is x when a hole is formed 0 The calculation formula of the tunneling distance deltax is as follows:
Δx＝x-x 0 [1]。
4. the method for monitoring the spatial attitude of a model test shield tunneling machine based on a laser range finder according to claim 1 is characterized in that the eccentricity calculation method comprises the following steps:
wherein Deltar is the eccentricity of the shield machine.
5. The method for monitoring the spatial attitude of the model test shield tunneling machine based on the laser rangefinder according to claim 1 is characterized in that the method for calculating the horizontal inclination angle and the vertical inclination angle is as follows,
let the vertical inclination angle be alpha 1 A vertical inclination angle alpha 2 The calculation formula is as follows;
the attitude of the shield machine can be reflected through the horizontal inclination angle and the vertical inclination angle of the shield machine, and the space position of the shield machine can be reflected through the tunneling distance and the eccentricity of the shield machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310950305.8A CN117075125A (en) | 2023-07-31 | 2023-07-31 | Method for monitoring spatial attitude of model test shield tunneling machine based on laser range finder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310950305.8A CN117075125A (en) | 2023-07-31 | 2023-07-31 | Method for monitoring spatial attitude of model test shield tunneling machine based on laser range finder |
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| Publication Number | Publication Date |
|---|---|
| CN117075125A true CN117075125A (en) | 2023-11-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310950305.8A Pending CN117075125A (en) | 2023-07-31 | 2023-07-31 | Method for monitoring spatial attitude of model test shield tunneling machine based on laser range finder |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02261192A (en) * | 1989-03-31 | 1990-10-23 | Shimizu Corp | Attitude control method for shield machine |
| CN101963507A (en) * | 2010-08-16 | 2011-02-02 | 上海地铁盾构设备工程有限公司 | Shield segment center detection system and shield posture determination method |
| CN210014783U (en) * | 2019-04-30 | 2020-02-04 | 上海力信测量***有限公司 | Laser target for measuring shield posture |
| CN216115888U (en) * | 2021-09-13 | 2022-03-22 | 宏润建设集团股份有限公司 | Shield tail clearance measuring system of shield machine |
| CN114233299A (en) * | 2021-12-28 | 2022-03-25 | 南昌轨道交通集团有限公司地铁项目管理分公司 | Shield tunnel segment displacement monitoring method and device |
| CN115263325A (en) * | 2022-08-26 | 2022-11-01 | 西安理工大学 | Attitude guide device for automatically following shield tunneling machine tunneling and control method thereof |
| CN117075126A (en) * | 2023-07-31 | 2023-11-17 | 北京工业大学 | Method for monitoring attitude and spatial position of model test shield tunneling machine based on laser reflection principle |
-
2023
- 2023-07-31 CN CN202310950305.8A patent/CN117075125A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02261192A (en) * | 1989-03-31 | 1990-10-23 | Shimizu Corp | Attitude control method for shield machine |
| CN101963507A (en) * | 2010-08-16 | 2011-02-02 | 上海地铁盾构设备工程有限公司 | Shield segment center detection system and shield posture determination method |
| CN210014783U (en) * | 2019-04-30 | 2020-02-04 | 上海力信测量***有限公司 | Laser target for measuring shield posture |
| CN216115888U (en) * | 2021-09-13 | 2022-03-22 | 宏润建设集团股份有限公司 | Shield tail clearance measuring system of shield machine |
| CN114233299A (en) * | 2021-12-28 | 2022-03-25 | 南昌轨道交通集团有限公司地铁项目管理分公司 | Shield tunnel segment displacement monitoring method and device |
| CN115263325A (en) * | 2022-08-26 | 2022-11-01 | 西安理工大学 | Attitude guide device for automatically following shield tunneling machine tunneling and control method thereof |
| CN117075126A (en) * | 2023-07-31 | 2023-11-17 | 北京工业大学 | Method for monitoring attitude and spatial position of model test shield tunneling machine based on laser reflection principle |
Non-Patent Citations (1)
| Title |
|---|
| 刘红沪: "地铁盾构机姿态定位测量技术分析", 价值工程, vol. 39, no. 27, 28 September 2020 (2020-09-28), pages 131 - 133 * |
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