CN212389338U - Heading machine guiding system suitable for small-diameter variable-curvature visual transmission measurement - Google Patents
Heading machine guiding system suitable for small-diameter variable-curvature visual transmission measurement Download PDFInfo
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- CN212389338U CN212389338U CN202021071198.XU CN202021071198U CN212389338U CN 212389338 U CN212389338 U CN 212389338U CN 202021071198 U CN202021071198 U CN 202021071198U CN 212389338 U CN212389338 U CN 212389338U
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Abstract
The utility model belongs to the technical field of the entry driving machine direction, in particular to be applicable to minor diameter variable curvature vision transmission and measure entry driving machine guide system contains: the device comprises a fixed end used for providing reference data of a measuring station and a movable end used for carrying out data acquisition and guidance according to the movement characteristics of the heading machine; the mobile terminal includes: the system comprises a target to be detected, all stages of transfer stations and an upper computer, wherein the upper computer is used for receiving data of a fixed end and all stages of transfer stations and acquiring positioning guide data by utilizing coordinate conversion; wherein each stage of the transfer station comprises: the system comprises characteristic markers for identification and positioning identification and transfer station cameras for acquiring visual data, wherein the characteristic markers and the transfer station cameras on each transfer station are respectively and correspondingly fixedly installed on trolleys at all levels by taking groups as units, and the transfer station cameras transmit acquired image data to an upper computer in a network mode. The utility model discloses can not be fit for any curve tunnel by the restriction of tunnel line type, reduce the frequent operation of changing stations, the working strength that significantly reduces, improve the efficiency of construction.
Description
Technical Field
The utility model belongs to the technical field of the entry driving machine direction, in particular to be applicable to minor diameter variable curvature vision transmission and measure entry driving machine guidance system.
Background
With the rapid development of urban rail transit in China in recent years, urban electric power tunnels, diversion tunnels and the like are constructed more and more by adopting a shield construction method, the excavation diameter and the turning radius of the tunnels are also reduced, and the method is more and more an examination to a measurement guiding system. The measuring station changing and the measuring precision are greatly influenced by small turning radius, small excavation diameter, narrow operable space and the like, and the frequent short-distance station changing increases the measuring workload on the one hand and seriously influences the construction progress on the other hand. The conventional tunnel measurement is that the station is changed before the station is driven by a distance measuring station and the laser target, so the cost is high and the efficiency is low. Therefore, particularly for the construction of the tunnel boring machine with small turning radius and small-diameter variable curvature, a vision transmission measurement guiding scheme of the tunnel boring machine is urgently needed to ensure the guiding construction quality and efficiency in the construction of the small-diameter variable curvature.
Disclosure of Invention
Therefore, the utility model provides a be applicable to minor diameter variable curvature vision transmission and measure entry driving machine guide system and method, survey the station and arrange the target at the shield body and need not to see through, do not receive the restriction of tunnel line type, be fit for any curve tunnel, reduce frequently trade the station operation, the working strength that significantly reduces, improve the efficiency of construction.
According to the utility model provides a design, a be applicable to minor diameter variable curvature vision transmission and measure entry driving machine guidance system contains: the device comprises a fixed end used for providing reference data of a measuring station and a movable end used for carrying out data acquisition and guidance according to the movement characteristics of the heading machine; the mobile terminal includes: the target to be detected is arranged between the target to be detected and the fixed end and is used for connecting and transmitting all stages of transfer stations for posture data of the target to be detected and the fixed end, and the upper computer is used for receiving the data of the fixed end and all stages of transfer stations and acquiring positioning guide data by utilizing coordinate conversion; wherein each stage of the transfer station comprises: the system comprises characteristic markers for identification and positioning identification and transfer station cameras for acquiring visual data, wherein the characteristic markers and the transfer station cameras on each transfer station are respectively and correspondingly fixedly installed on trolleys at all levels by taking groups as units, and the transfer station cameras transmit acquired image data to an upper computer in a network mode.
As the utility model is suitable for a minor diameter variable curvature vision transmission measures entry driving machine guide system, furtherly, the target fixed mounting that awaits measuring is on the entry driving machine shield body.
As the utility model is suitable for a heading machine guide system is measured in minor diameter variable curvature vision transmission, furtherly, the stiff end adopts fixed mounting survey station benchmark camera on the tunnel wall.
As the utility model is suitable for a minor diameter variable curvature vision transmission measures entry driving machine guide system, furtherly, the characteristic marker adopts the cross silk sign.
As the utility model is suitable for a minor diameter variable curvature vision transmission measures entry driving machine guide system, furtherly, the characteristic marker adopts infrared LED cross sign.
As the utility model is suitable for a minor diameter variable curvature vision transmission measures entry driving machine guide system, furtherly, the characteristic marker sets up four at least in image area according to entry driving machine motion characteristic, and a plurality of characteristic markers in every transmission station are nonlinear setting.
As the utility model is suitable for a minor diameter variable curvature vision transmission measures entry driving machine guide system, and further carries out the data interaction through the network switch between each transmission station and the host computer.
The utility model has the advantages that:
the utility model is different from traditional laser automatic guidance system, the survey station need not to see through with arranging the target at the shield body, utilize many cameras and characteristic marker constitution level transmission system, link the survey station benchmark with the target that awaits measuring of fixing on the shield body that can not directly see through, thereby reach the transmission and measure the position and the gesture of target that awaits measuring for the survey station benchmark, reduce the frequent operation of changing stations, the working strength that significantly reduces, be applicable to super-small turning radius tunnel, save a large amount of human costs and time, do not receive the restriction of tunnel line type, can be fit for any curve tunnel, the tunnel efficiency of construction is greatly improved.
Description of the drawings:
FIG. 1 is a schematic layout diagram of a heading machine guide system in the embodiment;
FIG. 2 is a schematic diagram of a heading machine guidance system in an embodiment;
fig. 3 is a structural block diagram of a heading machine guide system in the embodiment.
In the figure, reference numeral 1 denotes a tunnel wall, reference numeral 2 denotes a target to be measured, reference numeral 3 denotes a dolly, reference numeral 4 denotes a camera, and reference numeral 5 denotes a feature marker.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention will be described in further detail with reference to the accompanying drawings and technical solutions.
For an ultra-small turning radius tunnel, the existing approximate scheme is as follows: the manual measurement or the traditional automatic measurement system of the tunnel boring machine ensures that the total station can measure the laser target or the forward-looking prism by continuously moving the station and changing the station, and the posture of the tunnel boring machine is obtained through an algorithm. The manual measurement has the following defects: time and labor are wasted, and the requirement on measuring personnel is high; the construction progress is influenced; the gesture is not displayed in time. The disadvantages of the conventional guidance system approach are the following: the method is only suitable for long straight line tunnels or tunnels with non-ultra-small turning radius; when the station is frequently changed in the tunnel with the ultra-small turning radius, the labor is greatly consumed; frequent station shifting and station changing have the disadvantages of narrow space, high operation difficulty and poor precision. Therefore, the embodiment of the utility model provides a, it is shown with reference to fig. 1~3 to provide and be applicable to minor diameter variable curvature vision transmission and measure entry driving machine guide system, contain: the device comprises a fixed end used for providing reference data of a measuring station and a movable end used for carrying out data acquisition and guidance according to the movement characteristics of the heading machine; the mobile terminal includes: the target to be detected is arranged between the target to be detected and the fixed end and is used for connecting and transmitting all stages of transfer stations for posture data of the target to be detected and the fixed end, and the upper computer is used for receiving the data of the fixed end and all stages of transfer stations and acquiring positioning guide data by utilizing coordinate conversion; wherein each stage of the transfer station comprises: the system comprises characteristic markers for identification and positioning identification and transfer station cameras for acquiring visual data, wherein the characteristic markers and the transfer station cameras on each transfer station are respectively and correspondingly fixedly installed on trolleys at all levels by taking groups as units, and the transfer station cameras transmit acquired image data to an upper computer in a network mode.
The station and the target targets arranged on the shield body do not need to be seen through, a hierarchical transmission system is formed by utilizing a plurality of cameras and characteristic markers, and the station reference and the target to be measured which cannot be seen through directly and is fixed on the shield body are connected, so that the position and the posture of the target to be measured relative to the station reference are transmitted and measured, frequent station changing operation is reduced, the working intensity is greatly reduced, the method is suitable for the tunnel with the ultra-small turning radius, a large amount of labor cost and time are saved, the method is not limited by the line type of the tunnel, the method is suitable for any curve tunnel, and the tunnel construction efficiency is greatly improved.
As the embodiment of the utility model provides an in be applicable to minor diameter variable curvature vision transmission and measure entry driving machine guide system, furtherly, the target fixed mounting that awaits measuring is on the entry driving machine shield body to realize the automatic positioning direction of shield machine shield body construction through transmission stations at different levels, improve its operation efficiency of construction and quality.
As the embodiment of the utility model provides an in be applicable to the minor diameter variable curvature vision transmission and measure entry driving machine guide system, further, the stiff end adopts fixed mounting survey station benchmark camera on the tunnel wall. The visual data of the movement characteristics of the heading machine are acquired in real time by using the transmission station camera and the survey station reference camera, so that the positioning guidance of the heading machine construction can be realized directly through coordinate conversion, the visual data acquisition is carried out through the cameras on the premise of ensuring the construction guidance performance, the manufacturing cost is low, and the material and resource cost is greatly saved.
As the embodiment of the utility model provides an in be applicable to the minor diameter variable curvature vision transmission and measure entry driving machine guide system, further, the characteristic marker adopts the cross silk sign. Further, the characteristic markers adopt infrared LED cross markers. And other laser markers can be used for realizing the effect of easy identification in the requirement of high-precision positioning.
As the embodiment of the utility model provides an in be applicable to minor diameter variable curvature vision transmission and measure entry driving machine guide system, furtherly, the characteristic marker sets up four at least in the image area according to entry driving machine motion characteristic, and a plurality of characteristic markers in every transmission station are nonlinear setting, are convenient for utilize the formation of image principle and optical characteristic to carry out the coordinate transformation solution of formation of image characteristic point.
As the embodiment of the utility model provides an in be applicable to minor diameter variable curvature vision transmission and measure entry driving machine guide system, further, carry out data interaction through the network switch between each transmission station and the host computer, see fig. 2 and show, through set up the network card on each transmission station and host computer, utilize the network switch to carry out data transfer, reduce the industry wiring, easily realize.
Hardware equipment such as a reference station, a vision transmission system, a target, a data line and the like is combined with upper computer data integration processing, and automatic measurement of vision data in the whole heading machine movement process is achieved. Different from the traditional laser automatic guiding system, the transfer system is formed by utilizing a plurality of cameras and characteristic marks, and the measuring station reference is connected with the target to be measured which cannot be directly seen and is fixed on the shield body, so that the position and the posture of the target to be measured relative to the measuring station reference are transferred and measured, the manufacturing cost is low, the realization is convenient, the applicability is strong, the tunnel type restriction can be avoided, and the tunnel transfer system is suitable for construction operation of any curve tunnel.
As shown in fig. 1, in a three-level transfer measurement example, E is a reference camera of a measuring station and is fixed on a tunnel wall, P is an object target to be measured and is fixed on a shield body, a, F, B and G respectively form a visual measurement transfer unit and are respectively fixed on trolleys of each level, a and B are characteristic marks, and F and G are cameras of the transfer station. The visual measurement transmission units respectively consisting of A, F, B and G are fixedly arranged on trolleys at all levels and respectively comprise a group of characteristic markers and a camera system, and the characteristic markers are cross-hair markers made of infrared LEDs and have the characteristics of easy identification and high-precision positioning.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The utility model provides a be applicable to minor diameter variable curvature vision transmission and measure entry driving machine guide system which characterized in that contains: the device comprises a fixed end used for providing reference data of a measuring station and a movable end used for carrying out data acquisition and guidance according to the movement characteristics of the heading machine; the mobile terminal includes: the target to be detected is arranged between the target to be detected and the fixed end and is used for connecting and transmitting all stages of transfer stations for posture data of the target to be detected and the fixed end, and the upper computer is used for receiving the data of the fixed end and all stages of transfer stations and acquiring positioning guide data by utilizing coordinate conversion; wherein each stage of the transfer station comprises: the system comprises characteristic markers for identification and positioning identification and transfer station cameras for acquiring visual data, wherein the characteristic markers and the transfer station cameras on each transfer station are respectively and correspondingly fixedly installed on trolleys at all levels by taking groups as units, and the transfer station cameras transmit acquired image data to an upper computer in a network mode.
2. The guide system of claim 1, wherein the target to be measured is fixedly mounted on a shield of the heading machine.
3. The small diameter variable curvature visual transmission measurement heading machine guide system of claim 1, wherein the fixed end uses a station reference camera fixedly mounted on the tunnel wall.
4. A small diameter variable curvature visual transfer measurement heading machine guide system as claimed in claim 1 wherein the characteristic marker is a cross wire marker.
5. The guide system of the small-diameter variable-curvature visual transmission measurement heading machine is characterized in that the characteristic markers are infrared LED cross markers.
6. The small diameter variable curvature visual transmission measurement heading machine guide system of claim 1, wherein the number of feature markers in each transfer station is non-linearly arranged, and the number of feature markers in each transfer station is at least four in the image area according to the movement characteristics of the heading machine.
7. The guide system of the small-diameter variable-curvature visual transmission measurement heading machine according to claim 1, wherein data interaction between each transmission station and the upper computer is performed through a network switch.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021071198.XU CN212389338U (en) | 2020-06-11 | 2020-06-11 | Heading machine guiding system suitable for small-diameter variable-curvature visual transmission measurement |
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| CN202021071198.XU CN212389338U (en) | 2020-06-11 | 2020-06-11 | Heading machine guiding system suitable for small-diameter variable-curvature visual transmission measurement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113266369A (en) * | 2021-06-03 | 2021-08-17 | 上海市基础工程集团有限公司 | Detection device applied to ultra-long distance shield axis positioning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113266369A (en) * | 2021-06-03 | 2021-08-17 | 上海市基础工程集团有限公司 | Detection device applied to ultra-long distance shield axis positioning |
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