CN101392653A - Three-dimensional attitude measuring set of tunneling construction guidance system - Google Patents
Three-dimensional attitude measuring set of tunneling construction guidance system Download PDFInfo
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- CN101392653A CN101392653A CNA2008101972842A CN200810197284A CN101392653A CN 101392653 A CN101392653 A CN 101392653A CN A2008101972842 A CNA2008101972842 A CN A2008101972842A CN 200810197284 A CN200810197284 A CN 200810197284A CN 101392653 A CN101392653 A CN 101392653A
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Abstract
The invention discloses a three-dimensional attitude measurement device for a tunneling construction guidance system, which belongs to a positioning measurement device and aims to solve the problems that the prior three-dimensional attitude measurement device has higher requirement on the light intensity and is not accurate to the processing of pulsed light signals so as to simplify the installation and use of equipment. A prism, a lens, a CCD camera and an inclinometer are sequentially arranged on a light path along the axial direction in a machine case of the device, and output signals of the CCD camera are sent to a computer through a gigabit network cable; and output signals of the inclinometer are sent to the computer through an asynchronous serial communication interface. The device has small volume, simplifies the operation, and directly utilizes infrared rays of a total station instrument to focus through the lens to project on the photosensitive surface of the CCD camera to produce a photosensitive signal, the photosensitive signal is processed to obtain deflection angle data of incident light, and the deflection angle data are output to an external computer along with inclination angle data measured by the inclinometer. The device is mainly used for attitude measurement during the construction process of a shield machine and obtains a pitching angle, a rolling direction angle and a horizontal deflection angle of a shield in a real-time mode.
Description
Technical field
The invention belongs to positioning measuring device, can be used for fields such as mine, water conservancy project tunnel, subway tunnel, municipal pipeline, common trench.
Background technology
The shield tunnel driving technology is a kind of engineering construction technology of underground bored tunnel, along with the development of Modern Traffic transportation, underground construction, mining, hydraulic engineering, urban construction and electric communications service grows up.Early stage shield machine mainly is to utilize the peculiar shield shell of shield machine tool as supporting, prevents caving in of stratum, excavates safely and various operations such as lining cutting to guarantee within it portion, and excavation is to adopt hand excavation's mode basically.Along with being on the increase of construction of tunnel, for adapting to the construction requirement under the different condition and improving efficiency of construction, remove and constantly improve soft soil tunnel development machine (being the shield structure) and application technology, develop the rock tunnel development machine and the application technology that can adapt to the lithostratigraphy construction again.Along with the development of technology, remote control control technology, laser guidance technique and gyroscope navigation system have been widely used in the shield machine, make the operation of shield machine, the control of ground settlement more become simple and easy, and the construction quality in tunnel is also become better and better.
Guidance system commonly used has three kinds of products in the shield structure now: gyroscope, ZED guidance system, VMT guidance system.They can both measure the attitude in the shield machine construction process, obtain the shield structure attitude data of any time, promptly obtain in real time the shield structure the angle of pitch, roll to angle and horizontal pivot angle; But realization principle difference separately:
1. gyroscope: classical gyrostatic basic structure is a high speed rotor rotated and is separately fixed at two frameworks on two bearings separately.The axle of rotor generally is in vertical position, so be on vertical plane near the inner frame of rotor, another framework then is positioned on the horizontal plane.The axis of two frameworks of such device is all on horizontal plane.The basic principle of attitude gyroscope is exactly the conservation of angular momentum, is not having under the situation of moment of face, and the size and Orientation of the angular momentum of high speed rotor rotated remains unchanged in inertial space.The outer bearing of general outside framework is fixed on the Flight Vehicle Structure, and the axis of aircraft and the axis of outside framework parallel, and when attitude of flight vehicle changed, its roll angle and the angle of pitch can be measured on the interior outer bearing of outside framework like this.In this class gyroscope, the imbalance of structure, the frictional force that departs from bearing of structural focus is this gyrostatic topmost source of error.These factors have caused certain moment, make gyrostatic orientation produce drift.
When gyroscope was used for the orientation detection of shield excavation machine, energy is display orientation angle, angle of slope, angle of revolution automatically.Be connected the execution control that can realize pipe jacking tunnelling machine, shield excavation machine exactly with the posture management software of development machine.Characteristics: gyroscope is dynamic tracking equipment, by getting in touch with computer, directly reflects the process data that the shield structure advances, and for shield structure location provides favourable guarantee, this lays the foundation for the shield structure is in good advanced state constantly.Shortcoming is that time lag is bigger, and shield machine is influenced by physical features can produce vibrations, and gyroscope might can not keep the static determinacy precision.Because above characteristics, so gyroscope mainly still is a manual measurement only as auxiliary reference in construction.
2.ZED guidance system: being produced by Britain ZED Tunnel Guidance company, is to have the rectangle box of transparent screen, at one end is useful on the socket of stube cable.It is used for receiving laser signal, and the energy measurement laser beam is radiated at position and the incident angle on its target surface.The general objectives unit is installed on the carriage of shield structure front portion, can every 50mm spacing move horizontally, and therefore angular turn that also can 3 ° can cover bigger target area.Its operating principle is: laser beam is by transparent front screen target approach unit (part scattering), and part light hits the sensor that is installed in unit bottom and side, the position when sensor can detecting light beam enters screen; Remaining light beam scioptics arrives the sensor that is installed on the axle center, and this sensor is contained in the rear portion of unit, is used for the inclination angle of measuring beam.The sensor at rear portion and transparent front screen distance are bigger.Therefore, if laser beam is very weak, will cause the reading inaccuracy.The signal that comes out from sensor is converted into electronic signal, and is input to control module by the cable at rear portion, unit.Its major defect: the ZED guidance system will be done a large amount of calculating when station transfer.
3.VMT guidance system: produce by German Vermessungstechnik company.Electrical laser system ELS is fixed on the shield body, when it receives incoming laser beam, determines the position of incidence point on level and vertical direction, thereby determines horizontal pivot angle.In addition, its inner tilt meter is measured the roll angle and the angle of pitch.Its operating principle: what electrical laser system ELS was inner parallel with the ELS front panel is so-called " cloudy screen ".After to the ELS energising, cloudy screen will rotate.So there is the space can printing opacity between the cloudy screen.Cloudy screen rotates the difference of residing angle, and when laser beam incident was on the moon screen, how much light that sees through differed.Behind at the moon screen is the photaesthesia electronic component, thereby laser is mapped to the intensity of measuring incident laser on these electronic components.When the intensity of laser reached maximum value, " cloudy screen " residing angle went on record at this moment.The angle of this position and the laser beam angle of incidence (horizontal pivot angle) on the ELS target is accurately coincide.At built-in two clinometers of ELS target.One is vertically to place, and one is laterally to place.These two clinometers are finally measured the absolute rolling angle and the absolute angle of pitch of tunnel machine TBM.VMT output in per 2 seconds one secondary data.Distance need be installed a special prism by total powerstation range finding laser determination for this reason between ELS target and the total powerstation below the ELS target.The major defect of VMT guidance system: for the laser beam of the cloudy screen of irradiation is provided, need the repacking total powerstation, on total powerstation, install a laser instrument additional, and guarantee laser optical axis and total powerstation range finding laser axis line parallel.
The application for a patent for invention of publication number CN1560434 " the electronic laser target of set of tunneling construction guidance system ", a kind of three-dimensional attitude measuring is provided, prism, planoconvex spotlight, photosensitive position sensor and signal processing circuit thereof, tilt meter have been housed on light path in the cabinet vertically in regular turn; Having overcome above-mentioned three-dimensional attitude measuring can not keep static determinacy precision or calculation of complex, maybe need to reequip the problem of total powerstation, but it is had relatively high expectations for light intensity, can not adapt to the telemetering in the set of tunneling construction, and the processing of the pulsed optical signals that sends for total powerstation is accurate inadequately.
Summary of the invention
The invention provides a kind of three-dimensional attitude measuring of set of tunneling construction guidance system, solve existing three-dimensional attitude measuring and handle accurate inadequately problem for the having relatively high expectations of light intensity, paired pulses optical signal, installation and use with simplified apparatus are used for set of tunneling construction guidance system.
The three-dimensional attitude measuring of a kind of set of tunneling construction guidance system of the present invention is equipped with prism, photosensitive position sensor and signal processing circuit thereof, tilt meter vertically in regular turn on light path in the cabinet, it is characterized in that:
Described photosensitive position sensor and signal processing circuit thereof are the CCD camera; Be provided with camera lens between described prism and the CCD camera; The photosensitive face of the sensor of CCD camera be positioned on the focal plane of camera lens and with the camera lens axis normal, the center that the sensor of CCD camera is photosensitive is on the camera lens axis, the output signal of CCD camera is sent to computer by the gigabit netting twine; The output signal of tilt meter is sent to computer by asynchronous serial communication interface.
The three-dimensional attitude measuring of described set of tunneling construction guidance system is characterized in that:
Described camera lens is convex lens or convex lens group.
The three-dimensional attitude measuring of described set of tunneling construction guidance system is characterized in that:
Be provided with optical filtering between described prism and the camera lens; The double-shaft tilt angle sensing module is counted at described inclination angle, is made up of Electrolyte type detection means and interlock circuit; Described cabinet seals, fills nitrogen.
Tilt meter of the present invention is selected the double-shaft tilt angle sensing module for use, it is to adopt Electrolyte type detection means and interlock circuit to form, the Electrolyte type detection means is made of the electrolyte solution and the electrode of certain chemical composition, after providing ac-excited power supply to electrode, excite the motion between power in the solution, just can form corresponding electric field.The intensity of electric field and electrode immerse the degree of depth of electrolyte solution by confidential relation.When the detection means run-off the straight, two electrodes that excitation power supply is introduced immerse the degree of depth meeting difference of electrolyte solution, and they are also variant with respect to the target earth electric field.By measuring this difference, just can learn the sizes values at incline direction and angle of inclination.The desired index of tilt meter is mainly contained: measurement category, resolution ratio, zero point temperature float, Sensitivity Temperature is floated, non-linear, appearance and size etc.; Have in the existing tilt meter product: single shaft and twin shaft pattern, numeral and simulation output, in addition with linearity and temperature-compensating need press the actual needs selection.
The present invention will comprise that the electrical laser system ELS and the prism of optical filtering, camera lens, CCD camera and tilt meter unite two into one, and greatly reduce the volume of ELS, simplify the operation.Need not red laser, directly utilize the infrared rays of total powerstation, infrared rays partly passes prism, its direction is constant, beats on camera lens, through lens focus, beat on the ccd sensor that is on the focal plane, produce sensitization data, treated generation angle signal outputs to outer computer.Output signal can be connected computer by the standard asynchronous serial communication interface and carry out the data processing with PCI-Express.
Three-dimensional attitude measuring of the present invention is mainly used in the attitude measurement in the shield machine construction process.This device is fixedly mounted on certain known location of shield structure, and guarantees that camera lens light path axis is parallel with shield structure axis, then the measured 3 d pose data of this device be exactly the shield structure the angle of pitch, roll to angle and horizontal pendulum angular data.Should guarantee between this device and the total powerstation that light path is unimpeded, the beam of laser while measuring prism that just can utilize total powerstation is to the distance of total powerstation and the horizontal pivot angle of shield structure.
The present invention links to each other with computer can realize following function:
(1) non-driving state shield attitude data acquisition: position and the attitude of when the shield structure advances, measuring position and the attitude (deflection angle) and the shield structure tail end center at shield structure front end center in real time by sensor, in main control computer, compare with the data that design in the track (DTA), but the calculation deviation amount;
(2) real-time Communication for Power detects: show every measured value and calculated value and last departure in real time by controlling computer;
(3) driving, supervisory computer data sharing:, just can make ground office obtain the real-time promote status of shield machine, so that the realization Long-distance Control as long as interface with the ground Office PC is provided;
(4) every ring history curve chart: the departure data in the tunneling process of shield structure all will store with the form of daily record, can access at any time and check;
(5) correction curve: actual track always has deviation with design track (DTA) in the construction, can correct according to design track (DTA) and come.
Description of drawings
Fig. 1 is the embodiments of the invention schematic diagram;
Fig. 2 is an optical schematic diagram of the present invention.
The specific embodiment
Fig. 1 is embodiments of the invention, and wherein prism 1: φ 60mm; The light transmittance of optical filtering 2 is 0.1%; Camera lens 3 is the convex lens group that two convex lens are formed: φ 27mm, f=35mm; The size sensor of CCD camera 4: 1600 pixels * 1200 pixels; Tilt meter 5 is selected model for use: numeral output double-shaft tilt angle sensing module NS-15/PL2; The angle signal that the horizontal pendulum angle signal that sensor produced of CCD camera 4 and inclinator produce is sent to main control computer by PCI-Express and asynchronous serial communication interface.Consider practical application, the standard asynchronous serial communication interface can adopt RS-485.
Requirement on machining accuracy reached design accuracy when each parts was installed: 6 class precisions; Cabinet seals, fills nitrogen, shockproof.
Fig. 2 is an optical principle of the present invention: by the collimated light beam of unspecified angle α entrance prism 1, focus on by camera lens 3, on the sensor that is positioned at the CCD camera 4 on camera lens 3 focal planes, compile and be a bit, establish this point and axial line distance h, the focal length of camera lens 3 is f, then has following formula to set up:
, then α is the horizontal pivot angle of asking.
Claims (3)
1. the three-dimensional attitude measuring of a set of tunneling construction guidance system is equipped with prism, photosensitive position sensor and signal processing circuit thereof, tilt meter vertically in regular turn on light path in the cabinet, it is characterized in that:
Described photosensitive position sensor and signal processing circuit thereof are the CCD camera; Between described prism and the CCD camera camera lens is housed; The photosensitive face of the sensor of CCD camera be positioned on the focal plane of camera lens and with the camera lens axis normal, the center that the sensor of CCD camera is photosensitive is on the camera lens axis, the output signal of CCD camera is sent to computer by the gigabit netting twine; The output signal of tilt meter is sent to computer by asynchronous serial communication interface.
2. the three-dimensional attitude measuring of set of tunneling construction guidance system as claimed in claim 1 is characterized in that:
Described camera lens is convex lens or convex lens group.
3. the three-dimensional attitude measuring of set of tunneling construction guidance system as claimed in claim 1 or 2 is characterized in that:
Be provided with optical filtering between described prism and the camera lens; The double-shaft tilt angle sensing module is counted at described inclination angle, is made up of Electrolyte type detection means and interlock circuit; Described cabinet seals, fills nitrogen.
Priority Applications (1)
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| CNA2008101972842A CN101392653A (en) | 2008-10-17 | 2008-10-17 | Three-dimensional attitude measuring set of tunneling construction guidance system |
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| CNA2008101972842A CN101392653A (en) | 2008-10-17 | 2008-10-17 | Three-dimensional attitude measuring set of tunneling construction guidance system |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102052078A (en) * | 2010-11-04 | 2011-05-11 | 华中科技大学 | Real-time guide system of multi-sensor data fusion shield machine |
| CN102261925A (en) * | 2011-04-21 | 2011-11-30 | 三一重型装备有限公司 | Optical sensor used for positioning |
| CN102679974A (en) * | 2012-05-30 | 2012-09-19 | 上海隧道工程股份有限公司 | High-speed-location station replacing-free type shield tunneling attitude real-time measurement method and system |
| CN102749066A (en) * | 2012-06-29 | 2012-10-24 | 上海米度测量技术有限公司 | Electronic laser target and measuring device thereof |
| CN102753785A (en) * | 2010-02-19 | 2012-10-24 | 卡特彼勒全球矿场欧洲有限公司 | Method for determining the position or location of plant components in mining extracting plants and extracting plant |
| CN103245362A (en) * | 2013-05-14 | 2013-08-14 | 中铁上海工程局有限公司 | Method for correcting prism error of automatic pipe-jacking measurement guide system |
| CN103245363A (en) * | 2013-05-14 | 2013-08-14 | 中铁上海工程局有限公司 | Rolling angle correcting method of automatic measuring and guiding system for pipe jacking |
| CN103322989A (en) * | 2013-06-06 | 2013-09-25 | 上海米度测量技术有限公司 | Measuring device and method of dynamic real-time measurement of position and posture of pipe pushing jack |
| CN103471569A (en) * | 2012-06-07 | 2013-12-25 | 北京申江工程技术咨询有限公司 | Automatic guide measuring target and measuring system for shield machine |
| CN104101326A (en) * | 2013-04-08 | 2014-10-15 | 同济大学 | Automatic measurement method and apparatus for shield attitude based on spatial geometry analysis |
| CN105115499A (en) * | 2015-09-09 | 2015-12-02 | 中船重工（青岛）轨道交通装备有限公司 | Guide system applied to double-shield tunneling machine and positioning method |
| CN105178967A (en) * | 2015-05-12 | 2015-12-23 | 中国矿业大学(北京) | Autonomous positioning and directing system and method of excavator |
| CN105571574A (en) * | 2015-12-14 | 2016-05-11 | 上海市基础工程集团有限公司 | Movable total station instrument measuring platform for shield automatic guide system |
| CN104389583B (en) * | 2014-09-19 | 2016-11-02 | 中国矿业大学 | A kind of five drill auger miners creep into declination control Apparatus and method for |
| CN106123776A (en) * | 2016-07-08 | 2016-11-16 | 上海市政建设有限公司 | System and measuring method are measured in a kind of push pipe intelligence jacking |
| CN107191190A (en) * | 2017-06-16 | 2017-09-22 | 成都金玉雄辉建筑工程有限公司 | Direct insertion push pipe anti-deflection device |
| CN109448048A (en) * | 2018-09-28 | 2019-03-08 | 中铁工程装备集团有限公司 | Vertical shaft laser guide deviation calculation method and guiding device based on labview |
| CN111236957A (en) * | 2020-01-14 | 2020-06-05 | 广州坚磊建设有限公司 | Mechanical pipe jacking construction process |
| CN111828027A (en) * | 2020-07-31 | 2020-10-27 | 中交隧道工程局有限公司 | Total station changing method based on mobile turning point |
| CN113818889A (en) * | 2021-09-01 | 2021-12-21 | 宁波市轨道交通集团有限公司 | Construction method for subway shield tunnel to cross and penetrate civil air defense tunnel |
| CN113933878A (en) * | 2021-12-16 | 2022-01-14 | 中建安装集团有限公司 | Satellite communication technology-based correction system and method for deep-long cross-river jacking pipe |
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2008
- 2008-10-17 CN CNA2008101972842A patent/CN101392653A/en active Pending
Cited By (34)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102753785A (en) * | 2010-02-19 | 2012-10-24 | 卡特彼勒全球矿场欧洲有限公司 | Method for determining the position or location of plant components in mining extracting plants and extracting plant |
| CN102052078B (en) * | 2010-11-04 | 2012-09-26 | 华中科技大学 | Real-time guide system of multi-sensor data fusion shield machine |
| CN102052078A (en) * | 2010-11-04 | 2011-05-11 | 华中科技大学 | Real-time guide system of multi-sensor data fusion shield machine |
| CN102261925A (en) * | 2011-04-21 | 2011-11-30 | 三一重型装备有限公司 | Optical sensor used for positioning |
| CN102261925B (en) * | 2011-04-21 | 2012-09-05 | 三一重型装备有限公司 | Optical sensor used for positioning |
| CN102679974A (en) * | 2012-05-30 | 2012-09-19 | 上海隧道工程股份有限公司 | High-speed-location station replacing-free type shield tunneling attitude real-time measurement method and system |
| CN102679974B (en) * | 2012-05-30 | 2015-10-14 | 上海隧道工程股份有限公司 | Location exempts to change standing posture shield excavation attitude method for real-time measurement and system at a high speed |
| CN103471569A (en) * | 2012-06-07 | 2013-12-25 | 北京申江工程技术咨询有限公司 | Automatic guide measuring target and measuring system for shield machine |
| CN103471569B (en) * | 2012-06-07 | 2015-11-18 | 北京申江工程技术咨询有限公司 | Shield structure automatic guide measurement target target and measuring system |
| CN102749066B (en) * | 2012-06-29 | 2015-05-20 | 上海米度测量技术有限公司 | Electronic laser target and measuring device thereof |
| CN102749066A (en) * | 2012-06-29 | 2012-10-24 | 上海米度测量技术有限公司 | Electronic laser target and measuring device thereof |
| CN104101326A (en) * | 2013-04-08 | 2014-10-15 | 同济大学 | Automatic measurement method and apparatus for shield attitude based on spatial geometry analysis |
| CN104101326B (en) * | 2013-04-08 | 2016-06-29 | 同济大学 | A kind of shield attitude method for automatic measurement based on space geometry analysis and device |
| CN103245363A (en) * | 2013-05-14 | 2013-08-14 | 中铁上海工程局有限公司 | Rolling angle correcting method of automatic measuring and guiding system for pipe jacking |
| CN103245362A (en) * | 2013-05-14 | 2013-08-14 | 中铁上海工程局有限公司 | Method for correcting prism error of automatic pipe-jacking measurement guide system |
| CN103322989A (en) * | 2013-06-06 | 2013-09-25 | 上海米度测量技术有限公司 | Measuring device and method of dynamic real-time measurement of position and posture of pipe pushing jack |
| CN104389583B (en) * | 2014-09-19 | 2016-11-02 | 中国矿业大学 | A kind of five drill auger miners creep into declination control Apparatus and method for |
| CN105178967A (en) * | 2015-05-12 | 2015-12-23 | 中国矿业大学(北京) | Autonomous positioning and directing system and method of excavator |
| CN105178967B (en) * | 2015-05-12 | 2017-06-16 | 中国矿业大学(北京) | Development machine autonomous positioning orientation system and method |
| CN105115499A (en) * | 2015-09-09 | 2015-12-02 | 中船重工（青岛）轨道交通装备有限公司 | Guide system applied to double-shield tunneling machine and positioning method |
| CN105115499B (en) * | 2015-09-09 | 2018-07-06 | 中船重工（青岛）轨道交通装备有限公司 | Guidance system and localization method applied to Double shield TBM |
| CN105571574B (en) * | 2015-12-14 | 2018-01-19 | 上海市基础工程集团有限公司 | Removable total station survey platform for shield automatic guiding system |
| CN105571574A (en) * | 2015-12-14 | 2016-05-11 | 上海市基础工程集团有限公司 | Movable total station instrument measuring platform for shield automatic guide system |
| CN106123776A (en) * | 2016-07-08 | 2016-11-16 | 上海市政建设有限公司 | System and measuring method are measured in a kind of push pipe intelligence jacking |
| CN106123776B (en) * | 2016-07-08 | 2019-03-01 | 上海市政建设有限公司 | A kind of push pipe intelligence jacking measuring system and measurement method |
| CN107191190B (en) * | 2017-06-16 | 2023-07-07 | 宿州百洲智能制造有限公司 | Direct-insert type pipe jacking deviation preventing device |
| CN107191190A (en) * | 2017-06-16 | 2017-09-22 | 成都金玉雄辉建筑工程有限公司 | Direct insertion push pipe anti-deflection device |
| CN109448048A (en) * | 2018-09-28 | 2019-03-08 | 中铁工程装备集团有限公司 | Vertical shaft laser guide deviation calculation method and guiding device based on labview |
| CN111236957A (en) * | 2020-01-14 | 2020-06-05 | 广州坚磊建设有限公司 | Mechanical pipe jacking construction process |
| CN111828027A (en) * | 2020-07-31 | 2020-10-27 | 中交隧道工程局有限公司 | Total station changing method based on mobile turning point |
| CN113818889A (en) * | 2021-09-01 | 2021-12-21 | 宁波市轨道交通集团有限公司 | Construction method for subway shield tunnel to cross and penetrate civil air defense tunnel |
| CN113818889B (en) * | 2021-09-01 | 2023-08-18 | 宁波市轨道交通集团有限公司 | Construction method for crossing underground shield tunnel through civil air defense roadway |
| CN113933878A (en) * | 2021-12-16 | 2022-01-14 | 中建安装集团有限公司 | Satellite communication technology-based correction system and method for deep-long cross-river jacking pipe |
| CN113933878B (en) * | 2021-12-16 | 2022-03-08 | 中建安装集团有限公司 | Satellite communication technology-based correction system and method for deep-long cross-river jacking pipe |
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