CN102606165A - Automatic deviation rectifying system for shield machine and operating method of automatic deviation rectifying system - Google Patents
Automatic deviation rectifying system for shield machine and operating method of automatic deviation rectifying system Download PDFInfo
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- CN102606165A CN102606165A CN2012100985080A CN201210098508A CN102606165A CN 102606165 A CN102606165 A CN 102606165A CN 2012100985080 A CN2012100985080 A CN 2012100985080A CN 201210098508 A CN201210098508 A CN 201210098508A CN 102606165 A CN102606165 A CN 102606165A
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Abstract
The invention discloses an automatic deviation rectifying system for a shield machine and an operating method of the automatic deviation rectifying system. The automatic deviation rectifying system comprises an automatic laser position and posture measuring system, a data storage device, an industrial personal computer, a controller and a driving mechanism, wherein the automatic laser position and posture measuring system is used for monitoring the position and the posture of the shield machine in real time, the data storage device is used for storing correct and real-time position and posture data of the shield machine, the industrial personal computer is used for comparing the correct and real-time position and posture data of the shield machine and transmitting deviation rectifying control signals, the controller is used for controlling the driving mechanism to start, and the driving mechanism is used for rectifying deviation of the shield machine. The automatic deviation rectifying system for the shield machine and the operating method of the automatic deviation rectifying system can be used for automatically rectifying the running track of the shield machine, and has the advantages of high precision, high efficiency and the like. Besides, manual intervention in deviation rectifying is decreased, and constructional safety is improved.
Description
Technical field
The present invention relates to a kind of shield machine and use deviation-rectifying system, relate in particular to a kind of shield machine and use system for automatically correcting, the present invention also provides the method for work of this deviation-rectifying system.
Background technology
As everyone knows, shield method is the job practices of in broken rock or soil layer, tunneling tunnel with protecting cover special machinery (being shield machine).In the tunneling process of shield machine, shield machine is advanced forward according to subscribing track.But in work progress, be difficult to avoid shield machine to depart from the situation of desired trajectory,, just need implement correction shield machine in case shield machine departs from the reservation track.
At present, the shield machine correction traditional manual operation correction modes that adopt more, it at first need position shield machine, carries out count measurement then, again shield machine is carried out level at last, the correction of vertical direction.This correction mode is complex operation not only, and correction speed is slow, and precision is not high, and can strengthen construction volume, reduces efficiency of construction.Because shield machine is in tunnel, to tunnel, the working environment very severe is rectified a deviation as adopting manually-operated, exists bigger potential safety hazard simultaneously.
Summary of the invention
The object of the present invention is to provide a kind of shield machine to use system for automatically correcting, can correct the running orbit of shield machine automatically, and have advantages such as high accuracy, high efficiency, reduced artificial participation correction operation simultaneously, improved safety of construction.
For reaching this purpose, the present invention adopts following technical scheme:
A kind of shield machine is used system for automatically correcting, comprising:
The automatic pose measurement system of laser is used for the position and the attitude of shield machine are implemented monitoring in real time;
Data storage device, input connect the output of the automatic pose measurement system of laser, are used to receive the position of the shield machine that the automatic pose measurement system of laser transmitted and the data and the storage of attitude, and store the data of correct position of shield machine and attitude;
Industrial Personal Computer (IPC), input connects the output of the automatic pose measurement system of laser and connects the data storage device output, is used to receive and the shield machine position of relatively two systems output and the data of attitude, and according to comparative result output shield machine corrective control signal;
Controller, input connects the Industrial Personal Computer (IPC) output, is used to receive the shield machine corrective control signal of Industrial Personal Computer (IPC) output, and according to the shield machine corrective control signal that Industrial Personal Computer (IPC) is exported, drives driving mechanism shield machine is rectified a deviation;
Driving mechanism, input connects controller output end, and the driving signal according to controller sends moves, and shield machine is rectified a deviation.
Further, said driving mechanism comprises propelling jack and middle folding jack.
Further, the automatic pose measurement system of said laser is installed on the shield machine propulsion system.
The present invention also provides the method for work of a kind of shield machine with system for automatically correcting, and this method is used for above-mentioned shield machine and uses system for automatically correcting, and this method of work comprises the steps:
Steps A: the data that the automatic pose measurement system of laser implements to monitor in real time and obtain shield machine position and attitude to the position and the attitude of shield machine;
Step B: with the storage of shield machine position that obtains in the steps A and attitude to data storage device;
Step C: the data sync of shield machine position that obtains in the steps A and attitude is delivered in the Industrial Personal Computer (IPC), and simultaneously that the shield machine of the storage in the data storage device is the correct position and the data delivery of attitude are to Industrial Personal Computer (IPC);
Step D: in Industrial Personal Computer (IPC); The shield machine position that the automatic pose measurement system of laser that receives is transmitted and the data of attitude; Compare with the correct position of the shield machine that data storage device transmitted that receives and the data of attitude, judge whether and to send corrective control signal to controller;
Step e: controller sends the driving signal to driving mechanism after receiving the corrective control signal that Industrial Personal Computer (IPC) sends;
Step F: after driving mechanism received the driving signal of controller, control advanced the position and the attitude of jack and middle folding jack pair shield machine to adjust, thereby realized the correction to the shield machine running orbit.
Beneficial effect of the present invention does, said shield machine is used system for automatically correcting, and it measures the position and the attitude of shield machine through the automatic pose measurement system of laser; Simultaneously with data storage device in preset value compare, produce the shield machine corrective control signal and also rectify a deviation through controller control driving mechanism, its corresponding speed is fast, correction efficient is high; And the artificial correction of correction precision improves a lot; Thereby guaranteed in the shield-tunneling construction that the shield machine running orbit is consistent with preset value, guaranteed the construction quality of tunnel; Reduce artificial participation correction operation simultaneously, improved safety of construction; Adopt data storage device to receive position and the attitude data and the storage of the automatic pose measurement system output of laser, can monitor whole construction course, and leave the data of shield machine running orbit; Driving mechanism adopts simultaneously and advances jack and middle folding jack, has guaranteed the quick response of deviation-rectifying system, has improved correction efficient.
Description of drawings
Fig. 1 is the composition frame chart of the shield machine that provides of the specific embodiment of the invention with system for automatically correcting.
Among the figure:
1, the automatic pose measurement system of laser, 2, data storage device, 3, Industrial Personal Computer (IPC), 4, controller, 5, driving mechanism, 6, advance jack, 7, middle folding jack.
The specific embodiment
Further specify technical scheme of the present invention below in conjunction with accompanying drawing and through the specific embodiment.
As shown in Figure 1, said shield machine is used system for automatically correcting, comprising: the automatic pose measurement system of laser 1, data storage device 2, Industrial Personal Computer (IPC) 3, controller 4 and driving mechanism 5.
Its connected mode is:
Automatic pose measurement system 1 one outputs of laser link to each other with Industrial Personal Computer (IPC) 3, and another output links to each other with data storage device 2; Data storage device 2 outputs link to each other with Industrial Personal Computer (IPC) 3; Industrial Personal Computer (IPC) 3 outputs link to each other with controller 4; Controller 4 outputs link to each other with driving mechanism 5.
Wherein, The position of the shield machine that data storage device 2 is used for the automatic pose measurement system 1 of the laser that receives is transmitted and the data of attitude store; In simultaneously that the shield machine of himself storing is the correct position and transfer of data to the Industrial Personal Computer (IPC) 3 of attitude, use as central database.
Preferably, driving mechanism 5 comprises propelling jack 6 and middle folding jack 7, and advances jack 6 to link to each other with controller 4 outputs respectively with middle folding jack 7; The automatic pose measurement system 1 of laser is installed on the shield machine propulsion system.
During work:
Through the automatic pose measurement system 1 of laser, the position and the attitude of shield machine are implemented monitoring in real time, then the position of detected shield machine and the data of attitude are transferred to respectively in data storage device 2 and the Industrial Personal Computer (IPC) 3;
Through data storage device 2, the position of the shield machine that the automatic pose measurement system 1 of the laser that receives is transmitted and the data of attitude store, in simultaneously that the shield machine of himself storage is the correct position and transfer of data to the Industrial Personal Computer (IPC) 3 of attitude;
In Industrial Personal Computer (IPC) 3; The shield machine position that the automatic pose measurement system 1 of the laser that receives is transmitted and the data of attitude; The position that the shield machine that is transmitted with the data storage device that receives 2 is correct and the data of attitude compare; Judge whether and to send instruction to controller 4,, then send corrective control signal to controller 4 if the shield machine running orbit has deviation;
In controller 4, behind the corrective control signal that the Industrial Personal Computer (IPC) 3 that receives sends, send the driving signal, and 5 pairs of shield machines of drive driving mechanism are rectified a deviation to driving mechanism 5;
Driving mechanism 5, after receiving the driving signal of controller 4, control advances the position and the attitude of jack 6 and 7 pairs of shield machines of middle folding jack to adjust, thereby realizes the automatic deviation correction to the shield machine running orbit.
Said shield machine is used system for automatically correcting, can correct the running orbit of shield machine automatically, and have advantages such as high accuracy, high efficiency, has reduced artificial participation correction operation simultaneously, has improved safety of construction.
Claims (4)
1. a shield machine is used system for automatically correcting, it is characterized in that, comprising:
The automatic pose measurement system of laser (1) is used for the position and the attitude of shield machine are implemented monitoring in real time;
Data storage device (2); Input connects the output of the automatic pose measurement system of laser (1); Be used to receive the shield machine that the automatic pose measurement system of laser (1) transmitted position and attitude data and store, and store the data of correct position of shield machine and attitude;
Industrial Personal Computer (IPC) (3); Input connects the output and the output that connects data storage device (2) of the automatic pose measurement system of laser (1); Be used to receive and the shield machine position of relatively two systems output and the data of attitude, and according to comparative result output shield machine corrective control signal;
Controller (4), input connects Industrial Personal Computer (IPC) (3) output, is used to receive the shield machine corrective control signal of Industrial Personal Computer (IPC) (3) output, and according to the shield machine corrective control signal that Industrial Personal Computer (IPC) (3) is exported, drives driving mechanism (5) shield machine is rectified a deviation;
Driving mechanism (5), input connects controller (4) output, and the driving signal according to controller (4) sends moves, and shield machine is rectified a deviation.
2. shield machine according to claim 1 is used system for automatically correcting, it is characterized in that: said driving mechanism (5) comprises propelling jack (6) and middle folding jack (7).
3. shield machine according to claim 1 is used system for automatically correcting, it is characterized in that: the automatic pose measurement system of said laser (1) is installed on the shield machine propulsion system.
4. a shield machine is with the method for work of system for automatically correcting, and this method of work is used for any shield machine of aforesaid right requirement 1-3 and uses system for automatically correcting, it is characterized in that this method of work comprises the steps:
Steps A: the data that the automatic pose measurement system of laser (1) implements to monitor in real time and obtain shield machine position and attitude to the position and the attitude of shield machine;
Step B: in storage to the data storage device (2) with shield machine position that obtains in the steps A and attitude;
Step C: the data sync of shield machine position that obtains in the steps A and attitude is delivered in the Industrial Personal Computer (IPC) (3), in simultaneously that the shield machine of the storage in the data storage device (2) is the correct position and data delivery to the Industrial Personal Computer (IPC) (3) of attitude;
Step D: in Industrial Personal Computer (IPC) (3); The shield machine position that the automatic pose measurement system of the laser that receives (1) is transmitted and the data of attitude; The position that the shield machine that is transmitted with the data storage device that receives (2) is correct and the data of attitude compare, and judge whether and will send corrective control signal to controller (4);
Step e: controller (4) sends the driving signal to driving mechanism (5) after receiving the corrective control signal that Industrial Personal Computer (IPC) (3) sends;
Step F: after driving mechanism (5) received the driving signal of controller (4), control advanced jack (6) and middle folding jack (7) that the position and the attitude of shield machine are adjusted, thereby realized the correction to the shield machine running orbit.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100985080A CN102606165A (en) | 2012-04-01 | 2012-04-01 | Automatic deviation rectifying system for shield machine and operating method of automatic deviation rectifying system |
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| CN2012100985080A CN102606165A (en) | 2012-04-01 | 2012-04-01 | Automatic deviation rectifying system for shield machine and operating method of automatic deviation rectifying system |
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| CN2012100985080A Pending CN102606165A (en) | 2012-04-01 | 2012-04-01 | Automatic deviation rectifying system for shield machine and operating method of automatic deviation rectifying system |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104500085A (en) * | 2014-12-19 | 2015-04-08 | 北京首尔工程技术有限公司 | Spiral unearthed following jacking pipe curtain machine |
| CN105569662A (en) * | 2016-01-16 | 2016-05-11 | 李正炳 | Tunneling device capable of advancing and retreating by means of intermittent expansion and contraction |
| CN106522973A (en) * | 2016-09-27 | 2017-03-22 | 徐工集团凯宫重工南京有限公司 | Deviation rectifying system of shield tunneling machine |
| CN106703823A (en) * | 2016-11-24 | 2017-05-24 | 浙江大学宁波理工学院 | Posture error correction system and method of large driving equipment |
| CN107131828A (en) * | 2017-05-08 | 2017-09-05 | 上海建工集团股份有限公司 | Special-shaped tunnel excavation measuring method |
| CN107524447A (en) * | 2017-09-28 | 2017-12-29 | 中国十七冶集团有限公司 | A kind of path method for correcting error of Super Long Tunnel shield-tunneling construction |
| CN108316935A (en) * | 2018-02-02 | 2018-07-24 | 中铁隧道局集团有限公司 | A kind of shield machine attitude adjusting method of complex controll |
| CN110306988A (en) * | 2019-07-02 | 2019-10-08 | 重庆市能源投资集团科技有限责任公司 | A kind of deflection deviation correction control system of shield machine |
| CN110985029A (en) * | 2019-12-14 | 2020-04-10 | 南京城市地下空间工程研究院有限公司 | Guiding management system based on shield machine construction |
| CN111271071A (en) * | 2020-01-19 | 2020-06-12 | 浙江中创天成科技有限公司 | Shield tunneling machine attitude control method based on fuzzy adaptive neural network |
| CN112922609A (en) * | 2021-02-05 | 2021-06-08 | 中国铁建重工集团股份有限公司 | Intelligent tunneling method of shield tunneling machine |
| CN113002409A (en) * | 2021-04-20 | 2021-06-22 | 北京城乡建设集团有限责任公司 | Pipeline transportation device and method |
| CN114578713A (en) * | 2022-03-17 | 2022-06-03 | 山东拓新电气有限公司 | Attitude control method and device for push bench |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104500085B (en) * | 2014-12-19 | 2016-08-24 | 北京首尔工程技术有限公司 | A kind of screw conveyor is with pipe jacking tube curtain machine |
| CN104500085A (en) * | 2014-12-19 | 2015-04-08 | 北京首尔工程技术有限公司 | Spiral unearthed following jacking pipe curtain machine |
| CN105569662B (en) * | 2016-01-16 | 2018-07-31 | 成都航天烽火精密机电有限公司 | Can intermittently be stretched the mole retreated |
| CN105569662A (en) * | 2016-01-16 | 2016-05-11 | 李正炳 | Tunneling device capable of advancing and retreating by means of intermittent expansion and contraction |
| CN106522973A (en) * | 2016-09-27 | 2017-03-22 | 徐工集团凯宫重工南京有限公司 | Deviation rectifying system of shield tunneling machine |
| CN106703823A (en) * | 2016-11-24 | 2017-05-24 | 浙江大学宁波理工学院 | Posture error correction system and method of large driving equipment |
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| CN107131828A (en) * | 2017-05-08 | 2017-09-05 | 上海建工集团股份有限公司 | Special-shaped tunnel excavation measuring method |
| CN107131828B (en) * | 2017-05-08 | 2019-07-26 | 上海建工集团股份有限公司 | Special-shaped tunnel excavation measurement method |
| CN107524447A (en) * | 2017-09-28 | 2017-12-29 | 中国十七冶集团有限公司 | A kind of path method for correcting error of Super Long Tunnel shield-tunneling construction |
| CN108316935A (en) * | 2018-02-02 | 2018-07-24 | 中铁隧道局集团有限公司 | A kind of shield machine attitude adjusting method of complex controll |
| CN110306988A (en) * | 2019-07-02 | 2019-10-08 | 重庆市能源投资集团科技有限责任公司 | A kind of deflection deviation correction control system of shield machine |
| CN110985029A (en) * | 2019-12-14 | 2020-04-10 | 南京城市地下空间工程研究院有限公司 | Guiding management system based on shield machine construction |
| CN111271071A (en) * | 2020-01-19 | 2020-06-12 | 浙江中创天成科技有限公司 | Shield tunneling machine attitude control method based on fuzzy adaptive neural network |
| CN112922609A (en) * | 2021-02-05 | 2021-06-08 | 中国铁建重工集团股份有限公司 | Intelligent tunneling method of shield tunneling machine |
| CN113002409A (en) * | 2021-04-20 | 2021-06-22 | 北京城乡建设集团有限责任公司 | Pipeline transportation device and method |
| CN113002409B (en) * | 2021-04-20 | 2022-04-08 | 北京城乡建设集团有限责任公司 | Pipeline transportation device and method |
| CN114578713A (en) * | 2022-03-17 | 2022-06-03 | 山东拓新电气有限公司 | Attitude control method and device for push bench |
| CN114578713B (en) * | 2022-03-17 | 2022-09-13 | 山东拓新电气有限公司 | Attitude control method and device for push bench |
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Application publication date: 20120725 |