Real-time guide system of multi-sensor data fusion shield machine

Abstract

The invention relates to a real-time guide system of a multi-sensor data fusion shield machine, comprising a laser overall meter, a laser target, a first prism, a second prism, a rear-view prism and a computer, wherein the rear-view prism is used for detecting whether the position of the laser overall meter is changed or not in the measuring process; the laser target is used for measuring an attitude angle of the shield machine in real time; the first prism and the second prism are respectively arranged at both ends of the shield machine; the laser overall meter measures coordinates of the first prism, the second prism and a laser target prism under a geodetic coordinate system by emitting lasers; and the computer computes to obtain multigroup attitude angles by combining with attitude angle data measured by the laser target and carries out fusion processing so as to obtain optimized shield machine attitude angles for implementing the real-time guide of the shield machine. The invention can still obtain the shield machine attitude angles when sensors inside the laser target are faulty or positioning prisms are shielded, ensures the continuous measurement and has high measurement accuracy, strong work stability, and the like.

Description

technical field [0001] The invention relates to a real-time guidance system for a shield machine, which can be used in the tunnel excavation fields of subway tunnels, river-crossing tunnels and the like. Background technique [0002] Shield tunneling technology is an engineering construction technology for underground tunnels, which is developed with the development of modern transportation, underground engineering, mining, water conservancy engineering, municipal construction and electrical communication facilities. The early shield machine mainly used the unique shield shell of the shield machine as a support to prevent the collapse of the stratum, so as to ensure that various operations such as excavation and lining can be safely carried out inside it. The excavation is basically manual. excavation method. With the continuous increase of tunnel projects, in order to adapt to the construction requirements under different conditions and improve the construction efficiency,...

AI Technical Summary

Problems solved by technology

The disadvantage of the triangular prism method is that the coordinates of the three prisms are not measured at the same time. Since the shield machine is in the process of continuous advancement, the position coordinates of the prisms are lagging behind, which needs to be compensated by an algorithm, and the compensation cannot completely offset the error caused by the measurement lag. The measurement error of the prism coordinate point has a great influence on the measurement of the attitude angle of the shield machine

The three prisms are distributed in a wide area in the shield machine. During the excavation process, as the attitude of the shield machine changes, one or two prisms are likely to be blocked by obstacles and cannot be measured.

The main disadvantage of the traditional laser target guidance system: In order to provide a laser beam for measuring the horizontal yaw angle, it is necessary to modify the total station, install a laser on the total station, and ensure that the optical axis of the laser is in line with the distance measuring laser of the total station. axis parallel

[0011] There are problems with the adaptability of laser targets to the environment of underground tunnels. Changes in ambient temperature will cause changes in the characteristics of the internal sensors of the target. Excessive humidity will cause changes in the photosensitive properties of the target. Various light sources interfere with the measurement of laser beams during underground construction. The vibration of the machine during the tunneling process will cause various noise interference to the angle sensor inside the target

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