A Machine Vision-Based Guidance Method for Shield Machine
A technology of machine vision and shield machine, which is applied in the direction of earth drilling, mining equipment, tunnels, etc., can solve the problems of complex structure, high cost, and low precision of shield guidance, and achieve low cost, guaranteed construction, and improved shield The effect of construction efficiency
Active Publication Date: 2020-06-09
广州鑫唐夏信息科技有限公司
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[0004] Aiming at the deficiencies in the above-mentioned prior art, the present invention provides a shield machine guidance method and system based on machine vision to solve the problems of low shield guidance precision, high cost and complex structure in the prior art
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[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0028] Such as figure 1 As shown, the present invention provides a shield machine guidance method based on machine vision, comprising the following steps:
[0029] A. Install cameras with multiple calibration parameters at the end of the shield machine, and place no less than four marker points on the fixed pipe ring of the shield tunnel;
[0030] B. Determine the relative relationship between the positions of multiple cameras and the center of the shield machine. During the initial measurement, manually measure the three-dimensional coordinates of the marker points;
[0031] C. During shield excavation, multiple cameras take real-time photography of the marker points, process the image files and calculate the three-dimensional coordinates of multiple cameras according to the principle of photogrammetric resection;
[0032] D. Accor...
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The invention provides a shield machine guide method and system based on machine vision. The shield machine guide method comprises the steps that A, cameras and mark points are installed; B, the relative relation of the cameras and shield machine center and three-dimensional coordinates of the mark points are measured; C, when shield driving carries out, the cameras take pictures of the mark points, affected files are processed and three-dimensional coordinates of the cameras are calculated; and D, position attitude information of the shield machine is calculated according to the coordinates of the cameras and compared with a pre-planned processing path, and real-time guide is realized. The shield machine guide system based on the machine vision comprises the multiple cameras with the calibration parameters arranged at the tail end of the shield machine, the mark points arranged on a fixing pipe ring of a shield tunnel and the number of the mark points is no less than four, an industrial PC machine and a shield machine PLC, wherein the multiple cameras are connected with the industrial PC machine through cables, and the shield machine PLC and the cameras are correspondingly connected with the industrial PC machine. By adopting the machine vision technology, the cost is low, a measuring hoisting basket does not need to be installed, joint conversion is easily realized, sub-millimeter-grade accuracy measurement is realized, and the system is concise.
Description
technical field [0001] The invention relates to the technical field of shield machine guidance, in particular to a machine vision-based shield machine guidance method. Background technique [0002] The existing guidance systems of shield machines, including domestic and foreign guidance systems, all use measuring robots for coordinate measurement. Measuring robots are not only expensive, but all have to be imported from abroad. Under the harsh conditions of tunnel construction, the protection of measuring robots is very unfavorable. [0003] When using a measuring robot to measure, it is necessary to install a heavy construction crane on site. The on-site workers are not only labor-intensive, but also take up a lot of shield tunneling time during measurement conversion, which affects the efficiency of shield tunneling. The measurement accuracy of the measurement robot is sub-centimeter level, and more technical measures are required to achieve the corresponding construction...
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IPC IPC(8): G01C11/02E21D9/08E21D9/00E21D9/093
CPCE21D9/003E21D9/08E21D9/093
Inventor 彭国新刘辉彭家茗肖德时李笑胡安邦
Owner 广州鑫唐夏信息科技有限公司