Shield tunneling machine automatic guiding system and method based on binocular vision

Abstract

The invention relates to the technical field of tunnel construction, in particular to a shield tunneling machine automatic guiding system and method based on binocular vision. The system involves infrared luminous bodies which are independently distributed on a shield tunneling machine in a scattered manner and serve as identification points, and binocular cameras fixed on a duct piece and / or on surrounding rock and / or inside the shield tunneling machine and used for dynamically monitoring the identification points in real time through visual photographing positioning; and the binocular cameras are connected with an upper computer of an electric control room through a communication network so as to automatically guide and position the shield tunneling machine through coordinate data processing of the upper computer of the electric control room. According to the system and method, the Mark points, namely the identification points, on the shield tunneling machine are monitored in real time through the binocular cameras, direct contact measurement is not needed, the functions of automatic positioning and guiding of the shield tunneling machine with the small turning radius and automatic positioning of different moving parts of the shield tunneling machine in a narrow space can be achieved, the workload of workers and the data calculation amount are reduced, the requirement for theoperation performance of a data processing platform is lowered, applicability is high, use is flexible, and the application prospect is very good.

Description

technical field [0001] The invention relates to the technical field of tunnel construction, in particular to an automatic guidance system and method for a shield machine based on binocular vision. Background technique [0002] In tunnel construction, the development of roadheader equipment is gradually becoming extreme, with the largest or smallest excavation diameter and ultra-small turning radius of flexibility (less than the turning ability of conventional shields), especially in the narrow space, small turning radius, and the excavation equipment. In a flexible construction environment, conventional measurement equipment cannot directly measure and position the attitude of the shield machine, and cannot realize precise control of the moving shield. Positioning guides the normal advancement of the shield machine. Contents of the invention [0003] To this end, the present invention provides an automatic guidance system and method for a shield machine based on binocular...

AI Technical Summary

Problems solved by technology

[0002] In tunnel construction, the development of roadheader equipment is gradually becoming extreme, with the largest or smallest excavation diameter and ultra-small turning radius of flexibility (less than the turning ability of conventional shields), especially in the narrow space, small turning radius, and the excavation equipment. In a flexible construction environment, conventional measurement equipment cannot directly measure and position the attitude of the shield machine, and cannot realize precise control of the moving shield. Positioning to guide the normal advancement of the shield machine

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