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Comprehensive guidance device and method for laser target guidance of shield machine equipped with binocular camera

A technology of laser target and binocular camera, which is applied in measuring devices, earthwork drilling, surveying and navigation, etc., can solve the problems of not being able to effectively detect all information and inconvenient guidance, so as to reduce manpower and time costs, improve accuracy, The effect of improving efficiency and accuracy

Active Publication Date: 2022-04-22
CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Aiming at the technical problem that the attitude measurement method of the existing roadheader cannot effectively detect the actual attitude and position of the front shield in the soil in the double-shield roadheader, which brings inconvenience to the guidance during construction, the present invention proposes A comprehensive guiding device and method equipped with a binocular camera for shield laser target guidance, which solves the problem that the real-time coordinates of feature points can still be comprehensively solved by the laser target guidance system and machine vision under working conditions that are not suitable for direct measurement

Method used

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  • Comprehensive guidance device and method for laser target guidance of shield machine equipped with binocular camera
  • Comprehensive guidance device and method for laser target guidance of shield machine equipped with binocular camera
  • Comprehensive guidance device and method for laser target guidance of shield machine equipped with binocular camera

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Embodiment 1

[0070] Embodiment 1: A comprehensive guiding device equipped with a binocular camera for shield laser target guidance, such as figure 2 and image 3 As shown, it includes a total station 4 and a rearview prism 15 arranged on the segment, and the rearview prism 15 is fixedly arranged at the rear of the total station 4, and the rearview prism 15 is used for target positioning the total station 4; Including a laser target guidance system 3 and a binocular camera 5, the laser target guidance system 3 is fixedly arranged in the back shield 2, and the laser target guidance system 3 is fixedly arranged in front of the total station 4, which is convenient for receiving the total station 4. Parallel light beams emitted; the back shield 2 is also called a support shield, the front part of the back shield 2 is provided with a binocular camera 5, and the distance between the laser target guidance system 3 and the binocular camera 5 is fixed, so that the later stage can be guided accordin...

Embodiment 2

[0074] Embodiment 2: A comprehensive guidance method for a shield laser target guidance equipped with a binocular camera, such as figure 1 shown, including the following steps:

[0075] S1, before the excavation starts, first set the reference coordinate system, detect the initial absolute pose of the front shield 1 and the absolute pose of the feature point 16 on the front shield 1, and input the detection data into the control system 7;

[0076] The initial absolute pose of the front shield 1 and the initial absolute pose of each feature point are measured by the total station 4 through manual operation. All measurement work in the shield machine must have a reference coordinate system. Generally, The laser target guidance system 3 may use the following three different coordinate systems during the entire measurement process, such as the zero coordinate system, the earth coordinate system and the deviation coordinate system. The zero coordinate system is used to determine th...

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Abstract

The invention discloses a comprehensive guiding device and method for shield laser target guidance equipped with a binocular camera, including the following steps: S1, setting a reference coordinate system, detecting the initial absolute pose of the front shield and the position of the feature points on the front shield Absolute pose, input the detection data into the control system; S2, the total station measures the coordinates of the laser target guidance system, and the control system calculates the coordinates of the binocular camera according to the coordinates and the coordinate difference between the laser target guidance system and the binocular camera ; S3, the binocular camera captures the feature points in real time, the control system processes the image and calculates the three-dimensional coordinates of the feature points through coordinate transformation; S4, calculates the relative position conversion relationship of the front shield according to the initial coordinates of the feature points and the current measured coordinates The key parameters of the front shield are calculated according to the initial pose of the front shield after movement; S5, repeating S2-S4 to calculate the real-time pose of the front shield. The measurement result of the invention has high precision and is not easily affected by the underground environment.

Description

technical field [0001] The invention belongs to the technical field of double-shield tunnel boring machines, and in particular relates to a comprehensive guiding device and method for shield laser target guiding equipped with a binocular camera. Background technique [0002] Due to the advantages of high safety, high efficiency, and economical applicability, shield tunneling technology is now widely used in the construction of modern urban underground tunnels. The main principle of the shield tunneling method is that the shield machine cuts the rock mass during underground excavation to complete the excavation, and then splices the segments at the end of the shield and injects them into shape, so as to complete the construction of the entire tunnel in a reciprocating manner. However, when the roadheader is advancing underground, the pipe joint may be deformed by the pressure of the soil, which will lead to changes in the posture of the roadheader, and determining the real-ti...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): E21D9/00E21D9/06G01C3/02G01C15/00
CPCE21D9/003E21D9/06G01C3/02G01C15/00
Inventor 贾连辉孟祥波李光郑永光林福龙贺飞赵祥魏云豹刘恒杰魏晓龙王昆谢荣灿焦敬波
Owner CHINA RAILWAY ENGINEERING EQUIPMENT GROUP CO LTD