Vertical receiving target for measuring attitude of full-face heading machine

Abstract

The invention provides a vertical receiving target for measuring the attitude of a full-face tunneling machine. The vertical receiving target comprises an optical system, a circuit system, a prism system and a gyroscope, the prism system is used for receiving an initial optical signal and transmitting the initial optical signal to the optical system; the optical system is used for processing the received initial optical signal to obtain a target optical signal and transmitting the target optical signal to the circuit system; the gyroscope is used for outputting an angle detection result of the vertical receiving target to the circuit system; and the circuit system is used for determining an attitude detection result of the vertical receiving target according to the received target optical signal and the angle detection result, and determining an attitude offset result of the full face tunnel boring machine according to the attitude detection result. Therefore, the vertical receiving target designed by the invention can be used for accurately measuring the working posture of the full-section digging machine for the ultra-deep vertical shaft, so that the construction quality is ensured.

Description

Technical Field

[0001] The present application relates to the technical field of auxiliary tools for full-face tunnel boring machines, and in particular to a vertical receiving target for measuring the posture of a full-face tunnel boring machine. Background Art

[0002] In recent years, with the increasing demand for ultra-deep vertical shaft construction in mining, underground transportation tunnels, water conservancy projects, and other fields, vertical shaft drilling rigs have become crucial in these areas. Traditional vertical shaft construction generally uses a survey-while-drilling method and is mostly applied to projects within 200 meters in depth.

[0003] With the development of my country's underground thousand-meter-level projects, such as deep drainage tunnels, nuclear power plant shafts and other ultra-deep shafts, the use of full-section tunnel boring machines (VBEs) has made it impossible for traditional construction methods to meet the demand and has faced the technical problem of difficulty in controlling deviation during production excavation.

[0004] At present, the more mature guidance systems mainly include the following forms: Heavy hammer method: first mark the center point of the shaft on the well support, install the guide wheel on it so that the guide wheel base coincides with the center of the shaft, hang the steel wire down to the face, and use a steel ruler to measure.

[0005] The cooperation method of laser plummet and total station: at least two fully automatic laser plummets are used to project points on the laser reflector at the wellhead, and the total station is used above the well to measure the coordinates of the laser spot and transmit them to the underground. The underground total station uses the rear intersection method to complete the station setting and conduct excavation layout to guide the excavation progress.

[0006] However, the above methods are generally used for vertical shaft projects with depths of less than 200 meters. As the occasions and requirements for vertical shaft engineering surveys continue to change, there are fewer survey systems for vertical shaft projects with depths exceeding 200 meters. This places greater demands on the guidance systems of ultra-deep vertical shaft tunneling machines, and previous survey methods are no longer able to meet the survey requirements of ultra-deep vertical shafts. Summary of the Invention

[0007] In view of this, the purpose of this application is to provide a vertical receiving target for measuring the posture of a full-face tunnel boring machine, which can accurately measure the working posture of a full-face tunnel boring machine in an ultra-deep shaft.

[0008] The embodiment of the present application provides a vertical receiving target for measuring the posture of a full-face roadheader, the vertical receiving target comprising: an optical system, a circuit system, a prism system, and a gyroscope; The prism system is used to receive the initial light signal and transmit the initial light signal to the optical system; The optical system is used to process the received initial optical signal to obtain a target optical signal, and transmit the target optical signal to the circuit system; The gyroscope is used to output the angle detection result of the vertical receiving target to the circuit system; The circuit system is used to determine the posture detection result of the vertical receiving target according to the received target light signal and the angle detection result, and to determine the posture offset result of the full-face tunnel boring machine according to the posture detection result.

[0009] Optionally, the optical system includes a lens, coated polarized glass, a lens assembly, and a camera: The lens has a filter and an attenuation plate inside for filtering stray light from the initial optical signal, and a through hole of a predicted size is provided on the lens; The coated polarized glass is used to perform polarization control processing on the optical signal transmitted through the lens, and transmit the processed optical signal to the lens assembly; The lens assembly includes a plurality of optical lenses for performing optical optimization processing on the light signal transmitted through the coated polarized glass; wherein the optical optimization processing includes at least one of the following: focusing processing, collimation processing, and aberration correction processing; The camera has an imaging panel inside, which is used to perform light spot imaging on the light signal transmitted through the lens assembly, obtain the target light signal, and transmit the target light signal to the circuit system.

[0010] Optionally, the circuit system includes a processing unit and a storage unit; The processing unit is used to analyze the target light signal and the angle detection result to determine the posture detection result of the full-face roadheader; The storage unit is used to store at least one of the target light signal, the angle detection result, and the posture detection result.

[0011] Optionally, the prism system includes: a cylindrical corner cube prism and two circular prisms; The cylindrical corner cube is located directly above the lens in the optical system; The two circular prisms are located on both sides of the cylindrical corner cube prism.

[0012] Optionally, the vertical receiving target further includes a bracket system, and the bracket system includes a first bracket and a second bracket; The first bracket is used to fix the lens assembly in the optical system to prevent the optical system from shaking; The second bracket is used to support the optical system and fix the circuit system.

[0013] Optionally, the vertical receiving target further includes a vibration-damping screw and a housing; The vibration-reducing screw is used to connect the second bracket to the camera in the optical system, and the vibration-reducing screw is also used to connect the gyroscope to the housing.

[0014] The embodiment of the present application further provides a method for measuring the posture of a full-face roadheader, which is applied to the above-mentioned vertical receiving target, wherein the vertical receiving target includes: an optical system, a circuit system, a prism system, and a gyroscope. The measurement method includes: The prism system receives an initial light signal and transmits the initial light signal to an optical system; The optical system processes the received initial optical signal to obtain a target optical signal, and transmits the target optical signal to the circuit system; Outputting the angle detection result of the vertical receiving target to the circuit system by the gyroscope; The circuit system determines the posture detection result of the vertical receiving target according to the received target light signal and the angle detection result, and determines the posture offset result of the full-face tunnel boring machine according to the posture detection result.

[0015] Optionally, the posture detection result includes the azimuth angle, pitch angle and roll angle of the vertical receiving target.

[0016] Optionally, the azimuth angle of the vertical receiving target is determined according to the pitch angle of the vertical receiving target, the roll angle of the vertical receiving target, calibration data, and position information of the center of the light spot on the camera target surface.

[0017] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processing unit, the steps of the measurement method described above are executed.

[0018] An embodiment of the present application provides a vertical receiving target for measuring the posture of a full-face tunnel boring machine, the vertical receiving target comprising: an optical system, a circuit system, a prism system, and a gyroscope; the prism system is used to receive an initial light signal and transmit the initial light signal to the optical system; the optical system is used to process the received initial light signal to obtain a target light signal, and transmit the target light signal to the circuit system; the gyroscope is used to output an angle detection result of the vertical receiving target to the circuit system; the circuit system is used to determine a posture detection result of the vertical receiving target based on the received target light signal and the angle detection result, and determine a posture offset result of the full-face tunnel boring machine based on the posture detection result. In this way, this application designs a vertical receiving target specifically for measuring the working posture of ultra-deep vertical shaft full-section tunnel boring machines, which can accurately determine the working posture of the full-section tunnel boring machine (direction and posture angle during the construction process) in real time. When it is determined that the working posture of the full-section tunnel boring machine is offset, it can accurately guide the operator to judge the machine's route and make real-time adjustments, thereby greatly improving work efficiency.

[0019] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 A schematic structural diagram of a vertical receiving target for measuring the posture of a full-face tunnel boring machine provided in an embodiment of the present application; Figure 2 A schematic flow chart of a method for measuring the posture of a full-face tunnel boring machine provided in an embodiment of the present application; Figure 3 Schematic diagram for solving pitch and roll angles provided for this application; Figure 4 A schematic diagram of azimuth angle solution provided for this application; Figure 5 This is a schematic diagram of filtered data provided by this application.

[0022] Figure numerals: 2-cylindrical corner cube prism, 3-lens, 4-coated polarized glass, 5-first bracket, 6-lens assembly, 7-camera, 8-vibration-damping screw, 9-second bracket, 10-processing unit, 11-storage unit, 12-gyroscope, 13-circular prism, 14-housing. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application for which protection is claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work falls within the scope of protection of the present application.

[0024] In recent years, with the increasing demand for ultra-deep vertical shaft construction in mining, underground transportation tunnels, water conservancy projects, and other fields, vertical shaft drilling rigs have become crucial in these areas. Traditional vertical shaft construction generally uses a survey-while-drilling method and is mostly applied to projects within 200 meters in depth.

[0025] With the development of my country's underground thousand-meter-level projects, such as deep drainage tunnels, nuclear power plant shafts and other ultra-deep shafts, the use of full-section tunnel boring machines (VBEs) has made it impossible for traditional construction methods to meet the demand and has faced the technical problem of difficulty in controlling deviation during production excavation.

[0026] At present, the more mature guidance systems mainly include the following forms: Heavy hammer method: first mark the center point of the shaft on the well support, install the guide wheel on it so that the guide wheel base coincides with the center of the shaft, hang the steel wire down to the face, and use a steel ruler to measure.

[0027] The cooperation method of laser plummet and total station: at least two fully automatic laser plummets are used to project points on the laser reflector at the wellhead, and the total station is used above the well to measure the coordinates of the laser spot and transmit them to the underground. The underground total station uses the rear intersection method to complete the station setting and conduct excavation layout to guide the excavation progress.

[0028] However, the above methods are generally used for vertical shaft projects with depths of less than 200 meters. As the occasions and requirements for vertical shaft engineering surveys continue to change, there are fewer survey systems for vertical shaft projects with depths exceeding 200 meters. This places greater demands on the guidance systems of ultra-deep vertical shaft tunneling machines, and previous survey methods are no longer able to meet the survey requirements of ultra-deep vertical shafts.

[0029] Based on this, an embodiment of the present application provides a vertical receiving target for measuring the posture of a full-face tunnel boring machine, which can accurately measure the working posture of a full-face tunnel boring machine in an ultra-deep vertical shaft.

[0030] See also Figure 1 , Figure 1This is a schematic diagram of the structure of a vertical receiving target for measuring the posture of a full-face tunnel boring machine provided in an embodiment of the present application. Figure 1 As shown in , the vertical receiving target provided by the embodiment of the present application includes: an optical system, a circuit system, a prism system and a gyroscope; the prism system is used to receive an initial light signal and transmit the initial light signal to the optical system; the optical system is used to process the received initial light signal to obtain a target light signal, and transmit the target light signal to the circuit system; the gyroscope is used to output the angle detection result of the vertical receiving target to the circuit system; the circuit system is used to determine the posture detection result of the vertical receiving target based on the received target light signal and the angle detection result, and determine the posture offset result of the full-section tunnel boring machine based on the posture detection result.

[0031] Here, the initial optical signal is emitted by the total station, and the vertical receiving target and its total station and other related instruments constitute the vertical tunnel boring machine guidance system.

[0032] In one embodiment provided by itself, the prism system includes: a cylindrical corner cube prism 2 and two circular prisms 13; The cylindrical corner cube prism 2 is located directly above the lens 3 in the optical system; the two circular prisms 13 are located on both sides of the cylindrical corner cube prism 2 .

[0033] The specific installation positions of the cylindrical corner cube prism 2 and the circular prism 13 are as follows: Figure 1 shown.

[0034] In this way, after the total station emits light, the light is focused on the lens 3 through the cylindrical corner cube prism 2. When auxiliary distance measurement and calibration are needed, the total station emits light to illuminate the two circular prisms 13. The light is reflected by the two circular prisms 13 and then enters the total station. The host computer then performs distance calculation, thereby achieving auxiliary distance measurement and calibration based on the calculation results.

[0035] In another embodiment provided in the present application, the optical system includes a lens 3, a coated polarized glass 4, a lens assembly 6, and a camera 7: The lens 3 has a filter and an attenuation plate inside for filtering stray light from the initial optical signal, and there is a through hole of a predicted size on the lens 3; The coated polarized glass 4 is used to perform polarization control processing on the optical signal transmitted through the lens 3 and transmit the processed optical signal to the lens assembly 6; The lens assembly 6 includes a variety of optical lenses for performing optical optimization processing on the light signal transmitted through the coated polarized glass; wherein the optical optimization processing includes at least one of the following: focusing processing, collimation processing, and aberration correction processing; The camera 7 has an imaging panel therein for performing spot imaging on the light signal transmitted through the lens assembly to obtain a target light signal, and transmit the target light signal to the circuit system.

[0036] Here, the through hole with a predicted size on the lens 3 may be a 1 mm small hole, so that the light source can pass through the small hole and the coated polarized glass 4 into the lens assembly 6.

[0037] The dual technology of 4-polarization + coating of coated polarized glass reduces glare and anti-reflection.

[0038] The lens assembly 6 includes a variety of optical lenses to improve contrast and image quality.

[0039] Furthermore, in one embodiment provided in the present application, the circuit system includes a processing unit 10 and a storage unit 11; the processing unit 10 is used to analyze the target light signal and the angle detection result to determine the posture detection result of the full-face tunnel boring machine; the storage unit 11 is used to store at least one of the target light signal, the angle detection result and the posture detection result.

[0040] For example, camera 7 is connected to processing unit 10 within the circuit system via a dedicated line. The light spot image generated by the camera undergoes data and image processing within processing unit 10, and the processed results are stored in storage unit 11 below the circuit board. Gyroscope 12 is also connected to processing unit 10 within the circuit system via a cable. The gyroscope directly outputs roll and pitch angles, which are uploaded to the circuit board for collaborative processing with the imaging light spot, ultimately outputting target data (e.g., attitude detection results for a full-face roadheader).

[0041] Among them, after the total station light source is irradiated onto the cylindrical corner cube prism 2 and the calculation is completed, the light source will again irradiate the circular prisms 13 at the left and right ends, thereby measuring the distance between the target and the light source and integrating this value into the calculation, playing the role of distance measurement and calibration.

[0042] Furthermore, the vertical receiving target also includes a bracket system, which includes a first bracket 5 and a second bracket 9; the first bracket 5 is used to fix the lens assembly in the optical system to prevent the optical system from shaking; the second bracket 9 is used to support the optical system and fix the circuit system.

[0043] Furthermore, the vertical receiving target further includes a vibration-damping screw 8 and a housing 14 ; the vibration-damping screw 8 is used to connect the second bracket 9 with the camera 7 in the optical system, and the vibration-damping screw 8 is also used to connect the gyroscope 12 with the housing 14 .

[0044] The reason why the vibration-damping screw 8 is selected for connection is that the construction environment is harsh and large vibrations will be generated during operation. The vibration-damping screw is used for connection and to prevent the device from shaking.

[0045] In this way, this application designs a vertical receiving target specifically for measuring the working posture of ultra-deep vertical shaft full-section tunnel boring machines, which can accurately determine the working posture of the full-section tunnel boring machine (direction and posture angle during the construction process) in real time. When it is determined that the working posture of the full-section tunnel boring machine is offset, it can accurately guide the operator to judge the machine's route and make real-time adjustments, thereby greatly improving work efficiency.

[0046] Based on the same inventive concept, an embodiment of the present application also provides a method for measuring the posture of a full-face tunnel boring machine using a vertical receiving target.

[0047] See also Figure 2 , Figure 2 This is a flow chart of a method for measuring the posture of a full-face tunnel boring machine provided in an embodiment of the present application. Figure 2 As shown, the measurement method includes: S201: The prism system receives an initial light signal and transmits the initial light signal to an optical system.

[0048] S202: The optical system processes the received initial optical signal to obtain a target optical signal, and transmits the target optical signal to a circuit system.

[0049] S203: The gyroscope outputs the angle detection result of the vertical receiving target to the circuit system.

[0050] S204: The circuit system determines a posture detection result of the vertical receiving target according to the received target light signal and the angle detection result, and determines a posture offset result of the full-face roadheader according to the posture detection result.

[0051] For the steps in the above embodiment, the posture detection result includes the azimuth of the vertical receiving target , pitch angle and roll angle .

[0052] The pitch angle and roll angle The solution depends on the data of the gyroscope 12, and the solution of the azimuth angle depends on the pitch angle output by the vertical receiving target gyroscope 12 and roll angle , calibration data and the position information of the center of the light spot on the camera target surface.

[0053] The solution for the vertical receiving target pitch angle and roll angle is as follows: The pitch angle and roll angle of the vertical receiving target coordinate system in the reference coordinate system are completely determined by the gyroscope 12. Assume that the output data of the gyroscope 12X is , the Y-axis output data is Since the result obtained by the gyroscope is the angle between its own X axis and Y axis and the horizontal plane of the earth, and the XOY plane of the reference coordinate system is parallel to the horizontal plane of the earth, the angle output by the gyroscope 12Y axis is the vertical laser target pitch angle. .

[0054] For examples, see Figure 3 , Figure 3 This is a schematic diagram of the pitch angle and roll angle solution provided by this application. Figure 3 As shown in the figure, the vertical laser target roll angle can be further solved based on the geometric and angular relationship shown in the figure. The specific expression is shown in formula 3-1: 3-1 The determination of azimuth data is as follows: By calibrating the angle between the light spot's position on the camera target and the incident laser in the camera coordinate system, and determining the relative relationship between the camera coordinate system and the vertical receiving target coordinate system, a one-to-one mapping relationship between the light spot's position on the camera target and the incident laser's angle in the vertical receiving target coordinate system was established. Substituting the extracted center pixel of the light spot into the calibrated measurement model, the azimuth and elevation angles of the incident light line in the vertical receiving target coordinate system were obtained.

[0055] That is, the azimuth angle solution can be abstracted as the following problem: given the linear equation of the incident laser beam in the reference coordinate system, the azimuth and pitch angle of the incident laser beam in the vertical receiving target coordinate system, and the pitch angle and roll angle of the vertical receiving target coordinate system in the reference coordinate system, calculate the azimuth angle of the vertical receiving target coordinate system in the reference coordinate system. Since the linear equation of the incident laser in the vertical receiving target coordinate system can be obtained by inverse roll, inverse pitch, and inverse azimuth, and the equation is known, the unknown azimuth angle can be calculated. In practice, this can be achieved by transforming the vector direction of the straight line. For an example, please refer to Figure 4 , Figure 4 Schematic diagram of azimuth angle solution provided for this application.

[0056] Assume that the measured vertical target pitch angle is , the roll angle is , the azimuth angle of the incident light line at a certain position in the target coordinate system is , the pitch angle is , then we can take the straight line vector , the point after anti-roll and anti-pitch is: 3-2 in, and Represents the rotation matrices in the pitch and roll directions respectively. Their specific expressions are shown in Formulas 3-3 and 3-4: 3-3 3-4 Then the angle between the Y axis of the vertical receiving target coordinate system and the incident light in the horizontal plane is: 3-5 It should be noted that the horizontal angle obtained is actually the angle between the target coordinate system and the projection of the incident laser on the horizontal plane. The horizontal angle of the incident laser in the reference coordinate system needs to be added to obtain the horizontal angle of the vertical receiving target coordinate system in the reference coordinate system. Assume that the azimuth angle of the incident laser in the reference coordinate system is , then the azimuth of the vertical receiving target in the reference coordinate system is As shown below:

[0057] Gyroscope 12 calculates the roll and pitch angles from the received signals and transmits them to processing unit 10. This data allows construction personnel to obtain real-time feedback on the attitude angle of the vertical receiving target, determine whether the ultra-deep shaft boring machine has deviated from the originally planned line, and make real-time adjustments to achieve the best construction results.

[0058] In addition, considering the large vibration on site, the data to be processed may be filtered before the processing unit 10 performs data processing, and specifically, Kalman filtering may be used.

[0059] Furthermore, the Kalman filter process is briefly described as follows: Kalman filtering is an algorithm that uses linear system state equations and observational data from the system's input and output to optimally estimate the system state. Because the observational data includes the effects of noise and interference within the system, optimal estimation can also be considered a filtering process. Data filtering is a data processing technique that removes noise and restores true data. Kalman filtering, when the measurement variance is known, can estimate the state of a dynamic system from a series of data in the presence of measurement noise, enabling real-time updates and processing of field-collected data.

[0060] The tunnel boring machine vibrates greatly during the excavation process. Although the gyroscope itself has a certain anti-vibration effect, it will also have a certain degree of distortion during strong earthquakes. Integrating Kalman filtering into the original program algorithm for settlement can effectively resist vibration.

[0061] Add Kalman filter algorithm to solve the angle. Assume that the state quantity at time k is State noise sequence Drive, the driving mechanism is shown in the following state equation:

[0062] in, is the one-step state transfer matrix from time k-1 to time k, and the control matrix Noise The driving matrix, is the control amount. The measurement satisfies the following measurement equation:

[0063] in, is the measurement matrix, representing the state value and measured values The relationship between is the measurement noise sequence.

[0064] at the same time, and are all white noise vectors with an expected value of zero, satisfying the following relationship:

[0065] in, is the system noise The variance matrix of , which is usually a non-negative definite matrix; is the measurement noise The variance matrix is ​​usually a positive definite matrix. After the state equation and measurement equation of the system are determined, the Kalman filter method can be used to achieve optimal estimation by following the steps below: One-step state prediction equation:

[0066] in, is the optimal estimate of the previous state, Represents the result of prediction using the previous state. One-step prediction state quantity covariance matrix equation:

[0067] in, for The corresponding state quantity covariance matrix. The above formula is the equation for system prediction in the Kalman filter algorithm.

[0068] Optimal state estimation equation:

[0069] in, is the Kalman gain, and its update equation is:

[0070] Update the state covariance matrix:

[0071] The above angles are calculated by fusing the attitude angles and the Kalman filter method to achieve the anti-vibration effect. Figure 5 , Figure 5 This is a schematic diagram of filtered data provided by this application. The green curve is the filtered data.

[0072] The embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figures 1 to 4 The specific implementation of the steps in the method embodiment shown can be found in the method embodiment and will not be repeated here.

[0073] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0074] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. There may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some communication interface, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0075] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0076] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0077] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0078] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The scope of protection of the present application is not limited thereto. Although the present application has been described in detail with reference to the above-mentioned embodiments, those skilled in the art should understand that any person skilled in the art can modify or easily conceive of changes to the technical solutions described in the above-mentioned embodiments within the technical scope disclosed in the present application, or perform equivalent replacements for some of the technical features thereof. These modifications, changes, or replacements do not deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A vertical receiving target for measuring the posture of a full-face tunnel boring machine, characterized in that: The vertical receiving target includes: an optical system, a circuit system, a prism system and a gyroscope; The prism system is used to receive the initial light signal and transmit the initial light signal to the optical system; The optical system is used to process the received initial optical signal to obtain a target optical signal, and transmit the target optical signal to the circuit system; The gyroscope is used to output the angle detection result of the vertical receiving target to the circuit system; The circuit system is used to determine the posture detection result of the vertical receiving target according to the received target light signal and the angle detection result, and to determine the posture offset result of the full-face tunnel boring machine according to the posture detection result.

2. The vertical receiving target according to claim 1, characterized in that: The optical system includes a lens, a coated polarized glass, a lens assembly and a camera: The lens has a filter and an attenuation plate inside for filtering stray light from the initial optical signal, and a through hole of a predicted size is provided on the lens; The coated polarized glass is used to perform polarization control processing on the optical signal transmitted through the lens, and transmit the processed optical signal to the lens assembly; The lens assembly includes a plurality of optical lenses for performing optical optimization processing on the light signal transmitted through the coated polarized glass; wherein the optical optimization processing includes at least one of the following: focusing processing, collimation processing, and aberration correction processing; The camera has an imaging panel inside, which is used to perform light spot imaging on the light signal transmitted through the lens assembly, obtain the target light signal, and transmit the target light signal to the circuit system.

3. The vertical receiving target according to claim 1, characterized in that: The circuit system includes a processing unit and a storage unit; The processing unit is used to analyze the target light signal and the angle detection result to determine the posture detection result of the full-face roadheader; The storage unit is used to store at least one of the target light signal, the angle detection result, and the posture detection result.

4. The vertical receiving target according to claim 1, characterized in that: The prism system includes: a cylindrical corner cube prism and two circular prisms; The cylindrical corner cube is located directly above the lens in the optical system; The two circular prisms are located on both sides of the cylindrical corner cube prism.

5. The vertical receiving target according to claim 1, characterized in that: The vertical receiving target further includes a bracket system, wherein the bracket system includes a first bracket and a second bracket; The first bracket is used to fix the lens assembly in the optical system to prevent the optical system from shaking; The second bracket is used to support the optical system and fix the circuit system.

6. The vertical receiving target according to claim 1, characterized in that: The vertical receiving target further includes a vibration-damping screw and a housing; The vibration-reducing screw is used to connect the second bracket to the camera in the optical system, and the vibration-reducing screw is also used to connect the gyroscope to the housing.

7. A method for measuring the posture of a full-face tunnel boring machine, characterized in that: The vertical receiving target according to any one of claims 1 to 6 comprises an optical system, a circuit system, a prism system, and a gyroscope, and the measurement method comprises: The prism system receives an initial light signal and transmits the initial light signal to an optical system; The optical system processes the received initial optical signal to obtain a target optical signal, and transmits the target optical signal to the circuit system; Outputting the angle detection result of the vertical receiving target to the circuit system by the gyroscope; The circuit system determines the posture detection result of the vertical receiving target according to the received target light signal and the angle detection result, and determines the posture offset result of the full-face tunnel boring machine according to the posture detection result.

8. The measuring method according to claim 7, characterized in that: The posture detection result includes the azimuth angle, pitch angle and roll angle of the vertical receiving target.

9. The measuring method according to claim 8, characterized in that The azimuth angle of the vertical receiving target is determined according to the pitch angle of the vertical receiving target, the roll angle of the vertical receiving target, calibration data, and position information of the center of the light spot on the camera target surface.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the measurement method according to any one of claims 7 to 8 are executed.

Images