Alternating positioning double shield TBM automatic guidance system and method

Abstract

This invention relates to the field of tunnel boring machine (TBM) guidance technology, and particularly to an alternating positioning type dual-shield TBM automatic guidance system and method. The system includes a guidance component connected to the dual-shield main control room for calibrating the positional relationship between the front shield and the support shield. The guidance component includes a first guide group for positioning the attitude of the front shield and a second guide group for positioning the step-changing attitude of the support shield. Both the first and second guide groups are signal-connected to the dual-shield main control room. This invention features a simple structure, novel and reasonable design. By using the first and second guide groups to alternately position the attitudes of the front shield and the support shield, it achieves long-distance automatic navigation, reduces or eliminates the frequency of manual station repositioning, significantly reduces workload, improves construction efficiency, and has promising application prospects.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel boring machine guidance, and in particular to an alternating positioning double-shield TBM automatic guidance system and method. Background Art

[0002] With the rapid development of national infrastructure, more and more special equipment is used for mountain tunnel excavation. As a multi-stage excavation equipment, the double-shield TBM has fast advancement speed and high safety, becoming a powerful tool for mountain tunnel excavation. Under special working conditions such as pumped storage and coal mine tunnels, the TBM needs to have an ultra-small turning ability of R30 meters, which brings new problems and challenges to the equipment.

[0003] The working principle of the conventional double shield is as follows: the laser target at the rear of the support shield is measured by a total station fixed on the pipe segment or rock wall, and the support shield posture is obtained by using the total station and the laser target. Then, the LED light installed on the front shield is photographed by a monocular camera installed on the front of the support shield to obtain the front shield posture. Since the total station is fixed on the rock wall or pipe segment and does not move with the equipment, it is necessary to manually move the total station forward for about 100 meters in a straight section. If it is advanced in an ultra-small curve section, it is generally necessary to manually move the total station forward every 5-10 meters. Faced with this special working condition problem of short line of sight distance and frequent station moving, how to achieve long-distance automatic navigation and reduce the frequency of manual station moving or not moving the station has become a problem that needs to be solved urgently. Summary of the invention

[0004] To this end, the present invention provides an alternating positioning double-shield TBM automatic guiding system and method, which has a scientific and reasonable design, does not require manual station moving, reduces the workload of workers, and can realize the automatic guidance of the double-shield TBM simply by the mutual positioning between the equipment itself, thereby improving construction efficiency.

[0005] According to the design scheme provided by the present invention, an alternating positioning double-shield TBM automatic guidance system includes: a guidance component connected to the double-shield main control room for calibrating the position relationship between the front shield body and the supporting shield body, the guidance component includes: a first guidance group for positioning the posture of the front shield body and a second guidance group for positioning the step-changing posture of the supporting shield body; the first guidance group and the second guidance group are both connected to the double-shield main control room signal.

[0006] As the alternating positioning double-shield TBM automatic guidance system of the present invention, further, the first guidance group includes: a first inclinometer fixed on the front shield body for measuring the change of the inclination angle of the front shield body and a first target for calibrating the position of the front shield body, and a first binocular camera fixed on the supporting shield body for photographing and positioning the first target; the first binocular camera and the first inclinometer are both connected to the signal of the double shield main control room.

[0007] As the alternating positioning double-shield TBM automatic guidance system of the present invention, further, the second guidance group includes: a second inclinometer fixed on the supporting shield body for measuring the change of the inclination angle of the supporting shield body and a second target for calibrating the position of the supporting shield body, and a second binocular camera fixed on the front shield body for photographing and positioning the second target; the second binocular camera and the second inclinometer are both connected to the signal of the double shield main control room.

[0008] The alternating positioning double-shield TBM automatic guidance system of the present invention further comprises: a correction component for dynamically verifying the posture of the double-shield TBM; the correction component comprises a prism group fixed to the tail of the supporting shield body for calibrating the position of the tail of the supporting shield body, and a total station arranged on the rock wall for photographing and positioning the prism group; the total station is connected to the double-shield main control room by signal.

[0009] As the alternating positioning double-shield TBM automatic guiding system of the present invention, further, the prism group includes at least 3 prisms.

[0010] Furthermore, the present invention also provides an automatic guidance method for an alternating positioning double-shield TBM, which is implemented based on the above system, and the implementation process includes the following contents:

[0011] Before the launch of the double-shield TBM, the three-dimensional spatial coordinates of the guide assembly, the support shield axis and the front shield axis are manually calibrated and the initial spatial position relationship is established. At the same time, the angle information of the roll angle and pitch angle of the front shield and the support shield is obtained.

[0012] When starting to advance, the first guide group is used to position the front shield body in real time based on the supporting shield body; after the propulsion cylinder sets a preset distance, the second guide group is used to position the supporting shield body in real time based on the front shield body; during the advancement process, the double-shield TBM uses the first guide group and the second guide group to alternately position the front shield body and the supporting shield body, so as to realize alternating positioning and automatic guidance during the advancement of the double-shield TBM.

[0013] As the automatic guiding method of the alternating positioning double-shield TBM of the present invention, further, the front shield body and the supporting shield body are respectively provided with inclinometers connected to the signal of the double-shield TBM main control room; the inclinometers are used to measure the inclination changes of the front shield body and the supporting shield body respectively during the alternating positioning to obtain the posture information of the front shield body or the supporting shield body in the tightened state.

[0014] As the automatic guidance method of the alternating positioning double-shield TBM of the present invention, further, a prism group is arranged at the tail of the supporting shield body, and a total station for photographing and positioning the prism group is arranged on the rock wall, and the total station is connected to the signal of the main control room of the double-shield TBM; during the advancement process, the prism group and the total station are used to review the posture of the double-shield TBM to achieve dynamic correction.

[0015] Beneficial effects of the present invention:

[0016] The system structure of the present invention is simple, the design is novel and reasonable, and the first guide group and the second guide group are used to alternately position the postures of the front shield and the supporting shield, respectively, to achieve long-distance automatic navigation, and can reduce the frequency of manual station relocation or eliminate the need for station relocation, greatly reduce work intensity, and improve construction efficiency, and has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the installation of the alternating positioning double shield TBM automatic guidance system in the embodiment;

[0018] Figure 2 Schematic diagram of the structure of the alternating positioning double-shield TBM automatic guidance system in the embodiment.

[0019] In the figure, number 1 represents rock, number 21 represents cutter head, number 22 represents front shield body, number 23 represents support shield body, number 24 represents support shoe, number 25 represents thrust cylinder, number 3 represents main control room, number 4 represents total station, number 5 represents prism group, number 61 represents second inclinometer, number 62 represents second target, number 63 represents second binocular camera, number 71 represents first inclinometer, number 72 represents first target, number 73 represents first binocular camera. DETAILED DESCRIPTION

[0020] The present invention will be further described in detail below in conjunction with the accompanying drawings and technical solutions, and the implementation methods of the present invention will be described in detail through preferred embodiments, but the implementation methods of the present invention are not limited thereto.

[0021] The working principle of the double shield is that during the advancement process, the support shield is fixed on the rock wall by the support boots, and the thrust cylinder 25 is extended to push the front shield forward; after advancing a certain distance, the front shield is fixed on the rock wall by the shield shell, and the thrust cylinder 25 is retracted to pull the support shield body 23 and the trolley forward. The above steps are repeated periodically to carry out the excavation work of the entire tunnel until the tunnel is through. Figure 1 and 2As shown, an alternate positioning double shield TBM automatic guidance system is provided, comprising: a guidance component connected to the double shield main control room 3 for calibrating the position relationship between the front shield body 22 and the support shield body 23, the guidance component comprising: a first guidance group for positioning the posture of the front shield body 22 and a second guidance group for positioning the step-changing posture of the support shield body 23; the first guidance group and the second guidance group are both connected to the double shield main control room 3 by signal. The first guidance group and the second guidance group are used to alternately position the postures of the front shield body 22 and the support shield body 23, respectively, to achieve long-distance automatic navigation, and to reduce the frequency of manual station relocation or no station relocation, greatly reducing the work intensity and improving the construction efficiency.

[0022] As an alternate positioning double shield TBM automatic guidance system in an embodiment of the present invention, further, the first guidance group includes: a first inclinometer 71 fixed on the front shield body 22 for measuring the change of the inclination angle of the front shield body 22 and a first target 72 for calibrating the position of the front shield body 22, and a first binocular camera 73 fixed on the support shield body 23 for photographing and positioning the first target 72; the first binocular camera 73 and the first inclinometer 72 are both connected to the double shield main control room 3 by signal. Further, the second guidance group includes: a second inclinometer 61 fixed on the support shield body 23 for measuring the change of the inclination angle of the support shield body 23 and a second target 62 for calibrating the position of the support shield body 23, and a second binocular camera 63 fixed on the front shield body 22 for photographing and positioning the second target 62; the second binocular camera 63 and the second inclinometer 61 are both connected to the double shield main control room 3 by signal. During the initial excavation, the position relationship between the support shield and the front shield is calibrated. Since the support shield body 23 does not move during the advancement process, the binocular camera installed on the support shield can be used to measure the Mark light and other targets installed on the front shield body 22 in real time to obtain the posture of the front shield body 22; when the double shield advancement cylinder 25 advances a certain distance, the front shield body 22 is fixed differently, and the support shield body 23 is dragged forward. At this time, the binocular camera installed on the front shield body 22 is used to measure the Mark light installed on the support shield body 23 in real time to obtain the posture of the support shield body 23. After the double shield step change is completed, the support shield body 23 is fixed, and the above operation is repeated to obtain the posture of the front shield body 22. This can realize the double shield alternating positioning function, reduce the situation of manual station moving, reduce labor intensity, and improve construction efficiency.

[0023] As an alternately positioned double-shield TBM automatic guidance system in an embodiment of the present invention, it further includes: a correction component for dynamically reviewing the posture of the double-shield TBM; the correction component includes a prism group 5 fixed at the tail of the support shield body 23 for calibrating the tail position of the support shield body 23, and a total station 4 set on the rock wall of the rock 1 for taking pictures and positioning the prism group 5; the total station 4 is connected to the double-shield main control room 3 by signal. Further, the prism group 5 includes at least 3 prisms. A prism group 5 (≥3) is installed at the tail of the support shield, and a total station 4 is installed on the rock wall to measure the prism group 5 to achieve posture review and calibration, and it does not need to participate in the entire guidance system during the excavation process.

[0024] Furthermore, an embodiment of the present invention also provides an automatic guidance method for an alternating positioning double-shield TBM. Based on the above system implementation, the implementation process includes the following contents:

[0025] Before the launch of the double-shield TBM, the three-dimensional spatial coordinates of the guide assembly, the support shield axis and the front shield axis are manually calibrated and the initial spatial position relationship is established. At the same time, the angle information of the roll angle and pitch angle of the front shield and the support shield is obtained.

[0026] When the advancement begins, the posture of the front shield body 22 is positioned in real time through the first guide group based on the supporting shield body 23; after the advancement cylinder 25 specifies a preset distance, the posture of the supporting shield body 23 is positioned in real time through the second guide group based on the posture of the front shield body 22; during the advancement process, the double-shield TBM uses the first guide group and the second guide group to alternately position the front shield body 22 and the supporting shield body 23, so as to realize alternating positioning and automatic guidance during the advancement of the double-shield TBM.

[0027] Furthermore, the front shield body 22 and the supporting shield body 23 are respectively provided with inclinometers connected to the signal of the double shield TBM main control room 3; the inclinometers are used to measure the inclination changes of the front shield body 22 and the supporting shield body 23 during alternating positioning to obtain the posture information of the front shield body 22 or the supporting shield body 23 in the tightened state.

[0028] Furthermore, a prism group 5 is arranged at the rear of the supporting shield body 23, and a total station 4 for photographing and positioning the prism group 5 is arranged on the rock wall, and the total station 4 is connected to the double-shield TBM main control room 3 by signal; during the advancement process, the prism group 5 and the total station 4 are used to review the posture of the double-shield TBM to achieve dynamic correction.

[0029] join Figure 1 and 2As shown, its automatic navigation process can be described as follows: 1) Before the double shield TBM starts, the three-dimensional spatial coordinates of the prism group 5, the support shield axis, the front shield axis, the target 1 and the target 2 are manually calibrated to establish the initial spatial position relationship, as well as the angle information of the roll angle and pitch angle of the front shield and the support shield. 2) Start to advance. Since the support shield is tight against the rock wall, the support shield as a whole has almost no displacement and no rolling. At this time, based on the support shield, the binocular camera 2 fixed on the support shield is used to take pictures and locate the target 2, so as to realize the real-time positioning function of the posture of the front shield body 22. 3) After the oil cylinder is pushed for a certain length, the front shield shell is tight against the rock wall and is fixed. At this time, based on the posture of the front shield, the binocular camera 1 fixed on the front shield is used to take pictures and locate the target 1, so as to realize the real-time positioning function of the step-changing posture of the support shield. 4) Repeat the above work process periodically, and the double shield TBM realizes the automatic guidance function through the alternating positioning of the front shield and the support shield. 5) Since it is unrealistic to keep the front shield and the support shield completely fixed during the advancement process, the inclinometer 1 / 2 is needed to measure the slight inclination changes of the support shield and the front shield, and further calculate the posture information of the front shield or the support shield in the tightened state, so that the shield posture accuracy is more accurate and reliable. 6) Finally, after excavating a certain distance, the prism group 5 at the tail of the support shield can be measured by the total station 4 to check the posture of the entire TBM, recalibrate the current TBM posture information, and realize dynamic correction.

[0030] The term "and / or" in this article indicates that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" relationship.

[0031] Unless otherwise defined, the technical terms or scientific terms used herein shall have the usual meanings understood by persons of ordinary skill in the field to which the present invention belongs. The words "first", "second" and similar words used in the specification and claims of this application do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not necessarily indicate a quantity restriction. Words such as "include" or "comprise" mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" are not defined as physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0032] The exemplary embodiments of the present invention are described in detail above with reference to the preferred embodiments. However, it will be appreciated by those skilled in the art that, without departing from the concept of the present invention, various modifications and variations may be made to the above-mentioned specific embodiments, and various combinations of the various technical features and structures proposed in the present invention may be made without exceeding the scope of protection of the present invention, which is determined by the appended claims. The foregoing description of the specific exemplary embodiments of the present invention is not intended to limit the present invention to the precise form disclosed, and it is obvious that many changes and variations may be made according to the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can implement and utilize various different exemplary embodiments of the present invention and various different choices and changes. The scope of the present invention is intended to be defined by the claims and their equivalents.

Claims

1. An automatic guidance method for an alternating positioning double-shield TBM, characterized in that: The automatic guidance system is implemented based on the automatic guidance system, which includes: a guidance component connected to the dual shield main control room for calibrating the position relationship between the front shield body and the supporting shield body, and the guidance component includes: a first guidance group for locating the posture of the front shield body and a second guidance group for locating the step-changing posture of the supporting shield body; the first guidance group and the second guidance group are both connected to the dual shield main control room signal; The automatic guidance implementation process includes the following: Before the launch of the double-shield TBM, the three-dimensional spatial coordinates of the guide assembly, the support shield axis and the front shield axis are manually calibrated and the initial spatial position relationship is established. At the same time, the angle information of the roll angle and pitch angle of the front shield and the support shield is obtained. When the propulsion starts, the first guide group is used to position the front shield in real time based on the supporting shield. After the propulsion cylinder sets a preset distance, the second guide group is used to position the supporting shield in real time based on the front shield. During the propulsion process, the double-shield TBM uses the first guide group and the second guide group to alternately position the front shield and the supporting shield, so as to realize the alternating positioning and automatic guidance during the propulsion process of the double-shield TBM. The first guide group includes: a first inclinometer fixed on the front shield body for measuring the change of the inclination angle of the front shield body and a first target for calibrating the position of the front shield body, and a first binocular camera fixed on the supporting shield body for photographing and positioning the first target; the first binocular camera and the first inclinometer are both connected to the signal of the dual shield main control room; The second guide group includes: a second inclinometer fixed on the support shield body for measuring the change of the inclination angle of the support shield body and a second target for calibrating the position of the support shield body, and a second binocular camera fixed on the front shield body for photographing and positioning the second target; the second binocular camera and the second inclinometer are both connected to the signal of the double shield main control room.

2. The automatic guiding method of the alternating positioning double shield TBM according to claim 1 is characterized in that: It also includes: a correction component for dynamically reviewing the posture of the double-shield TBM; the correction component includes a prism group fixed to the tail of the supporting shield body for calibrating the position of the tail of the supporting shield body, and a total station set on the rock wall for taking pictures and positioning the prism group; the total station is connected to the double-shield main control room signal.

3. The automatic guiding method of the alternating positioning double shield TBM according to claim 2 is characterized in that: The prism group includes at least three prisms.

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