Segment posture multi-index measurement system and method

Abstract

The present invention discloses a multi-index measurement system and method for segment attitude, the multi-index measurement system for segment attitude comprises: a measurement device and measurement software; the measurement device comprises a plurality of measurement devices, each measurement device is used to obtain segment characteristics from different angles; the measurement software is used to obtain the overall index of the segment according to the segment characteristics obtained from different angles by the measurement device. The multi-index measurement system and method for segment attitude proposed by the present invention can measure and calculate six important indexes of the segment, including true roundness, shield tail clearance, segment advance, jack stroke, radial misalignment, and circumferential misalignment. The present invention can improve the efficiency and accuracy of measurement.

Description

Technical Field

[0001] The present invention belongs to the technical field of measurement, and relates to a measurement system, in particular to a multi-index measurement system and method for segment attitude. Background Art

[0002] In the tunnel construction using a shield machine, the installation of segments is a very important link. There are many key indicators that need to be monitored to evaluate the state of segment assembly and guide subsequent assembly. These indicators include the shield tail clearance, segment circularity, segment lead, etc. These indicators are related to the position detection of shield tunnel segments and will affect the installation of shield segments and the adjustment of shield attitude. If the clearance is too small or too large, it may cause collisions between the shield tail and the segments, ultimately resulting in damage to the shield machine. Therefore, it is of great significance to the quality of the tunnel segments forming a ring. At present, the measurement methods for these indicators are not ideal enough. Some indicators still need to be measured manually, and the accuracy rates are uneven and lack mutual verification. Therefore, how to efficiently and accurately measure the indicators related to segment attitude is of great significance to the smooth progress of construction.

[0003] The existing sensors related to shield segment attitude have relatively single functions. One sensor can only measure one parameter, and there are still individual parameters that rely on manual collection. Manual collection is the earliest measurement method, that is, after each segment is assembled, staff are arranged to hold a ruler to manually measure indicators such as the shield tail clearance and lead. Since multiple positions need to be measured, the measurement process is relatively cumbersome. This method has low efficiency, will prolong the construction time, and the accuracy cannot be guaranteed. Different people may obtain different measurement results due to different experiences and techniques. In addition, due to the complex working environment of the shield machine, manual measurement has great safety hazards, and this measurement method is not suitable for digital management. With the development of sensors and digital management, more and more scholars have also proposed various automatic measurement methods using sensors.

[0004] The current main methods for measuring the circularity of segments are as follows:

[0005] (1) Manual method: Hang multiple plumb bobs on the edge of the segment. On both sides, find the measurement lines perpendicular to each plumb bob by pulling a tape measure. Through multiple measurements, find the position with the longest measurement line, obtain the major and minor semi-axes of the segment, and calculate using the circularity formula. The limitations of this method are relatively large and the degree of automation is low.

[0006] (2) Total station method: This method uses a prismless total station to perform a certain number of measurements and acquisitions on the segment, fits the overall shape of the segment through the acquisition points, thereby obtaining the major and minor semi-axes of the segment, and then the circularity of the segment can be calculated.

[0007] (3) 3D scanning method: Use laser to scan the pipe segment to obtain millions of point cloud data, remove the noise data in the point cloud data, and then perform ellipse fitting and true roundness calculation.

[0008] The shield tail gap is a very important indicator. There are many literatures and patents describing measurement methods based on different principles. The existing sensor-based shield tail gap measurement method packages mainly include:

[0009] (1) Mechanical device measurement method: Mechanical measurement method is to use instruments to measure in a contact manner. For example, the traditional contact measurement is measured by the displacement sensor on the probe based on the displacement. Zhang Zhiyong et al. designed a mechanical measurement method in 2020, which uses an elastic contact plate and an angle sensor to calculate the length of the shield tail gap. Because the mechanical device needs to be in contact with the shield tail shell for a long time, the device will be worn over a long period of time, which reduces the measurement accuracy. In addition, this method is not suitable for measuring materials with softer surfaces, and the debugging time of this device is long. Different debugging methods will also cause certain errors. This method is also not suitable for digital management.

[0010] (2) Laser / ultrasonic instrument measurement method: This method is also a commonly used method at present. It mainly uses non-contact distance measurement tools such as laser or ultrasound to measure the shield tail gap. The installation location is relatively diverse, but the main principle is to select several detection points for measurement, and then calculate the value of the shield tail gap. For example, the Calculation Workshop Company uses the line laser measurement method. The line laser sensor is installed between the thrust cylinders, with three detection points. When in use, the line laser is emitted to the shield tail gap, and then the edge position of the line laser is identified to obtain the length of the shield tail gap. Lu Yati et al. proposed a shield tail gap measurement method based on ultrasonic ranging in 2019. The ultrasonic module used is installed at the slot of the shield tail. A total of 5 detection points are deployed, which can directly measure the shield tail gap. This type of method benefits from the good penetration of laser ultrasound and is not easily affected by water accumulation, smoke and dust in the working environment. However, its accuracy is sensitive to the installation location. In addition, there is a risk of instrument collision in some installation locations, resulting in damage to the measuring instrument.

[0011] (3) Visual measurement method: The visual measurement method is a relatively novel measurement method. It uses a camera to take pictures of the shield tail gap, and then uses algorithms to process the pictures, such as removing noise and image segmentation, mark the area of the shield tail gap in the image, and then use measurement algorithms to calculate the distance. For example, Wang Zhicheng et al. developed a visual shield tail gap measurement system in 2017. First, a camera was used to take pictures of the shield tail, and then the pictures were segmented, binarized, and the edge image was obtained using the Canny edge detection algorithm to determine the edge. Finally, the shield tail gap was calculated. Zhao Shuanfeng et al. developed a shield tail gap measurement system based on neural network. It used lasers for calibration, then used a camera for image acquisition, used a convolutional neural network to reconstruct the image with super resolution, and finally analyzed and processed the image to obtain the value of the shield tail gap. Using this type of method is prone to being affected by noise in the image or potential impurities in the environment. For example, in an environment with accumulated water, it will have an impact on the image itself.

[0012] In summary, the existing measurement methods mainly have the following defects:

[0013] The functions of the equipment are relatively single. Many methods use expensive equipment such as high-precision laser rangefinders, and their only use is to measure the shield tail gap or true circularity, which is a bit wasteful.

[0014] Prone to being affected by environmental factors. Because there are few detection points, for example, most methods only detect the shield tail gap at 3 - 4 detection points, so there is a lack of detection of the overall segment attitude. Therefore, once the measured value of a detection point is inaccurate due to environmental factors, it will affect the overall judgment.

[0015] In view of this, there is an urgent need to design a new segment attitude measurement system to overcome at least some of the above defects existing in the existing segment attitude measurement system. Summary of the Invention

[0016] The present invention provides a segment attitude multi-index measurement system and method, and multiple important indexes of the segment can be obtained through measurement and calculation.

[0017] To solve the above technical problems, according to one aspect of the present invention, the following technical solution is adopted:

[0018] A segment attitude multi-index measurement system, the segment attitude multi-index measurement system includes: a measurement device and measurement software;

[0019] The measurement device includes a line laser sensor, a two-axis pan-tilt head, an inclination angle sensor, an alarm, and a real-time data transmission module; the measurement software includes a parameter setting module, a data acquisition module, a calculation module, and a data management module; the measurement software is used to obtain the overall indicators of the segment according to the segment features obtained from different angles by the measurement device, and the overall indicators include at least one of segment true circularity data, overall tail clearance data, segment lead data, jack stroke data, radial dislocation data, and circumferential dislocation data.

[0020] The line laser sensor is used to scan the segment; through the principle of laser triangulation, a static laser line is projected onto the object to be measured, and the two-dimensional contour of the object surface is scanned. It can measure the distance from the sensor to the object to be measured, and can also calculate along the position of the laser line to obtain the features of the object to be measured; a three-dimensional measurement result is obtained; the line laser sensor is equipped with a two-axis pan-tilt head, and can calculate the tail clearance at any point of the newly assembled segment by scanning the three-dimensional coordinates of the segment end face within a set range.

[0021] The two-axis pan-tilt head is used to drive the line laser sensor to rotate in the horizontal and vertical directions, so that the line laser sensor can scan different positions of the segment within a set angle, where the rotation angles in the vertical and horizontal directions are both -45 degrees to 45 degrees, so as to obtain the segment features of a complete arc, and then the complete tail clearance value of this arc can be obtained through calculation.

[0022] The inclination angle sensor is installed on the line laser sensor to provide the angle data of the servo rotation. Combining the data obtained by the line laser sensor, the tail clearance value of the entire arc can be calculated.

[0023] The alarm is used to prompt the on-site construction personnel to leave the scanning area during scanning, so that the scanning can proceed smoothly and the measurement results will not be affected by the movement of the on-site staff.

[0024] The real-time data transmission module is connected to the line laser sensor and the inclination angle sensor, and transmits the data sent by the line laser sensor and the inclination angle sensor to the upper computer in real time through the UDP protocol.

[0025] The parameter setting module is responsible for setting the installation parameters, including the installation position parameters of the equipment, the pan-tilt head rotation angle setting, and the communication parameters for control and data transmission.

[0026] The data acquisition module is used to measure the required parameters, including the three-dimensional space coordinates of the segment end face at 12 pre-set measurement points, the laser distance and angle of the sampling points on any radial straight line of two adjacent radial segments, and the distance and angle of the sampling points on any circumferential circle of adjacent circumferential segments.

[0027] The calculation module is used to calculate the measured parameters to obtain the overall tail gap, true circularity, and lead index required finally.

[0028] The data management module is used to store the finally calculated indexes in the database for convenient data display or analysis; a wireless router is used to establish a local area network in the shield machine. The devices in the local area network include a host computer and 4 measuring devices. Through this local area network, the host computer can control the operation of the measuring device and receive the measured parameters transmitted back by the measuring device. At the same time, the wireless router is connected to the network, enabling the host computer in the local area network to access the external database, thus achieving data storage.

[0029] According to another aspect of the present invention, the following technical solution is adopted: a multi-index measuring system for segment attitude, and the multi-index measuring system for segment attitude includes: a measuring device and measuring software;

[0030] The measuring device includes a number of measuring devices, and each measuring device is used to obtain segment features from different angles;

[0031] The measuring software is used to obtain the overall indexes of the segment according to the segment features obtained from different angles by the measuring device, and the overall indexes include at least one of segment true circularity data, overall tail gap data, segment lead data, jack stroke data, radial misalignment data, and circumferential misalignment data.

[0032] As an implementation manner of the present invention, the measuring device includes a line laser sensor. Through the principle of laser triangulation, a static laser line is projected onto the object to be measured, and the surface of the object to be measured is scanned for two-dimensional contour. It can measure the distance and angle from the sensor to the measured point, and based on the space coordinate system set by the system, calculate the three-dimensional space coordinates of the measured position; the line laser sensor is equipped with a two-axis pan-tilt head, which can freely scan any point on the newly assembled ring and the adjacent ring segments;

[0033] The line laser sensor is used to scan and obtain the laser distance and angle of the sampling points on the end face of the newly assembled segment, the laser distance and angle of the sampling points on any radial straight line of two adjacent radial segments, and the laser distance and angle of any circumferential laser perpendicular to the shield center axis of the circumferential segment.

[0034] As an implementation manner of the present invention, the measuring device further includes a two-axis pan-tilt head, an inclination angle sensor, an alarm, and a real-time data transmission module;

[0035] The two-axis pan-tilt is used to drive the line laser sensor to rotate in the horizontal and vertical directions, enabling the line laser sensor to scan different positions of the newly assembled segment and adjacent segments within a set angle. The rotation angles in the vertical and horizontal directions are both -45 degrees to 45 degrees, so that each laser sensor can scan a complete arc of segment features, and then the tail gap value at any point on the segment end face can be obtained through calculation.

[0036] The tilt angle sensor is installed on the line laser sensor to provide the angle data for the servo motor rotation. Combining the data obtained by the line laser sensor, the three-dimensional space coordinates of any point on the segment can be measured and calculated.

[0037] The alarm is used to prompt the on-site construction personnel to leave the scanning area during scanning, so that the scanning can proceed smoothly and the measurement results will not be affected by the movement of the on-site staff.

[0038] The real-time data transmission module is connected to the line laser sensor and the tilt angle sensor, and transmits the data sent by the line laser sensor and the tilt angle sensor to the host computer in real time through the UDP protocol.

[0039] As an implementation mode of the present invention, the measurement software includes a parameter setting module, a data acquisition module, a calculation module, and a data management module.

[0040] The parameter setting module is responsible for setting the installation parameters, including the installation position parameters of the equipment, the pan-tilt rotation angle setting, and the communication parameters for control and data transmission.

[0041] The data acquisition module is used to acquire the parameters required for measurement, including the three-dimensional space coordinates of the segment end face at 12 preset measurement points, the laser distance and angle of the sampling points on any radial line between two adjacent radial segments, the distance and angle of the sampling points on any circumferential segment of the circumferentially adjacent segments.

[0042] The calculation module is used to calculate the measured parameters to obtain the final required segment roundness data, overall tail gap data, segment lead data, jack stroke data, radial misalignment data, and circumferential misalignment data.

[0043] The data management module is used to store the finally calculated indexes in the database for convenient data display or analysis; a local area network is established in the shield machine using a wireless router. The devices in the local area network include a host computer and several measurement devices. Through the local area network, the host computer can control the operation of the measurement devices and also receive the measurement parameters returned by the measurement devices. At the same time, the wireless router is connected to the network, enabling the host computer in the local area network to access the external database, so as to achieve data storage.

[0044] As an embodiment of the present invention, the measuring device includes a line laser sensor, which can rotate based on a two-axis pan-tilt head to scan the end face of the segment at a certain angle, so as to calculate the three-dimensional spatial coordinate points of 12 measurement points on the segment end face. The line laser sensor is placed between the jacks;

[0045] The measuring system is provided with a number of detection points. Each detection point will obtain and calculate 3 equidistant shield tail clearance values, and at the same time, it is also necessary to scan the inside of the segment for calculating the radial dislocation; the measured data is transmitted to the upper computer through the local area network via the data transmission module of the device for calculation.

[0046] As an embodiment of the present invention, the measuring system further includes:

[0047] A coordinate system establishment unit for establishing a coordinate system;

[0048] A fitting unit for fitting each arc segment to obtain its radius, so as to achieve the true roundness and the value of the overall shield tail clearance. At the same time, in combination with the tilt angle sensor, the data of the segment lead is calculated;

[0049] A propulsion cylinder stroke calculation unit for using the characteristic of the line laser sensor to measure the distance between the line laser sensor and the object to be measured to calculate the strokes of all propulsion cylinders;

[0050] First, establish a coordinate system, fit each arc segment to obtain its radius, so as to achieve the true roundness and the value of the overall shield tail clearance. At the same time, in combination with the tilt angle sensor, the data of the segment lead is calculated; use the characteristic of the line laser sensor to measure the distance between the line laser sensor and the object to be measured to calculate the strokes of all propulsion cylinders. These additional measurement data are compared with the existing data to achieve the effect of mutual verification and comparison, making the calculation result more robust.

[0051] According to another aspect of the present invention, the following technical solution is adopted: A method for measuring multiple indicators of segment attitude, the method for measuring multiple indicators of segment attitude includes:

[0052] Obtain segment features from different angles through a measuring device;

[0053] According to the segment features obtained from different angles by the measuring device and through calculation, obtain the overall indicators of the segment. The overall indicators include at least one of segment true roundness data, overall shield tail clearance data, segment lead data, jack stroke data, radial dislocation data, and circumferential dislocation data.

[0054] As an implementation mode of the present invention, in the step of obtaining segment features from different angles by a measuring device, the segment is scanned by a line laser sensor; according to the principle of laser triangulation, a static laser line is projected onto the object to be measured, and the two-dimensional contour of the surface of the object to be measured is scanned, the distance from the sensor to the object to be measured can be measured, and calculations can be performed along the position of the laser line to obtain the features of the object to be measured, and a three-dimensional measurement result is obtained; the line laser sensor is equipped with a two-axis pan-tilt head, which can scan and calculate the three-dimensional coordinates of any point on the exposed surface of the segment within a set range.

[0055] As an implementation mode of the present invention, the step of obtaining the overall index of the segment according to the segment features obtained from different angles by the measuring device includes:

[0056] Collect the parameters required for measurement, including the three-dimensional coordinates of the end face space of the segment at 12 pre-set measurement points, the laser distance and angle of the sampling points on any radial line between two adjacent rings in the radial direction, the distance and angle of any circumferential sampling point of the adjacent segments in the circumferential direction;

[0057] Calculate the measured parameters to obtain the required shield tail clearance, roundness, and lead index of any point on the segment;

[0058] Store the finally calculated indexes in the database for convenient data display or analysis; use a wireless router to establish a local area network in the shield machine. The devices in the local area network include a host computer and several measuring devices. Through the local area network, the host computer can control the operation of the measuring devices and also receive the measurement parameters transmitted back by the measuring devices. At the same time, the wireless router is connected to the network, so that the host computer in the local area network can access the external database, thereby achieving data storage.

[0059] As an implementation mode of the present invention, the multi-index measurement method for segment attitude specifically includes:

[0060] Install the measuring device; the measuring device includes four measuring devices. The four measuring devices are respectively installed between the corresponding adjacent two jacks, so that the four measuring devices are respectively installed at the upper left, lower left, upper right, and lower right positions of the same cross-section of the shield machine. It is necessary to install the four measuring devices in the same radial plane at the tail of the shield machine and arrange them symmetrically left and right. The bottom of the measuring device is provided with a mounting base plate, which is equipped with a plurality of screw holes. Install a mounting plate at the corresponding position of the shield machine and use the supporting screws to fix the device. The 4 detection points can divide the entire ring of segments into 4 arcs; in addition, it is necessary to ensure that the pan-tilt head can move freely within the range of -45 to 45 degrees in the vertical and horizontal directions, and the emission and reception of the line laser of the laser sensor are not blocked by obstacles; the measurement data is transmitted to the host computer in the form of UDP protocol through the wireless module. Therefore, a local area network needs to be set up using a router in the shield machine, and the host computer and the measuring devices are all in a local area network;

[0061] Debugging equipment; debugging the equipment. First, for the communication settings between devices, it is necessary to determine the IP address and port number for each measuring device to send information, ensuring normal communication between the host computer and the measuring devices. Subsequently, it is necessary to ensure that each line laser measuring device can accurately find the three shield tail gaps with equal intervals to be measured, as well as the corresponding positions for internal segment scanning. Record the rotation angle of the pan-tilt head of each measuring device when measuring the three shield tail gap measurement points and scanning the inner side of the segment, and record the positional relationship between the device and the jacks.

[0062] Measuring and transmitting the results; the measurement is a completely automated step. After each segment erection is completed, the host computer issues a measurement command, which is transmitted to the measuring device through the local area network. After receiving the command, the measuring device will issue an alarm before measurement to remind the workers on site not to enter the scanning area and affect the measurement. Subsequently, the line laser measuring device

[0063] moves according to the preset pan-tilt head angle until all points are measured; the measured values are transmitted to the host computer in real time for calculation.

[0064] Establishing a plane rectangular coordinate system; first, establish a plane coordinate system based on the standard circle formed by the shield jacks, that is, the center of the shield is used as the origin of the coordinate system, and then the coordinates of 12 measurement points are marked in the coordinate system.

[0065] Calculating the true circularity data of the segment; based on the coordinates of the measurement points and the standard ellipse formula, each time the coordinates of 5 adjacent measurement points are taken to determine each 1 / 4 arc. In this way, the expressions of 4 arcs can be obtained. Subtract the shortest radius from the largest radius among the 4 arcs to finally obtain the true circularity Δ of the segment.

[0066] Ax 2 +By 2 +Cxy + Dx + Ey + F = 0 (1)

[0067] Δ = R max -R min (2)

[0068] Calculating the overall shield tail gap data; also based on the above coordinate system, first, the line laser ranging device can measure and scan the three-dimensional coordinates of 12 measurement points according to the coordinates and calculate the shield tail gap value. In addition, given the radius of the shield, subtract the radii of the 4 1 / 4 arcs calculated when calculating the true circularity from the shield radius respectively, and the shield tail gap values of the four arcs can be deduced; the calculation formula is as follows, where d i is the shield tail gap of each arc.

[0069] d i = R标准 -R 1 / 4圆弧i (3)

[0070] i ∈ {1, 2, 3, 4}

[0071] Jacking stroke calibration: The strokes of two adjacent jacks at the position where the line laser rangefinder is located are directly measured by the line laser rangefinder. Therefore, the strokes of a total of 8 jacks can be directly obtained, and the strokes of the remaining jacks are obtained by calculation. The specific calculation process includes:

[0072]

[0073] Formula (4) shows the length of the AC side of the segment at this jack position when the jack position and the angle of the closure block are known. Here, β is the angle between the jack and the cross-section of the shield of the closure block, R is the radius of the shield, and c is the segment taper; in the theoretical case, the difference between segments is the difference between jacks. By understanding the difference relationship between jacks, the unknown jack stroke can be deduced from the known jack strokes. However, in the actual situation, the segment may have an offset angle relative to the shield; first, subtract the stroke amounts of the jacks in the diagonal relationship that are known to obtain the actual stroke difference between the two, then calculate the theoretical stroke difference between the two points through the formula, and evenly distribute the difference between the theoretical and actual stroke differences to the jacks in the middle of the two jacks, and then the strokes of all jacks can be calculated;

[0074] Segment lead data calculation: Calculate the stroke differences of the upper and lower and left and right jacks according to the fitted upper 1 / 4 arc and lower 1 / 4 arc, which are UD and RL respectively. Taking the upper and lower lead as an example, the lead is BC, AB is the segment length, and the angle size of ∠BAC is the sum of the inclination angle of the segment relative to the shield and the angle of the shield relative to the horizontal line; let ∠BAC be α v , the shield slope is c v , substitute the segment length L into formula (5) to obtain ∠BAC, and let the lead BC be d v , substitute it into formula (7) to obtain the lead; the algorithm for the left and right lead is the same as that for the upper and lower lead, just change the slope of the shield to the deflection angle of the shield, as shown in formula (6) specifically, c h is the deflection angle of the shield, and finally substitute it into formula (7) to obtain the left and right lead;

[0075] α v = arctan(UD / L) + c v (5)

[0076] α h = arctan(RL / L) + ch (6)

[0077] d i = tan(αi )×L, (i = v, h) (7)

[0078] Measurement of radial offset data and circumferential offset data; when measuring the radial offset, the line laser measuring device needs to scan the segment and the joint position of the segments in one ring, and when measuring the circumferential offset, the joint between rings needs to be scanned; according to the triangulation principle of laser ranging, the values of the two offsets can be obtained.

[0079] The beneficial effects of the present invention are as follows: The segment attitude multi-index measurement system and method proposed by the present invention can measure and calculate six important indexes such as the true roundness of the segment, the shield tail clearance, the segment lead, the jack stroke, the radial offset, and the circumferential offset. The present invention can improve the measurement efficiency and accuracy. Description of the Drawings

[0080] Figure 1 Schematic diagram of the installation position of the measuring device in an embodiment of the present invention.

[0081] Figure 2 Schematic diagram of the distribution of measurement points in an embodiment of the present invention.

[0082] Figure 3 Schematic diagram of the principle of measuring the segment lead in an embodiment of the present invention.

[0083] Figure 4 Schematic diagram of the measurement principle of the segment attitude multi-index measurement system in an embodiment of the present invention.

[0084] Figure 5 Schematic diagram of the composition of the segment attitude multi-index measurement system in an embodiment of the present invention.

[0085] Figure 6 Network topology diagram of the measurement system in an embodiment of the present invention.

[0086] Figure 7 Flowchart of the measurement method in an embodiment of the present invention.

[0087] Figure 8 Schematic diagram of establishing a coordinate system for the measurement method in an embodiment of the present invention.

[0088] Figure 9 Cross-sectional view of the segment in an embodiment of the present invention.

[0089] Figure 10 Schematic diagram of calculating the jack stroke in an embodiment of the present invention.

[0090] Figure 11 Schematic diagram of the lead in an embodiment of the present invention.

[0091] Figure 12Schematic diagram of the laser ranging principle in an embodiment of the present invention.

[0092] Figure 13 Schematic diagram of the composition of the multi-index measurement system for segment attitude in an embodiment of the present invention. Detailed implementation manners

[0093] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0094] To further understand the present invention, the preferred implementation manners of the present invention will be described below in conjunction with embodiments. However, it should be understood that these descriptions are only for further explaining the features and advantages of the present invention, rather than limiting the claims of the present invention.

[0095] The description of this part only focuses on several typical embodiments, and the present invention is not limited to the scope described in the embodiments. The mutual replacement of the same or similar prior art means and some technical features in the embodiments is also within the scope of the description and protection of the present invention.

[0096] The expressions of the steps in each embodiment in the specification are only for convenience of description, and the implementation manner of the present application is not limited by the order of step implementation. The "connection" in the specification includes both direct connection and indirect connection.

[0097] The present invention discloses a multi-index measurement system for segment attitude. Figure 13 Schematic diagram of the composition of the measurement system of the present invention in an embodiment of the present invention; please refer to Figure 13 , the multi-index measurement system for segment attitude includes: a measurement device 1 and a measurement software 2; the measurement device 1 includes a plurality of measurement devices, and each measurement device is used to obtain segment features from different angles; the measurement software 2 is used to obtain the overall index of the segment 302 according to the segment features obtained from different angles by the measurement device (such as Figure 3 shown), and the overall index includes at least one of the true roundness data of the segment, the overall tail clearance data, the segment lead data, the jack stroke data, the radial misalignment data, and the circumferential misalignment data (such as the overall index may include the true roundness data of the segment, the overall tail clearance data, the segment lead data, the jack stroke data, the radial misalignment data, and the circumferential misalignment data; of course, it may also only include some of the true roundness data of the segment, the overall tail clearance data, the segment lead data, the jack stroke data, the radial misalignment data, and the circumferential misalignment data).

[0098] In an embodiment of the present invention, the measurement device includes a line laser sensor 101, and the line laser sensor 101 is used to scan the latest assembled segment 302 (such as Figure 3The spatial coordinates of any point on the outer surface of the adjacent segment; through the principle of laser triangulation, a static laser line is projected onto the object to be measured, and the two-dimensional contour of the object to be measured is scanned. It can measure the distance from the sensor to the object to be measured, and can also calculate along the position of the laser line to obtain the characteristics of the object to be measured, obtaining a three-dimensional measurement result; the line laser sensor is equipped with a two-axis pan-tilt head 102, which can scan and calculate the three-dimensional coordinates of any point on the exposed surface of the segment within the set range.

[0099] In an embodiment of the present invention, the line laser sensor 101 is rotatable to scan the shield tail at a certain angle, and a plurality of shield tail clearance values in an arc are obtained through calculation. The line laser sensor is placed between the set adjacent jacks 301 (as Figure 1 , Figure 3 shown). The measurement system sets a number of detection points 100 (such as 4 groups of detection points can be set, with 3 detection points in each group), and the specific positions are as Figure 1 shown. Each detection point will obtain 3 equidistant shield tail clearance values. Please refer to Figure 2 . At the same time, it is also necessary to scan the inside of the segment for calculating the radial misalignment; the measured data is transmitted to the upper computer through the local area network by the data transmission module of the device for calculation.

[0100] Please refer to Figure 13 In an embodiment of the present invention, the measuring device 1 includes a line laser sensor 101, a two-axis pan-tilt head 102, an inclination angle sensor 103, an alarm 104, and a real-time data transmission module 105.

[0101] The line laser sensor 101 is used to scan and obtain the laser distance and angle of the sampling points on the end face of the newly assembled segment, the laser distance and angle of the sampling points on any radial straight line of the two adjacent rings of segments in the radial direction, and the laser distance and angle of any circumference perpendicular to the shield center axis of the circumferential segment. The line laser sensor 101 projects a static laser line onto the object to be measured through the principle of laser triangulation, scans the two-dimensional contour of the object to be measured, can measure the distance and angle from the sensor to the measured point, and based on the spatial coordinate system set by the system, calculates the three-dimensional spatial coordinates of the measured position; the line laser sensor is equipped with a two-axis pan-tilt head and can freely scan any point on the newly assembled ring and the adjacent ring segments. The line laser sensor 101 is equipped with a two-axis pan-tilt head 102, which can scan the three-dimensional coordinates of any point on the exposed surface of the segment within the set range.

[0102] The two-axis pan-tilt 102 is used for the rotation of the line laser sensor 101 in the horizontal and vertical directions, enabling the line laser sensor 101 to scan different positions of the newly assembled segment and the adjacent segments within a set angle. The rotation angles in the vertical and horizontal directions are both -45 degrees to 45 degrees, so that each laser sensor can scan a complete arc of segment features, and then the shield tail clearance value at any point on the segment end face can be obtained through calculation.

[0103] In another embodiment, the line laser sensor 101 can rotate based on the two-axis pan-tilt 102 to scan the segment end face at a certain angle, so as to calculate the three-dimensional space coordinate points of 12 measurement points on the segment end face. The line laser sensor is placed between the jacks.

[0104] The tilt angle sensor 103 is installed on the line laser sensor 101 to provide the angle data for the servo rotation. Combining the data obtained by the line laser sensor 101, the three-dimensional space coordinates of any point on the segment can be measured and calculated. The alarm 104 is used to prompt the on-site construction personnel to leave the scanning area during scanning, so that the scanning can proceed smoothly and the measurement results will not be affected by the movement of the on-site staff. The real-time data transmission module 105 is connected to the line laser sensor 101 and the tilt angle sensor 103, and transmits the data sent by the line laser sensor 101 and the tilt angle sensor 103 to the upper computer in real time through the UDP protocol (such as Figure 6 shown).

[0105] Please refer to Figure 5 、 Figure 13 , in one embodiment, the measurement software 2 includes a parameter setting module 201, a data acquisition module 202, a calculation module 203, and a data management module 204.

[0106] The parameter setting module 201 is responsible for setting the installation parameters, including the installation position parameters of the equipment, the pan-tilt rotation angle setting, and the communication parameters for control and data transmission.

[0107] The data acquisition module 202 is used to measure the required parameters, including the three-dimensional coordinate values of the segment end face at 12 pre-set measurement points, the laser distance and angle of the sampling points on any radial line of two adjacent radial segments, the distance and angle of the sampling points on any circumferential line of two adjacent circumferential segments.

[0108] The calculation module 203 is used to calculate the measured parameters to obtain the final required true roundness data, overall shield tail clearance data, segment lead data, jack stroke data, radial misalignment data, and circumferential misalignment data of the segment.

[0109] The data management module 204 is used to store the finally calculated metrics in a database for convenient data display or analysis; a wireless router is used to establish a local area network in the shield tunneling machine. The devices in the local area network include a host computer and four measuring devices. Through this local area network, the host computer can control the operation of the measuring devices and receive the measurement parameters transmitted back by the measuring devices. At the same time, the wireless router is connected to the network, enabling the host computer in the local area network to access the external database, thus achieving data storage.

[0110] In an embodiment of the present invention, the measurement system further includes: a coordinate system establishment unit, a fitting unit, and a propulsion cylinder stroke calculation unit. The coordinate system establishment unit is used to establish a coordinate system; the fitting unit is used to fit each arc to obtain its radius, thereby achieving the values of the true roundness and the overall segment tail clearance. At the same time, in combination with the tilt angle sensor, the data of the segment lead is calculated. The propulsion cylinder stroke calculation unit is used to utilize the characteristic of the line laser sensor to measure the distance between the line laser sensor and the object to be measured, and deduce the strokes of all propulsion cylinders. These additional measurement data are compared with the existing data to achieve the effect of mutual verification and comparison, making the calculated results more robust.

[0111] The present invention also discloses a method for measuring multiple segment attitude indicators. The method for measuring multiple segment attitude indicators includes: obtaining segment features from different angles through a measuring device; calculating the overall indicators of the segment according to the segment features obtained from different angles by the measuring device, and the overall indicators include at least one of segment true roundness data, overall segment tail clearance data, segment lead data, jack stroke data, radial misalignment data, and circumferential misalignment data.

[0112] In an embodiment of the present invention, in the step of obtaining segment features from different angles through a measuring device, the segment is scanned by a line laser sensor; through the principle of laser triangulation, a static laser line is projected onto the object to be measured, and the two-dimensional contour of the object to be measured is scanned. The distance from the sensor to the object to be measured can be measured, and calculations can be performed along the position of the laser line to obtain the features of the object to be measured, obtaining a three-dimensional measurement result; the line laser sensor is equipped with a two-axis pan-tilt head, which can scan and calculate the three-dimensional coordinates of any point on the exposed surface of the segment within the set range.

[0113] In an embodiment of the present invention, the step of calculating the overall indicators of the segment according to the segment features obtained from different angles by the measuring device includes:

[0114] Collect the parameters required for measurement, including the three-dimensional coordinates of the segment end faces at 12 pre-set measurement points, the laser distances and angles of the sampling points on any radial straight line between two adjacent radial segments, and the distances and angles of the sampling points on any circumferential segment between two adjacent circumferential segments;

[0115] Calculate the measured parameters to obtain the required shield tail clearance, true circularity, and lead index at any point on the segment; in another embodiment, obtain the required segment true circularity data, overall shield tail clearance data, segment lead data, jack stroke data, radial misalignment data, and circumferential misalignment data.

[0116] Store the finally calculated indicators in the database for convenient data display or analysis; use a wireless router to establish a local area network in the shield machine. The devices in the local area network include a host computer and several measuring devices. Through the local area network, the host computer can control the operation of the measuring devices and also receive the measurement parameters transmitted back by the measuring devices. At the same time, the wireless router is connected to the network, enabling the host computer in the local area network to access the external database, thereby achieving data storage.

[0117] In an embodiment of the present invention, first establish a coordinate system and fit each arc to obtain its radius, thereby obtaining the values of true circularity and overall shield tail clearance. At the same time, in combination with an inclination angle sensor, calculate the segment lead data; as Figure 3 shown, use the characteristic of the line laser sensor to measure the distance between the line laser sensor and the measured object to calculate the strokes of all propulsion cylinders. Compare these additional measurement data with the existing data to achieve mutual verification and comparison, making the calculation results more robust.

[0118] Figure 7 is a flowchart of the measurement method in an embodiment of the present invention; please refer to Figure 7 , in an embodiment of the present invention, the multi-index measurement method for segment attitude specifically includes:

[0119]

Step S1

[0120]

Step S2

[0121]

Step S3

[0122]

Step S4

[0123]

Step S5

[0124] Ax 2 +By 2 +Cxy + Dx + Ey + F = 0 (1)

[0125] Δ = R max -R min (2)

[0126]

Step S6

[0127] d i = R 标准 -R1 / 4圆弧i (3)

[0128] i ∈ {1, 2, 3, 4}

[0129]

Step S7

[0130]

[0131] Formula (4) shows the length of the AC side of the segment at this jack position when the jack position and the angle of the closure block are known. Here, β is the angle between the jack and the cross-section of the shield of the closure block, R is the radius of the shield, and c is the segment taper (as Figure 9 shown); in theory, the difference between segments is the difference between jacks. By understanding the difference relationship between jacks, the unknown jack stroke can be deduced from the known jack stroke. However, in actual situations, the segment may have an offset angle relative to the shield; first, subtract the stroke amounts of the known jacks in a diagonal relationship to obtain the actual stroke difference between the two. Then, calculate the theoretical stroke difference between the two points through the formula, and evenly distribute the difference between the theoretical and actual stroke differences to the jacks in the middle of the two jacks, and then the strokes of all jacks can be calculated;

[0132]

Step S8

[0133] α v = arctan(UD / L) + c v (5)

[0134] α h= arctan(RL / L) + c h (6)

[0135] d i = tan(α i ) × L, (i = v, h) (7)

[0136]

Step S9

[0137] Taking the measurement of the circumferential offset as an example, as Figure 12 shown; as Figure 12 known, AB is the distance between the laser emitter and the photosensitive element, AC is the emitted laser, BC is the reflected laser, and the reflection angle ∠ABC is obtained from its position projected on the photosensitive element. Then the distance of AC can be calculated as tan(∠ABC) × AB. By rotating the laser measurement device, the offset between the segments can be scanned, and the offset amount can be accurately calculated.

[0138] In summary, for the segment attitude multi-index measurement system and method proposed by the present invention, six important indexes such as the true roundness of the segment, the shield tail clearance, the segment lead, the jack stroke, the radial offset, and the circumferential offset can be measured and calculated. The present invention can improve the measurement efficiency and accuracy.

[0139] It should be noted that the present application can be implemented in software and / or a combination of software and hardware; for example, it can be implemented using an application-specific integrated circuit (ASIC), a general-purpose computer, or any other similar hardware device. In some embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) can be stored in a computer-readable recording medium; for example, a RAM memory, a magnetic or optical drive, or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented using hardware; for example, a circuit that cooperates with the processor to execute each step or function.

[0140] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as falling within the scope described in this specification.

[0141] The description and application of the present invention herein are illustrative and are not intended to limit the scope of the present invention to the above embodiments. The effects or advantages involved in the embodiments may not be reflected in the embodiments due to various factors, and the description of the effects or advantages is not used to limit the embodiments. Variations and changes to the disclosed embodiments are possible, and various components of substitution and equivalence of the embodiments are known to those of ordinary skill in the art. Those skilled in the art should be clear that without departing from the spirit or essential characteristics of the present invention, the present invention can be implemented in other forms, structures, arrangements, proportions, and with other components, materials, and parts. Other variations and changes can be made to the disclosed embodiments without departing from the scope and spirit of the present invention.

Claims

1. A multi-index measurement system for segment posture, characterized in that: The segment posture multi-index measurement system comprises: a measurement device and measurement software; The measuring device includes a plurality of measuring devices, each of which is used to obtain the characteristics of the pipe segment from different angles; The measuring software is used to obtain the overall index of the segment according to the segment characteristics obtained from different angles by the measuring device, and the overall index includes at least one of the segment roundness data, the overall shield tail clearance data, the segment advance data, the jack stroke data, the radial misalignment data, and the circumferential misalignment data; The measuring device includes a line laser sensor, which projects a static laser line onto the object to be measured through the principle of laser triangulation, scans the two-dimensional contour of the surface of the object to be measured, measures the distance and angle from the sensor to the measured point, and calculates the three-dimensional spatial coordinates of the measured position based on the spatial coordinate system set by the system; the line laser sensor is equipped with a two-axis pan-tilt head, which can freely scan any point of the newly assembled ring and the adjacent ring piece; The line laser sensor is used to scan and obtain the laser distance and angle of the sampling point on the end face of the latest assembled segment, the laser distance and angle of the sampling point on any radial straight line of two radially adjacent ring segments, and the laser distance and angle of the circumference of any vertical shield central axis of the ring segment; The measuring device also includes a two-axis gimbal, a tilt angle sensor, an alarm, and a real-time data transmission module; The two-axis gimbal is used to drive the line laser sensor to rotate in the horizontal and vertical directions, so that the line laser sensor can scan different positions of the newly assembled segment and the adjacent segments within the set angle, wherein the rotation angles in the vertical and horizontal directions are both -45 degrees to 45 degrees, so that each laser sensor can scan and obtain the segment features of a complete arc, and then the shield tail clearance value at any point on the segment end surface can be obtained by calculation; The tilt angle sensor is installed on the line laser sensor to provide the angle data of the steering gear rotation. Combined with the data obtained by the line laser sensor, the three-dimensional spatial coordinates of any point on the pipe segment can be measured and calculated; The alarm is used to remind the construction workers on site to leave the scanning area during scanning, so that the scanning can be carried out smoothly and the measurement results will not be affected by the movement of the workers on site; The real-time data transmission module is connected to the line laser sensor and the tilt angle sensor, and transmits the data sent by the line laser sensor and the tilt angle sensor to the host computer through the UDP protocol in real time.

2. The segment posture multi-index measurement system according to claim 1 is characterized in that: The measurement software includes a parameter setting module, a data acquisition module, a calculation module and a data management module; The parameter setting module is responsible for setting installation parameters, including the installation position parameters of the device, the pan / tilt rotation angle setting, and the communication parameters for control and data transmission; The data acquisition module is used to collect the parameters required for measurement, including the three-dimensional spatial coordinates of the segment end face of 12 pre-set measurement points, the laser distance and angle of the sampling points on any radial straight line of two radially adjacent segments, and the distance and angle of any circumferential sampling points of circumferentially adjacent segments; The calculation module is used to calculate the measured parameters to obtain the final required segment roundness data, overall shield tail clearance data, segment advance data, jack stroke data, radial misalignment data, and circumferential misalignment data; The data management module is used to store the finally calculated indicators in the database to facilitate data display or analysis; a wireless router is used to establish a local area network in the shield, and the devices in the local area network include a host computer and several measuring devices. Through the local area network, the host computer can control the operation of the measuring equipment and receive the measurement parameters sent back by the measuring equipment. At the same time, the wireless router is connected to the network, so that the host computer in the local area network can access the database of the external network, thereby achieving data storage.

3. The multi-index measurement system for segment posture according to claim 1 is characterized in that: The measuring device includes a line laser sensor, which can be rotated based on a two-axis gimbal to scan the end face of the pipe segment at a certain angle, thereby calculating and obtaining the spatial three-dimensional coordinate points of 12 measuring points on the end face of the pipe segment. The line laser sensor is placed between the jacks; The measurement system is provided with several detection points, each of which acquires and calculates three equally spaced shield tail clearance values, and also needs to scan the inside of the pipe segment for calculating radial misalignment; the measured data is transmitted to the host computer through the local area network by the data transmission module of the equipment for calculation; The measuring system further comprises: A coordinate system establishing unit, used for establishing a coordinate system; The fitting unit is used to fit each arc to obtain its radius, so as to achieve the true roundness and the value of the overall shield tail gap. At the same time, combined with the inclination angle sensor, the data of the segment advance amount is calculated; A propulsion cylinder stroke calculation unit is used to use a line laser sensor to measure the distance between the line laser sensor and the measured object, and calculate the stroke of all propulsion cylinders; First, a coordinate system is established and each arc is fitted to obtain its radius, thereby achieving the true roundness and the value of the overall shield tail gap. At the same time, the inclination angle sensor is also used to calculate the data of the segment advance. The line laser sensor is used to measure the characteristics of the distance between the line laser sensor and the object being measured, and the stroke of all thrust cylinders is calculated. These additional measurement data are compared with the existing data to achieve the effect of mutual verification and comparison, making the measurement results more robust.

4. A segment attitude multi-index measurement method of the segment attitude multi-index measurement system according to any one of claims 1 to 3, characterized in that: The multi-index measurement method for segment posture includes: Obtain segment characteristics from different angles through measuring devices; The measuring device obtains the segment characteristics from different angles and obtains the overall index of the segment through calculation, wherein the overall index includes at least one of segment roundness data, overall shield tail clearance data, segment advance data, jack stroke data, radial misalignment data, and circumferential misalignment data.

5. The multi-index measurement method for segment posture according to claim 4 is characterized in that: In the step of obtaining the characteristics of the pipe segment from different angles by means of a measuring device, the pipe segment is scanned by a line laser sensor; a static laser line is projected onto the object to be measured by the principle of laser triangulation, and the surface of the object to be measured is scanned in two dimensions, thereby being able to measure the distance from the sensor to the object to be measured, and to perform calculations along the position of the laser line to obtain the characteristics of the object to be measured and obtain three-dimensional measurement results; the line laser sensor is equipped with a two-axis gimbal, which can scan and calculate the three-dimensional coordinates of any point on the exposed surface of the pipe segment within a set range.

6. The multi-index measurement method for segment posture according to claim 4 is characterized in that: The steps of obtaining the overall index of the segment from different angles according to the segment characteristics obtained by the measuring device include: Collect the parameters required for measurement, including the 3D coordinates of the segment end face space of the 12 pre-set measurement points, the laser distance and angle of the sampling points on any radial straight line of two radially adjacent segments, and the distance and angle of any circumferential sampling points of circumferentially adjacent segments; Calculate the measured parameters to obtain the required shield tail clearance, roundness and lead index of any point on the segment; The final calculated indicators are stored in the database to facilitate data display or analysis; a wireless router is used to establish a local area network in the shield. The devices in the local area network include a host computer and several measuring devices. Through the local area network, the host computer can control the operation of the measuring equipment and receive the measurement parameters sent back by the measuring equipment. At the same time, the wireless router is connected to the network, so that the host computer in the local area network can access the database of the external network, thereby achieving data storage.

7. The multi-index measurement method for segment posture according to claim 4 is characterized in that: The multi-index measurement method for segment posture specifically includes: Install the measuring device; the measuring device includes four measuring devices, which are installed between two corresponding adjacent jacks, so that the four measuring devices are installed at the upper left, lower left, upper right and lower right positions of the same cross section of the shield. The four measuring devices need to be installed on the same radial plane of the tail of the shield and arranged symmetrically on the left and right. A mounting base plate is provided at the bottom of the measuring device, which is equipped with multiple screw holes. The mounting plate is installed at the corresponding position of the shield, and the equipment is fixed with matching screws. The four detection points can divide the entire ring of pipe segments into four arcs; in addition, it is necessary to ensure that the pan / tilt can move unrestricted within the range of -45 to 45 degrees in the vertical and horizontal directions, and the emission and reception of the laser line of the laser sensor are not blocked by obstacles; the measurement data is transmitted to the host computer through the wireless module in the form of UDP protocol, so a router needs to be used in the shield machine to set up a local area network, and the host computer and the measuring equipment are in the same local area network; Debug the equipment. To debug the equipment, the first step is to set up the communication between the equipment. It is necessary to determine the IP address and port number of each measuring device to send information to ensure that the communication between the host computer and the measuring device is normal. Then it is necessary to determine that each line laser measuring device can accurately find the three shield tail gaps with equal spacing to be measured, as well as the corresponding positions of the internal scanning of the pipe segment. Record the rotation angle of the pan / tilt when each measuring device measures the three shield tail gap measurement points and scans the inner side of the pipe segment, and record the positional relationship between the equipment and the jack. Measure and send back the results; measurement is a fully automated step. Each time the segment is assembled, measurement is performed. First, the host computer issues a measurement command, which is transmitted to the measuring device through the local area network. After receiving the command, the measuring device will issue an alarm before measurement to remind the workers on site not to walk into the scanning area to affect the measurement. Then the line laser measuring device moves according to the preset pan-tilt angle until all points are measured; the measured value will be transmitted to the host computer in real time for calculation; Establish a plane rectangular coordinate system; first, establish a plane coordinate system based on the standard circle formed by the shield jack, that is, the center of the shield is used as the origin of the coordinate system, and then mark the coordinates of the 12 measuring points in the coordinate system; Calculation of segment roundness data: Based on the coordinates of the measuring points and the standard ellipse formula, the coordinates of five adjacent measuring points are taken each time to determine each 1 / 4 arc. In this way, the expressions of four arcs can be obtained. The shortest radius is subtracted from the maximum radius of the four arcs to finally obtain the segment roundness Δ. Ax 2 +By 2 +Cxy+Dx+Ey+F=0 (1) Δ=R max -R min (2) Calculation of overall shield tail clearance data; also based on the above coordinate system, firstly, the line laser ranging device can measure the spatial three-dimensional coordinates of 12 measuring points. In addition, the radius of the shield is known. The radius of the shield is subtracted from the radius of the four 1 / 4 arcs calculated when calculating the true circularity, and the shield tail clearance values ​​of the four arcs can be deduced; the calculation formula is as follows, where d i is the shield tail clearance of each arc; d i =R 标准 -R 1 / 4圆弧i (3) i∈{1,2,3,4} Jack stroke data verification: The strokes of two jacks adjacent to the position of the laser rangefinder are directly measured by the line laser rangefinder, so the strokes of a total of 8 jacks can be directly obtained, and the strokes of the remaining jacks are obtained by calculation. The specific calculation process includes: Formula (4) shows the length of the AC side of the segment at the jack position when the jack position and the capping block angle are known, where β is the angle between the jack and the capping block shield cross section, R is the radius of the shield, and c is the wedge shape of the segment. In theory, the difference between the segments is the difference between the jacks. By understanding the difference relationship between the jacks, the unknown jack stroke can be deduced from the known jack stroke. However, the actual situation is that the segment may have an offset angle relative to the shield. First, subtract the strokes of the jacks that are known to be diagonally related to each other to obtain the actual stroke difference between the two. Then, the theoretical stroke difference of the two points is calculated using the formula. The difference between the theoretical and actual stroke differences is evenly distributed on the jack between the two jacks to calculate the stroke of all jacks. Calculation of segment advance data; Calculate the upper and lower and left and right jack stroke differences based on the fitted top 1 / 4 arc and bottom 1 / 4 arc, which are UD and RL respectively. Take the upper and lower advance as an example, the advance is BC, AB is the segment length, and the angle of ∠BAC is the sum of the inclination angle of the segment relative to the shield and the angle of the shield relative to the horizontal line; Let ∠BAC be α v , the shield slope is c v , the segment length is L, and we can substitute it into formula (5) to find ∠BAC. Let the lead BC be d v , substitute into formula (7) to get the lead amount; the left and right lead amount is calculated in the same way as the up and down lead amount, except that the slope of the shield is replaced by the deflection angle of the shield, as shown in formula (6), c h is the shield deflection angle, and finally substitute it into formula (7) to obtain the left and right advance amount; α h =arctan(RL / L)+c h (6) <h2 style=";text-align:left;direction:ltr">d<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> =tan(α<h2 style=";text-align:left;direction:ltr"> i <h2 style=";text-align:left;direction:ltr"> )×L,i=v,h (7) The radial misalignment data and the circumferential misalignment data are calculated; when calculating the radial misalignment, the linear laser measuring device needs to scan the joint positions of the segments in a ring, and when calculating the circumferential misalignment, the joints between the rings need to be scanned; the values ​​of the two misalignments are obtained based on the laser ranging triangulation principle.

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