Rectangular jacking pipe machine multi-point posture measurement system and deformation monitoring method

Abstract

The application discloses a kind of rectangular jacking pipe machine multi-point attitude measurement system and deformation monitoring method, it is characterized in that, including the following steps: in the same section parallel to pipeline axis in starting well, five laser range finders are arranged.This application can convert the position and attitude information of rectangular jacking pipe machine into digital quantity without the need for traditional manual observation mode, can greatly reduce the labor intensity of personnel, improve the working efficiency and construction accuracy of rectangular jacking pipe machine construction;Through the setting of program, data can be saved without the need for traditional manual recording mode;Through the real-time uploading processing of data, the position change of rectangular jacking pipe machine can be quickly perceived, and then real-time regulation and control is carried out, through the analysis and processing of real-time data, the forming condition of tunnel trajectory can be intuitively displayed, so that the on-site construction personnel can control the engineering quality and make real-time decisions.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of rectangular jacking pipe construction and attitude measurement, in particular to a rectangular jacking pipe machine multi-point attitude measurement system and deformation monitoring method. BACKGROUND

[0002] Jacking pipe construction is a new type of underground pipe construction method developed after shield construction, which does not need to excavate the surface layer, excavates a tunnel underground, lays various underground pipes and pipe networks, and can cross highways, railways, rivers, ground buildings, underground structures and various underground pipelines.

[0003] During the construction process of the rectangular jacking pipe machine, due to the influence of its large cross-sectional area and cutter disc distribution, the machine head itself will deflect and deform under the complex action force during jacking pipe construction, and the jacking trajectory and attitude will always deviate. In order to ensure that each excavation surface can be correctly penetrated and meet the design requirements, it is necessary to measure the jacking attitude of the rectangular jacking pipe machine in real time as the rectangular jacking pipe construction advances. At present, most of the rectangular jacking pipes in China are implemented by manual repeated measurement method, which is very unfavorable for manual measurement due to the humid air and large temperature difference in the jacking pipe. Most of the jacking pipe guide systems are developed based on automatic tracking total stations, which are completed through the relay of multiple automatic tracking total stations, so the cost is high. The jacking pipe guide system based on laser theodolite or other camera equipment has generally low precision due to the limited installation space of the jacking pipe machine itself, and the deformation of the rectangular jacking pipe machine itself is not considered, so manual measurement and checking are often required. The cost of the two methods is extremely high. SUMMARY

[0004] In view of the shortcomings of the prior art, the present application provides a rectangular jacking pipe machine multi-point attitude measurement system and deformation monitoring method, which has the advantages of low cost, high precision and good real-time performance, and can be used for large cross-section rectangular jacking pipe engineering. The problems of time-consuming and laborious manual measurement, easy to make mistakes, leading to machine head deflection, and finally leading to excessive penetration error and causing unnecessary economic losses are solved.

[0005] To achieve the above purpose, the present application is implemented by the following technical scheme: a rectangular jacking pipe machine multi-point attitude measurement system and deformation monitoring method, comprising the following steps:

[0006] Five laser range finders are arranged in the same cross section parallel to the pipe axis in the starting well; five laser targets of upper left, lower left, upper right, lower right and center point are arranged at a cross section behind the machine head bulkhead of the jacking pipe machine; a camera is arranged behind the laser target for shooting the position of the light spot on the laser target; the laser range finder emits laser beams to the five laser targets of upper left, lower left, upper right, lower right and center point respectively, the camera shoots the laser beams passing through the laser targets, and the laser range finder and the camera transmit data to the ground operating platform;

[0007] Using the distance measured by the laser rangefinder at the center point as a reference, the initial posture of the rectangular pipe jacking machine is adjusted using the distance information measured by the laser rangefinders at other locations until the distance values ​​measured by the laser rangefinders at all locations are consistent, that is, the initial posture of the rectangular pipe jacking machine is correctly installed.

[0008] A three-dimensional coordinate system was established on the ground operating platform. Based on the image information captured by cameras at various locations, the real-time horizontal and vertical coordinates of the laser spot at each measurement position were obtained. Combined with the distance values ​​measured by the laser rangefinder, the three-dimensional coordinate values ​​of each measurement point were obtained. After weighted fusion and geometric calculation based on the three-dimensional coordinate data of each measurement point, the real-time attitude and deformation information of the rectangular pipe jacking machine were obtained.

[0009] To further define this, the steps for establishing the three-dimensional coordinate system are as follows:

[0010] Define the camera pixel coordinate system With the top left corner of the image as the origin, the horizontal and vertical axes are respectively... , The unit distance is 1 pixel; define the image coordinate system with the O marked on the laser target as the origin. For each measurement point, define the horizontal direction to the right as the positive X-axis, the vertical direction downwards as the positive Y-axis, and the forward direction along the pipe axis as the positive Z-axis. Let the coordinates of a point on the image be... Each pixel in and The physical lengths in the directions are respectively and , The pixels in This indicates that the point is at The corresponding coordinates in the diagram are represented as follows: The relationship between the two coordinate systems can be described as follows:

[0011]

[0012] The values ​​measured by the laser rangefinder at each location are the Z-axis coordinates. Therefore, the initial coordinates of the five points O, A, B, C, and D are as follows:

[0013] .

[0014] Further specifying, during the jacking process of the rectangular pipe jacking machine, the real-time coordinates of five points O, A, B, C, and D at a certain moment are as follows:

[0015]

[0016] Let the horizontal deviation be X, the vertical deviation be Y, and the jacking distance be Z. Define the mean point of the average of the measurement data at points A, B, C, and D and the mean of the measurement data at point O. For the reference point, then:

[0017]

[0018] X, Y, Z at A, B, C, D are respectively solved:

[0019]

[0020] The installation section of each measurement system in the rectangular pipe jacking machine head is simplified and divided into four areas, 1, 2, 3, and 4, then:

[0021] 1, 2 Area X-direction deformation of pipe jacking machine:

[0022] 3, 4 Area X-direction deformation of pipe jacking machine:

[0023] 1, 4 Area Y-direction deformation of pipe jacking machine:

[0024] 2, 3 Area Y-direction deformation of pipe jacking machine:

[0025] A, B side of the pipe jacking machine azimuth angle:

[0026] D, C side of the pipe jacking machine azimuth angle:

[0027] A, D side of the pipe jacking machine vertical angle:

[0028] B, C side of the pipe jacking machine vertical angle:

[0029] Further limited, the camera and laser target are integrated on the guide system shell in the rectangular pipe jacking machine head, the guide system shell is provided with wireless data radio station one and programmable controller one, the programmable controller is connected with the wireless data radio station one and the camera.

[0030] Further limited, the ground operating platform is provided with programmable controller two, touch screen and wireless data radio station two, the programmable controller two is wirelessly connected with the wireless data radio station one and the wireless data radio station two of the laser range finder, and the programmable controller is electrically connected with the touch screen.

[0031] The application has the following beneficial effects: the position and attitude information of the rectangular pipe jacking machine can be converted into digital quantity without the need of traditional manual observation, which can greatly reduce the labor intensity, improve the working efficiency and construction accuracy of the rectangular pipe jacking machine construction; the data can be saved through the program setting without the need of traditional manual recording; through the real-time data uploading processing, the position and attitude change of the rectangular pipe jacking machine can be quickly perceived, and then real-time control is realized, through the analysis and processing of the real-time data, the tunnel trajectory forming condition can be intuitively displayed, which is convenient for the on-site construction personnel to control the engineering quality and make real-time decisions. BRIEF DESCRIPTION OF DRAWINGS

[0032] Fig. 1 is the arrangement schematic diagram of the application

[0033] Fig. 2 is the shell structure schematic diagram of the guiding system of the application

[0034] Fig. 3 is the measurement point arrangement schematic diagram of the application

[0035] Fig. 4 is the coordinate conversion schematic diagram of the application

[0036] Fig. 5 is the measurement area division schematic diagram of the application

[0037] Fig. 6 is the attitude measurement schematic diagram of the application.

[0038] In the figure: 1, laser target; 2, guiding system shell; 3, camera; 4, programmable controller I; 5, wireless data radio station I; 6, laser range finder; 7, wireless data radio station II; 8, touch screen; 9, programmable controller II. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the application.

[0040] Please refer to Figs. 1-2The application provides a technical scheme: a rectangular pipe jacking machine multi-point posture measurement system and a deformation monitoring method, which comprises the following steps: five laser range finders 6 are arranged in the same section parallel to the pipe axis of the starting well, for emitting laser and measuring real-time distance; five laser targets 1 are arranged at suitable positions of a cross section behind the machine head bulkhead of the pipe jacking machine, including upper left, lower left, upper right, lower right and center; a camera 3 is arranged behind each laser target 1, for shooting the position of the light spot on the laser target 1; laser beams are emitted by the laser range finders 6 to the five laser targets 1 at upper left, lower left, upper right, lower right and center respectively, and the emitted laser beams are shot by the camera 3 after passing through the laser targets 1;

[0041] At the beginning, the posture of the rectangular pipe jacking machine is adjusted according to the distance information measured by the laser range finders 6 to guide the installation posture, and the position of the pipe jacking machine is adjusted to make the data measured by the laser range finders 6 at other positions consistent with the data measured by the laser range finder 6 at the center position, so that the position of the pipe jacking machine is the initial position of the pipe jacking machine; after the initial position is determined, the positions of the laser targets 1 are adjusted to make the laser beams emitted by the laser range finders 6 located near the coordinate origin, and the coordinates of each measurement position at this moment obtained through coordinate transformation according to the image information shot by the camera 3 are the initial coordinates of each measurement position;

[0042] Reference Figs. 3-6 The coordinate transformation step is as follows:

[0043] The pixel coordinate system of the camera 3 is defined The upper left corner of the image is taken as the origin, and the horizontal and vertical coordinate axes are respectively 、 The unit distance is 1 pixel; the image coordinate system is defined, the O marked on the laser target 1 is taken as the coordinate origin, each measurement point is defined as the horizontal right as the positive direction of the X axis, the vertical downward as the positive direction of the Y axis, and the forward along the pipe axis as the positive direction of the Z axis, the coordinates of a certain point on the image are The physical length of each pixel point in the and directions is and , The pixel point in the image is represented by , and the corresponding coordinates of the point in the image are represented by , and the relationship between the two coordinate systems can be described as:

[0044]

[0045] The values measured by the laser range finders 6 at each position are the Z axis coordinates, so the initial coordinates of O, A, B, C and D are as follows:

[0046] ​

[0047] In the jacking process of the rectangular jacking machine, according to the coordinate transformation method, the real-time coordinates of O, A, B, C and D at a certain time are as follows:

[0048]

[0049] Let the horizontal deviation be X, the vertical deviation be Y, and the jacking distance be Z. Define the average of the measurement data of points A, B, C and D after taking the average of the average points of the measurement data of O as the reference point, then:

[0050]

[0051] Solve X, Y and Z at A, B, C and D respectively:

[0052]

[0053] Simplify the installation section of each measurement system in the head of the rectangular jacking machine, and divide it into 1, 2, 3 and 4 regions, then:

[0054] 1, 2 area jacking machine X direction deformation:

[0055] 3, 4 area jacking machine X direction deformation:

[0056] 1, 4 area jacking machine Y direction deformation:

[0057] 2, 3 area jacking machine Y direction deformation:

[0058] A, B side jacking machine azimuth angle:

[0059] D, C side jacking machine azimuth angle:

[0060] A, D side jacking machine vertical angle:

[0061] B, C side jacking machine vertical angle:

[0062] The camera 3 and the laser target 1 are integrated on the guide system shell 2 in the rectangular jacking machine machine head, the wireless data radio station one 5 and the programmable controller one 4 are arranged in the guide system shell 2, the programmable controller is connected with the wireless data radio station one 5 and the camera 3, the ground operating platform is provided with the programmable controller two 9, the touch screen 8 and the wireless data radio station two 7, the programmable controller two 9 is wirelessly connected with the wireless data radio station one 5 and the wireless data radio station two 7 of the laser range finder 6, the programmable controller is electrically connected with the touch screen 8, the real-time horizontal and vertical coordinates of the laser spot at each measuring position are obtained according to the image information shot by the camera 3, combined with the distance value measured by the laser range finder 6, the three-dimensional coordinate value of each measuring point is obtained, after the three-dimensional coordinate data of each measuring point is weighted and fused and geometrically calculated, the real-time posture and deformation information of the rectangular jacking machine are obtained, the actual light point position information measured by the camera 3 is displayed on the light target coordinate in real time on the touch screen 8, and a track coordinate is arranged on the touch screen 8 to display the pipe track curve graph combined with the real-time distance information measured by the laser range finder 6 and the position information monitored by the camera 3.

[0063] The application can convert the position and posture information of the rectangular jacking machine into digital quantities without the need of the traditional manual observation mode, can greatly reduce the labor intensity of personnel, and improve the working efficiency and construction accuracy of the rectangular jacking machine construction; through the program setting, the data can be saved without the need of the traditional manual recording mode; through the real-time uploading and processing of the data, the position change of the rectangular jacking machine can be quickly perceived, and then real-time regulation and control is carried out, through the analysis and processing of the real-time data, the forming condition of the tunnel track can be intuitively displayed, the on-site construction personnel can control the engineering quality, and real-time decision is made.

[0064] It should be noted that in this text, the terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment.

[0065] Although the embodiments of the application have been shown and described, it can be understood by those of ordinary skill in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the application, and the scope of the application is defined by the appended claims and their equivalents.

Claims

1. A rectangular jacking pipe machine multi-point posture measurement system and deformation monitoring method, characterized in that, It comprises the following steps: S1: a rectangular with the center point coinciding with the pipe axis is set on a vertical plane behind the machine head of the pipe jacking machine, five laser targets are set at the center point and the four corners of the rectangular, and laser range finders corresponding to the laser targets are set on a vertical plane of the pipe axis; a camera is set behind the laser targets; the laser range finders emit laser beams to the laser targets, the camera captures the laser beams passing through the laser targets, and the ground operating platform receives the measurement data; S2: the initial posture of the rectangular pipe jacking machine is adjusted to make the distance values measured by the laser range finders consistent; S3: a three-dimensional coordinate system is established on the ground operating platform, the three-dimensional coordinate values of the laser spots are obtained from the image information of the camera and the distance values of the laser range finders, and the real-time posture and deformation information of the rectangular pipe jacking machine are obtained through weighted fusion and geometric calculation of the three-dimensional coordinate data of each measurement point; The step of establishing the three-dimensional coordinate system is as follows: Define camera pixel coordinate system O-UV and image coordinate system O-XY, let the coordinate of a point on the image be (u0, v0), the length of the pixel point in X and Y directions be d x and d y , the pixel point in O-UV is represented as (v, u), the coordinate of the point in O-XY is represented as (x0, y0), and the relationship between the two coordinate systems is: The initial coordinates of O, A, B, C and D are as follows: O(X o ,Y o ,Z o ), A(X a ,Y a ,Z a ), B(X b ,Y b ,Z b ), C(X c ,Y c ,Z c ), D(X d ,Y d ,Z d ) During the jacking process of the rectangular pipe jacking machine, the real-time coordinates of O, A, B, C and D are as follows: O(X o1 ,Y o1 ,Z o1 ), A(X a1 ,Y a1 ,Z a1 ), B(X b1 ,Y b1 ,Z b1 ), C(X c1 ,Y c1 ,Z c1 ), D(X d1 ,Y d1 ,Z d1 ) Let the horizontal deviation be X, the vertical deviation be Y, and the jacking distance be Z, and define the mean point O' of the mean values of the measurement data of points A, B, C and D and the mean value of the measurement data of point O as the reference point, then: X O′ = ((X a1 + X b1 + X c1 + X d1 ) / 4 + X o ) / 2 Y O′ = ((Y a1 + Y b1 + Y c1 + Y d1 ) / 4 + Y o ) / 2 Z O′ = ((Z a1 + Z b1 + Z c1 + Z d1 ) / 4 + Z o ) / 2 X, Y and Z of points A, B, C and D are calculated respectively: X A = X a1 - X a , Y A = Y a1 - Y a , Z A = Z a1 - Z a X B = X b1 - X b , Y B = Y b1 - Y b , Z B = Z b1 - Z b X C = X c1 - X c , Y C = Y c1 - Y c , Z C = Z c1 - Z c X D = X d1 - X d , Y D = Y d1 - Y d , Z D = Z d1 - Z d The installation section of each measurement system in the machine head of the rectangular pipe jacking machine is simplified, and it is divided into four regions 1, 2, 3 and 4, then:

1. The deformation amount of the pipe jacking machine in the X direction of the 1, 2 area: 3, 4 area pipe jacking machine X direction deformation:

1. The deformation amount of the pipe jacking machine Y direction in the 4 area: 2,3 area pipe jacking machine Y direction of deformation: Azimuth angle of A, B side pipe jacking machine: D, Azimuth angle of C side top pipe machine: A, D side of the vertical angle of the pipe machine: B, C side top pipe machine vertical angle:

2. The multi-point posture measurement system and deformation monitoring method of the rectangular tube mill according to claim 1, characterized in that: The camera and the laser targets are installed on the guide system shell in the machine head, the guide system shell is provided with a wireless data radio station one and a programmable controller one, the programmable controller is connected with the wireless data radio station one and the camera.

3. The multi-point posture measurement system and deformation monitoring method of rectangular tube mill according to claim 2, characterized in that: The ground operating platform is provided with a programmable controller two, a touch screen and a wireless data radio station two, the programmable controller two is wirelessly connected with the wireless data radio station one and the wireless data radio station two of the laser range finders, and the programmable controller is electrically connected with the touch screen.

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