Shaft sinking machine attitude determination system and attitude determination method

Abstract

The application relates to the technical field of shaft tunneling machines, in particular to a shaft tunneling machine posture determination system and a posture determination method, which comprises a computer, a plumb instrument assembly, a support platform and a posture acquisition module, wherein: the posture acquisition module is arranged on a load platform at the top of the shaft tunneling machine and comprises a gyroscope, a two-axis inclinometer, a control box and a camera; the support platform is multilayered and arranged above the load platform; the computer is arranged on the upper support platform and is in communication connection with the control box; the plumb instrument assembly is arranged on the inner wall of the shaft and irradiates on the load platform through the measuring channels of the multilayer support platform. The application adopts the combined mode of the plumb instrument, the camera, the two-axis inclinometer and the gyroscope, calculates the posture of the shaft tunneling machine, eliminates the influence of the horizontal deviation value caused by the self-rotation angle of the shaft tunneling machine, and can accurately calculate the horizontal deviation posture of the shaft tunneling machine.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of shaft boring machine, in particular to a shaft boring machine posture determination system and a posture determination method. BACKGROUND

[0002] The boring machine is generally divided into horizontal boring machine and shaft boring machine. In the construction process of the shaft boring machine, the shaft posture determination system is an important system for monitoring the position and posture of the shaft boring machine in real time. Through the system, the position and posture of the shaft boring machine can be grasped in real time, so that the shaft boring machine can be dug downward according to the vertical downward direction, and the quality of the shaft forming is ensured. At present, there are very few posture determination systems applied to the shaft boring machine.

[0003] In the prior art, patent (CN106246186B) discloses a shaft boring machine guiding control and adjustment method, which measures the shaft boring machine axis horizontal displacement offset and the shaft boring machine axis boring angle offset by using a displacement measurement system and a posture measurement system. Patent (CN111272156B) discloses an automatic measuring device, method and system for determining the posture of the shaft boring machine, which uses a double photosensitive target and a double axis inclinometer to obtain relevant data and calculates the current tilt and pitch posture, offset and roll angle of the boring machine. Patent (CN112964236A) discloses a laser posture determination system for the shaft boring machine and a guiding method thereof, which uses a double laser emitter, a laser target and an inclinometer to obtain relevant data and calculates the deviation of the current shaft boring machine geodetic coordinates from the design axis and the yaw angle of the shaft boring machine.

[0004] However, the first patent does not consider the self-rotation problem of the boring machine in actual work, and part of the equipment weakens the working performance or service life because the self-rotation angle of the boring machine is not corrected in time. The self-rotation angle of the boring machine also affects the measurement of the horizontal displacement offset, and the horizontal displacement offset measured according to the above scheme will have a large error. Although the second and third patents consider the influence of the self-rotation angle of the shaft boring machine on the posture of the shaft boring machine during use, the accuracy of the calculated self-rotation angle is not high, and they do not mention how to eliminate the influence of the self-rotation angle on the posture of the vertical boring machine. In addition, the installation and use requirements of the two schemes for determining the equipment of the shaft boring machine are high, which is difficult to guarantee in complex environments, and the error caused by the installation of the measuring equipment by human beings cannot accurately calculate the offset and self-rotation angle of the boring machine. SUMMARY

[0005] The main purpose of the present application is to provide a shaft boring machine posture determination system and a posture determination method, which adopts the combination of a plumb instrument, a camera, a double axis inclinometer and a gyroscope to calculate the posture of the shaft boring machine.

[0006] To achieve the above object, the application provides a shaft heading machine posture determination system, comprising a computer, a plumb instrument assembly, a support platform and a posture acquisition module, wherein:

[0007] The posture acquisition module is arranged on a load platform at the top of the shaft heading machine and is used to acquire position information and angle information of the movement of the load platform.

[0008] The support platform is a multi-layer structure and is arranged above the load platform.

[0009] The computer is arranged on the uppermost layer of the support platform and is in communication connection with the control box through a bus.

[0010] The plumb instrument assembly is arranged on the wall of the shaft, the light emitted by the plumb instrument assembly is irradiated on the load platform along the measurement channel of the multi-layer support platform, and the camera acquires the image of the light projection of the plumb instrument assembly by taking a photo.

[0011] The computer is used to acquire the position information and the angle information in real time and acquire the projection image during the heading process of the shaft heading machine, compare the acquired information with the corresponding information of the shaft heading machine in the initial posture, determine the deviation value of the load platform at the top of the shaft heading machine from the initial posture, and calculate the posture of the shaft heading machine in the heading process according to the deviation value.

[0012] Further, the control box is in communication connection with the gyroscope, the two-axis inclinometer and the camera through a bus respectively.

[0013] The gyroscope is used to acquire the position information of the movement of the load platform, and the two-axis inclinometer is used to acquire the angle information of the movement of the load platform.

[0014] Further, the plumb instrument assembly comprises a plumb instrument, a base and a support, the support is used to be fixed on the wall of the shaft, and the plumb instrument is fixed on the support through the base.

[0015] Further, the computer is used to establish an initial posture calibration coordinate with the center point of the load platform at the top of the shaft heading machine as the origin, the initial X-axis positive direction with the north direction as the X-axis, and the initial Y-axis positive direction with the east direction as the Y-axis.

[0016] The initial posture calibration coordinate is used to determine the deviation value corresponding to the load platform at the top of the shaft heading machine.

[0017] Further, the X-axis positive direction of the gyroscope is consistent with the initial X-axis positive direction of the initial attitude calibration coordinate, and the Y-axis positive direction of the gyroscope is consistent with the initial Y-axis positive direction of the initial attitude calibration coordinate, and the gyroscope is used to collect the position information based on the initial attitude calibration coordinate.

[0018] Further, the X-axis positive direction of the dual-axis tilt meter is consistent with the initial X-axis positive direction of the initial attitude calibration coordinate, and the Y-axis positive direction of the dual-axis tilt meter is consistent with the initial Y-axis positive direction of the initial attitude calibration coordinate, and the dual-axis tilt meter is used to collect the angle information based on the initial attitude calibration coordinate.

[0019] Further, the camera photographing area boundary is perpendicular to the first coordinate system.

[0020] The computer is used to establish a second coordinate system with the camera shooting center point as the origin according to the image of the plumb instrument projection light projection shot by the camera, and the second coordinate system is used to determine the position of the projection image light spot.

[0021] Further, the computer is used to:

[0022] During the shaft tunneling machine tunneling process, a third coordinate system is established according to the corresponding rotation angle of the second coordinate system and the angle between the first coordinate system, the third coordinate system is used to determine the change of the angle during the shaft tunneling machine tunneling process, and the third coordinate system is parallel to the coordinate axes of the first coordinate system.

[0023] According to the position of the object platform in the third coordinate system, the deviation value of the object platform from the initial attitude can be determined.

[0024] Further, the application also provides a posture determination method of the shaft tunneling machine posture determination system, comprising the following steps: step 1: using a camera to shoot a laser image of a plumb bob projected on a top load platform of the shaft tunneling machine; step 2: acquiring X-axis angle and Y-axis angle of a two-axis tilt meter installed on the top load platform of the shaft tunneling machine; step 3: acquiring X-axis angle, Y-axis angle and azimuth angle of a gyroscope installed on the top load platform of the shaft tunneling machine; step 4: performing binaryzation processing on the laser image in step 1, using a Canny operator to perform edge extraction on the contents of the binaryzation image, finding a circular element in the edge-extracted image through a Hough circle, and finding the plumb bob projection spot in the image according to the circular area size of the plumb bob projection spot; step 5: performing coordinate system conversion according to the position of the spot center and the center point of the camera shooting, and determining a second coordinate system; step 6: determining the initial posture of the top load platform of the shaft tunneling machine according to the first coordinate system, determining the position of the plumb bob projection spot according to the second coordinate system, and setting an initial posture point in combination with the initial posture of the load platform and the position of the plumb bob projection spot; step 7: the shaft tunneling machine starts tunneling, a third coordinate system is established according to the self-rotation angle of the second coordinate system and the angle between the first coordinate system; step 8: converting the initial posture point in step 6 in the third coordinate system to determine the deviation value of the center point of the top load platform of the shaft tunneling machine at this time; step 9: calculating the X-axis and Y-axis deviation values of the top of the shaft tunneling machine according to the angles of the X-axis and Y-axis of the two-axis tilt meter and the distance from the center of the top load platform of the shaft tunneling machine to the top of the shaft tunneling machine; and step 10: repeating the above process to determine the posture of the shaft tunneling machine according to the deviation value of the center point of the top load platform of the tunneling machine and the X-axis and Y-axis deviation values of the top of the shaft tunneling machine.

[0025] The shaft tunneling machine posture determination system and the posture determination method have the following beneficial effects:

[0026] The application adopts the combination of the plumb bob, the camera, the two-axis tilt meter and the gyroscope to calculate the posture of the shaft tunneling machine, and simultaneously predicts the coordinates of the last coordinate after the self-rotation of the shaft tunneling machine in the calculation process, and simultaneously calculates the predicted coordinates and the coordinates of the actual measurement point, thereby eliminating the influence of the horizontal deviation value caused by the self-rotation angle, and accurately calculating the horizontal deviation posture of the shaft tunneling machine. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which form a part of this application, are included to provide a further understanding of the application and are incorporated in and constitute a part of this application. The drawings illustrate embodiments of the present application and, together with the description, serve to explain the principles of the present application. In the drawings:

[0028] Figure 1is a schematic view of a shaft tunneling machine posture determination system provided according to an embodiment of the present application;

[0029] Figure 2 is a flowchart of a posture determination method applied to a shaft tunneling machine posture determination system provided according to an embodiment of the present application;

[0030] Figure 3 is a conversion schematic view of a camera coordinate system and a second coordinate system provided according to an embodiment of the present application;

[0031] Figure 4 is a first coordinate system schematic view provided according to an embodiment of the present application;

[0032] Figure 5 is a third coordinate system schematic view provided according to an embodiment of the present application;

[0033] Figure 6 is Figure 5 a local enlarged view of

[0034] Figure 7 is a vertical guide long-distance station-changing plumb assembly schematic view of a tunneling machine provided according to an embodiment of the present application;

[0035] In the figure: 1-computer, 2-plumb, 3-supporting platform, 4-gyroscope, 5-biaxial inclinometer, 6-control box, 7-camera, 8-carrier platform, 9-measuring channel, 10-base, 11-bracket. DETAILED DESCRIPTION

[0036] In order to make the personnel in the art better understand the present application scheme, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by the person skilled in the art without making creative efforts should belong to the scope of protection of the present application.

[0037] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0038] In the present application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "transverse", "longitudinal" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the present application and its embodiments, and are not intended to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation.

[0039] In addition, in addition to indicating the orientation or positional relationship, the above-mentioned partial terms may also be used to indicate other meanings, for example, the term "upper" may also be used to indicate a certain dependent relationship or connection relationship in some cases. For those skilled in the art, the specific meaning of these terms in the present application can be understood according to the specific situation.

[0040] In addition, the meaning of the term "a plurality of" should be two and more than two.

[0041] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0042] The present disclosure provides a shaft heading machine posture determination system, comprising a computer, a plumb instrument assembly, a support platform and a posture acquisition module, wherein:

[0043] The posture acquisition module is arranged on a load platform at the top of the shaft heading machine, and is used to acquire position information and angle information of the movement of the load platform. The posture acquisition module comprises a gyroscope, a two-axis inclinometer, a control box and a camera.

[0044] The support platform is a multi-layer structure arranged above the load platform.

[0045] The computer is arranged on the uppermost layer of the support platform and is in communication connection with the control box through a bus.

[0046] The plumb instrument assembly is arranged on the wall of the shaft. The light emitted by the plumb instrument assembly is irradiated on the load platform along the measurement channel of the multi-layer support platform. The camera acquires the image of the light projection of the plumb instrument assembly by taking a picture.

[0047] The computer is used to acquire the position information and angle information in real time and acquire the projection image during the heading process of the shaft heading machine, and compare the corresponding information of the shaft heading machine in the initial posture, determine the deviation value of the load platform at the top of the shaft heading machine from the initial posture, and calculate the posture of the shaft heading machine in the heading process according to the deviation value.

[0048] As Figure 1 shown, the shaft tunneling machine posture determination system provided by the present application comprises a computer 1, a plumb instrument assembly, a support platform 3 and a posture acquisition module, wherein: the posture acquisition module is arranged on the load platform 8 at the top of the shaft tunneling machine, and is used for acquiring position information and angle information of the movement of the load platform, and comprises a gyroscope 4, a two-axis inclinometer 5, a control box 6 and a camera 7; the support platform 3 is multi-layered and arranged above the load platform 8; the computer 1 is arranged on the upper support platform 3 and is in communication connection with the control box 6; the plumb instrument assembly is arranged on the inner wall of the shaft and is irradiated on the load platform 8 through the measurement channel 9 of the multi-layer support platform 3, and the camera 7 acquires the image projected by the plumb instrument assembly by taking a picture; in the tunneling process of the shaft tunneling machine, the position information and the angle information are collected in real time, the projected image is acquired, and the collected information is compared with the corresponding information of the shaft tunneling machine in the initial posture, so as to determine the deviation value of the load platform 8 at the top of the shaft tunneling machine from the initial posture; and the computer 1 calculates and determines the posture of the shaft tunneling machine in the tunneling process according to the deviation value.

[0049] Specifically, the shaft tunneling machine posture determination system provided by the embodiment of the present application mainly adopts the combination of the plumb instrument 2, the camera 7, the two-axis inclinometer 5 and the gyroscope 4, measures the posture of the shaft tunneling machine in real time, predicts the coordinates of the last coordinates after the self-rotation of the shaft tunneling machine in the calculation process, and calculates the coordinates of the actual measurement point after the prediction, so as to determine the position and the posture of the shaft tunneling machine in the tunneling according to the calculated deviation value. The computer 1 is arranged on the support platform 3 and is mainly used for data communication interaction with the control box 6, sending measurement control instructions, processing and recording data information. The gyroscope 4 is mainly used for providing azimuth and position information. The two-axis inclinometer 5 is mainly used for providing angle information. The camera 7 is mainly used for shooting the projected image of the plumb instrument. The plumb instrument 2 assembly is mainly used for irradiating on the load platform 8 through the measurement channel 9 to determine the plumb direction. In the embodiment of the present application, the position coordinates of the center point of the load platform 8 and the directions of the X-axis and the Y-axis are first determined according to the image shot by the camera 7, and then with the start of the tunneling of the shaft tunneling machine downward, new coordinate system is established according to the data information of the gyroscope 4 and the two-axis inclinometer 5, the position coordinates of the center point of the load platform 8 and the directions of the X-axis and the Y-axis are converted in the new coordinate system, the deviation value of the center point of the load platform 8 and the deviation values of the X-axis and the Y-axis are measured according to the conversion relationship between the new and old coordinate systems, the position of the tunneling machine after the tunneling is determined according to the measured deviation values, and thus the posture of the shaft tunneling machine is determined.

[0050] Further, the control box is in communication connection with the gyroscope, the two-axis inclinometer and the camera through a bus respectively;

[0051] The gyroscope is used to collect the position information of the moving of the object platform, and the two-axis tilt meter is used to collect the angle information of the moving of the object platform, as shown in Figure 1 As shown in the figure, the control box 6 is in communication connection with the gyroscope 4, the two-axis tilt meter 5 and the camera 7 respectively. The control box 6 is mainly used to control the working state of the gyroscope 4, the two-axis tilt meter 5 and the camera 7, and can upload the collected position coordinate information to the computer 1 for processing. According to the processing result fed back by the computer 1, control instructions are transmitted to the gyroscope 4, the two-axis tilt meter 5 and the camera 7.

[0052] Further, the plumb assembly comprises a plumb, a base and a support, the support is used to be fixed on the wall of the shaft, and the plumb is fixed on the support through the base, as shown in Figure 1 As shown in the figure, the plumb assembly comprises a plumb 2, a base 10 and a support 11, the support 11 is fixed on the inner wall of the shaft, and the plumb 2 is fixed on the support 11 through the base 10. The plumb 2 is fixed on the support 11 through the base 10, and the laser image is projected on the object platform 8 through the measuring channel 9. As shown in the figure, Figure 7 As shown in the figure, with the downward digging of the shaft boring machine, when the laser range of the plumb 2 is exceeded, the installation support 11 is arranged again at 1-2 meters above the upper support platform 3, the base 10 is arranged on the support 11, the base 10 is first adjusted to be horizontal, then the position of the base 10 is adjusted so that the laser completely passes through the position of the middle through hole of the base 10, and then the upper plumb 2 is arranged at the position of the new lower support 11. In this way, it can be ensured that the horizontal coordinate of the plumb 2 does not change, that is, the light spot coordinate of the outgoing laser projected on the object platform 8 at the top of the shaft boring machine does not change relative to several coordinate systems before and after the vertical guidance of the shaft boring machine is changed at a long distance.

[0053] Further, the computer is used to establish an initial attitude calibration coordinate with the center point of the object platform at the top of the shaft boring machine as the origin, the north direction as the initial positive direction of the X axis, and the east direction as the initial positive direction of the Y axis;

[0054] The initial attitude calibration coordinate is used to determine the deviation value corresponding to the object platform at the top of the shaft boring machine. A first coordinate system is established with the center point of the object platform 8 at the top of the shaft boring machine as the origin, and the first coordinate system is the initial attitude calibration coordinate, in which the north direction is the initial positive direction of the X axis, and the east direction is the initial positive direction of the Y axis. In the embodiment of the application, the first coordinate system is established with the center point of the object platform 8 as the origin in the initial state, and the north direction is defined as the initial positive direction of the X axis, and the east direction is defined as the initial positive direction of the Y axis.

[0055] Further, the positive direction of the X-axis and the positive direction of the Y-axis of the gyroscope 4 are consistent with the positive direction of the X-axis and the positive direction of the Y-axis of the first coordinate system, and are used to collect position information. When the gyroscope 4 is installed, the X-axis points to the north direction, and the Y-axis points to the east direction, which are consistent with the directions of the first coordinate system.

[0056] Further, the positive direction of the X-axis and the positive direction of the Y-axis of the two-axis inclinometer 5 are consistent with the positive direction of the X-axis and the positive direction of the Y-axis of the first coordinate system, and are used to collect angle information. When the two-axis inclinometer 5 is installed, the X-axis points to the north direction, and the Y-axis points to the east direction, which are consistent with the directions of the first coordinate system.

[0057] Further, the boundary of the photographing area of the camera 7 is perpendicular to the first coordinate system. In the embodiment of the present application, the boundary of the photographing area of the camera 7 is preferably perpendicular to the first coordinate system. However, in actual application, the camera 7 can be installed at any angle position, as long as the light spot of the projected image of the plumb instrument 2 is within the photographing range of the camera 7, and the distance between the center of the camera 7 and the origin of the first coordinate system and the angle relationship between the center of the photographing area of the camera 7 and the first coordinate system can be determined.

[0058] Further, a second coordinate system is established with the center of the photographing of the camera 7 as the origin according to the image of the plumb instrument 2 projected by the camera 7, and the second coordinate system is used to determine the position of the projected light spot. According to the image projected by the plumb instrument 2, the position of the projected light spot circle is determined, and then the position of the center of the light spot circle is calculated. At this time, the position of the center of the light spot circle is in the coordinate system of the camera 7. In order to facilitate calculation, the second coordinate system is established with the center of the photographing of the camera 7 as the origin, the coordinate system of the camera 7 is converted into the second coordinate system, so that the position coordinates of the center of the light spot circle in the second coordinate system can be determined.

[0059] Further, a third coordinate system is established according to the self-rotation angle of the second coordinate system and the angle between the second coordinate system and the first coordinate system when the shaft sinking machine is sinking, the third coordinate system is used to determine the change of the angle in the sinking process of the shaft sinking machine, and the coordinate axes of the third coordinate system are parallel to the coordinate axes of the first coordinate system. According to the position of the object carrying platform 8 in the third coordinate system, the deviation value of the object carrying platform 8 from the initial attitude can be determined. When the shaft sinking machine sinks downward, a certain self-rotation angle is generated. At this time, the second coordinate system and the first coordinate system form an included angle. At this time, the coordinates of the actual measurement points in the second coordinate system are converted into the third coordinate system according to the rotation of the coordinate system, so that the third coordinate system is formed. According to the position of the object carrying platform 8 in the third coordinate system, the deviation value of the object carrying platform from the initial attitude can be determined, and according to the deviation value, the attitude of the whole object carrying platform 8 in the sinking process can be determined.

[0060] In addition, as shown in Figure 2 the present application further provides a method for determining the attitude of the shaft sinking machine attitude determination system, which comprises the following steps:

[0061] Step 1: Acquire the laser projection image from the plumb bob 2. If successful, proceed to the next step; if unsuccessful, continue acquiring the image. The system will automatically terminate after more than 5 failed attempts. Specifically, as follows... Figure 4 As shown, the camera 7 captures the laser image projected by the plumb bob 2 onto the top loading platform 8 of the shaft tunneling machine, and records the distance L from the center point of the area captured by the camera 7 to the center point of the top loading platform 8 of the shaft tunneling machine, as well as the angle β between the two relative to the X-axis. In this embodiment, the angle β between the camera 7 and the X-axis is defined as positive in the positive direction of the Y-axis and negative in the negative direction of the Y-axis.

[0062] Step 2: Obtain the X-axis angle θ of the dual-axis inclinometer 5 installed on the top loading platform 8 of the shaft boring machine. x and Y-axis angle θ y If the retrieval is successful, proceed to the next step; if the retrieval fails, continue retrieving. When the number of failures exceeds 5, the system will automatically terminate.

[0063] Step 3: Obtain the X-axis angle, Y-axis angle, and azimuth angle γ of the gyroscope 4 installed on the top loading platform 8 of the shaft tunneling machine. If the acquisition is successful, continue to the next step. If the acquisition fails, continue to acquire. When the number of failures exceeds 5, the system will automatically end.

[0064] Step 4: Binarize the laser image from Step 1, use the Canny operator to extract the edges of the binarized image, use Hough circle to find the circular elements in the image after edge extraction, and find the projection spot of the vertical alignment instrument 2 in the image according to the size of the circular area of ​​the projection spot of the vertical alignment instrument 2.

[0065] Step 5: Transform the coordinate system of the light spot center, such as... Figure 3 As shown, based on the position of the light spot center and the center point captured by camera 7, a coordinate system transformation is performed to determine the second coordinate system. The obtained position of the light spot center at this time is the X coordinate system for image processing. T axis and Y T A point A in the camera's 7-coordinate system defined by the axis T (x T y T To simplify calculations, the points in this coordinate system need to be transformed into an X coordinate system established by the center point P of camera 7. P axis and Y P The coordinates of point A in the second coordinate system defined by the axis P (x P y P In this embodiment, the shooting area of ​​camera 7 is a square with a side length of l. The coordinate transformation calculation method between the camera 7 coordinate system and the second coordinate system is: x P =xT - l / 2, y P = y T - l / 2;

[0066] Step 6: defining the center coordinates of the first running system as the initial attitude of the vertical tunneling machine, and converting the plumb instrument 2 light spot coordinates photographed by the camera 7 after the vertical tunneling machine runs. Specifically, before the vertical tunneling machine runs, the deviation values Δx and Δy of the center point of the vertical tunneling machine top load platform 8 relative to the design axis are obtained, the initial attitude of the vertical tunneling machine top load platform 8 is determined according to the first coordinate system and the second coordinate system, and the initial attitude point is set. The first running system, the center position of the circle formed by the plumb instrument 2 light spot relative to the second coordinate system is recorded as A P1 (x P1 , y P1 ), and the coordinates of the origin P of the second coordinate system relative to the first coordinate system are P(L*cosβ, L*sinβ). At this time, the coordinates of the point A P1 relative to the first coordinate system are A1(L*cosβ+x P1 , L*sinβ+y P1 ). The coordinates of the point A1 at this time are defined as the initial attitude of the vertical tunneling machine top load platform 8. The deviation value Δx of the vertical tunneling machine top load platform 8 relative to the design axis is associated with the x coordinate of the point A1, and the deviation value Δy of the vertical tunneling machine top load platform 8 relative to the design axis is associated with the y coordinate of the point A1. That is, the difference value change of the center position coordinates of the circle formed by the plumb instrument 2 light spot is the change of the deviation value of the vertical tunneling machine.

[0067] Step 7: the light spot center coordinates of the first running system are only predicted by the position change of the azimuth angle change. Specifically, as shown in Figures 5-6 , the vertical tunneling machine starts to dig, and a third coordinate system is established according to the rotation angle of the second coordinate system and the angle between the first coordinate system. When the vertical tunneling machine starts to dig, a certain rotation angle is generated. At this time, the second coordinate system rotates with the vertical tunneling machine, and an angle θ is generated between the first coordinate system. In the embodiment of the application, the direction of the angle θ is defined as negative for left turning and positive for right turning. The azimuth angle γ1 of the gyroscope 4 in the current measurement process is γ1-γ, and the calculation method of θ is γ1-γ. The actual measured coordinates of the point A P3 (x P3 , y P3 ) in the second coordinate system are converted into the third coordinate system defined by the X p ' axis and the Y p ' axis according to the coordinate system rotation coordinate conversion formula. The coordinate axis of the third coordinate system is parallel to the coordinate axis of the first coordinate system. The coordinates of the point A3 in the third coordinate system are A3(x P3 cosθ-y P3sinθ, y P3 cosθ+x P3 Given that the coordinates of point P1 in the first coordinate system are: P1(L*cos(β+θ), L*sin(β+θ)), the coordinates of point A3 relative to the first coordinate system should be: P1(L*cos(β+θ), L*sin(β+θ)) + A3(x) P3 cosθ-y P3 sinθ, y P3 cosθ+x P3 If sinθ), then the coordinates of point A3 in the first coordinate system are:

[0068] A3(L*cos(β+θ)+x P3 cosθ-y P3 sinθ, L*sin(β+θ)+y P3 cosθ+x P3 sinθ);

[0069] Step 8: Calculate the deviation of the center point of the vertical tunnel boring machine's head platform 8. Specifically, transform the initial attitude point from Step 6 into the third coordinate system to determine the deviation value of the center point of the top platform 8 of the vertical shaft tunneling machine. Since the calculation only considers the coordinate deviation caused by the azimuth angle and ignores the deviation generated by the vertical tunnel boring machine itself during the tunneling process, it is necessary to calculate the predicted position of the vertical tunnel boring machine after the initial attitude and the rotation angle θ of the vertical tunnel boring machine. The coordinates of the initial attitude point A1 of the vertical tunnel boring machine are A in the second coordinate system. P1 (x P1 y P1 Assuming only the azimuth changes, point A P1 Rotate by an angle θ following the second coordinate system; the coordinates after rotation are A. P2 (x P2 y P2 ), where x P2 =x P1 y P2 =y P1 Point A P2 The coordinates of point A2 after transformation to the third coordinate system are: A2(x P2 cosθ-y P2 sinθ, y P2 cosθ+x P2 Given that the coordinates of point P1 in the first coordinate system are: P1(L*cos(β+θ), L*sin(β+θ)), the coordinates of point A2 relative to the first coordinate system should be: P1(L*cos(β+θ), L*sin(β+θ)) + A2(x) P2 cosθ-y P2 sinθ, yP2 cos θ + x P2 sin θ), the coordinates of point A2 in the first coordinate system are: A2(L*cos(β+θ)+x P2 cos θ - y P2 sin θ, L*sin(β+θ)+y P2 cos θ + x P2 sin θ), the deviation value of the center point of the top material platform 8 of the shaft tunneling machine at this time is A3-A2+(Δx, Δy), and the deviation value of the center point of the top material platform 8 of the shaft tunneling machine relative to the design axis X-axis direction at this time is:

[0070] Δx+(x P3 cos θ - y P3 sin θ - x P2 cos θ + y P2 sin θ);

[0071] The deviation value relative to the design axis Y-axis direction is:

[0072] Δy+(y P3 cos θ + x P3 sin θ - y P2 cos θ - x P2 sin θ);

[0073] Step 9: According to the X-axis angle θx and Y-axis angle θy of the double-axis inclinometer, the X-axis and Y-axis deviation values of the center point of the vertical shield machine head are calculated. Specifically, according to the angles of the X-axis and Y-axis of the double-axis inclinometer 5 and the distance H from the center of the top material platform 8 of the shaft tunneling machine to the top of the shaft tunneling machine, the X-axis and Y-axis deviation values of the top of the shaft tunneling machine are calculated. The deviation value of the top of the shaft tunneling machine relative to the design axis X-axis is:

[0074] Δx+(x P3 cos θ - y P3 sin θ - x P2 cos θ + y P2 sin θ)+H*tan θ x ;

[0075] The deviation value relative to the design axis Y-axis is:

[0076] Δy+(y P3 cos θ + x P3 sin θ - y P2 cos θ - x P2 sin θ)+H*tan θ y ;

[0077] Step 10: Repeat the above process, according to the deviation value of the center point of the top material loading platform 8 of the heading and the deviation value of the X axis and Y axis of the top of the shaft heading machine, the attitude of the shaft heading machine can be determined in real time, and the data software interface of the computer 1 is displayed.

[0078] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A shaft heading machine attitude determination system, characterized by, The device comprises a computer, a plumb assembly, a support platform and a posture acquisition module, wherein the posture acquisition module is arranged on a load platform at the top of the shaft boring machine and is used to acquire position information and angle information of the movement of the load platform, the posture acquisition module comprises a gyroscope, a two-axis inclinometer, a control box and a camera; The support platform is a multi-layer structure and is arranged above the load platform; The computer is arranged on the uppermost layer of the support platform and is in communication connection with the control box through a bus; The plumb assembly is arranged on the wall of the shaft, light emitted by the plumb assembly is irradiated on the load platform along the measurement channel of the multi-layer support platform, and the camera acquires the image of the light projection of the plumb assembly by taking a photo. The computer is used to acquire the position information and the angle information in real time during the boring process of the shaft boring machine, to acquire the projection image, to compare the corresponding information of the shaft boring machine in the initial posture, to determine the deviation value of the load platform at the top of the shaft boring machine from the initial posture, and to calculate the posture of the shaft boring machine during the boring process according to the deviation value. The boundary of the camera shooting area is perpendicular to the first coordinate system. The computer is used to establish a second coordinate system with the center point of the camera shooting as the origin according to the image of the light projection of the plumb assembly shot by the camera, and the second coordinate system is used to determine the position of the light spot of the projection image. The computer is used to establish a third coordinate system according to the corresponding rotation angle of the second coordinate system and the angle between the first coordinate system during the boring process of the shaft boring machine, the third coordinate system is used to determine the change of the angle during the boring process of the shaft boring machine, and the coordinate axes of the third coordinate system are parallel to the coordinate axes of the first coordinate system. The deviation value of the load platform from the initial posture can be determined according to the position of the load platform in the third coordinate system. The computer is used to establish an initial posture calibration coordinate with the center point of the load platform at the top of the shaft boring machine as the origin, the initial X-axis positive direction with the north direction as the X axis, and the initial Y-axis positive direction with the east direction as the Y axis. The initial posture calibration coordinate is used to determine the deviation value of the load platform at the top of the shaft boring machine, and the initial posture calibration coordinate is the first coordinate system.

2. The shaft heading machine pose determination system of claim 1, wherein, The control box is in communication connection with the gyroscope, the two-axis inclinometer and the camera through a bus. The gyroscope is used to acquire the position information of the movement of the load platform, and the two-axis inclinometer is used to acquire the angle information of the movement of the load platform.

3. The shaft heading machine pose determination system of claim 2, wherein, The plumb assembly comprises a plumb, a base and a support, the support is fixed on the wall of the shaft, and the plumb is fixed on the support through the base.

4. The shaft heading machine pose determination system of claim 1, wherein, The X-axis positive direction of the gyroscope is consistent with the initial X-axis positive direction of the initial posture calibration coordinate, the Y-axis positive direction of the gyroscope is consistent with the initial Y-axis positive direction of the initial posture calibration coordinate, and the gyroscope is used to acquire the position information based on the initial posture calibration coordinate.

5. The shaft heading machine pose determination system of claim 1, wherein, The positive direction of the X axis of the dual-axis tiltmeter is consistent with the positive direction of the initial X axis of the initial attitude calibration coordinate, and the positive direction of the Y axis of the dual-axis tiltmeter is consistent with the positive direction of the initial Y axis of the initial attitude calibration coordinate.

6. A method of pose determination using the pose determination system of any one of claims 1-5, characterized in that, The method comprises the following steps: Step 1: taking a laser image of the plumb projection on the top load platform of the shaft boring machine by using a camera; Step 2: obtaining the X-axis angle and Y-axis angle of the dual-axis tiltmeter installed on the top load platform of the shaft boring machine; Step 3: obtaining the X-axis angle, Y-axis angle and azimuth angle of the gyroscope installed on the top load platform of the shaft boring machine; Step 4: performing binaryzation processing on the laser image in step 1, using a Canny operator to perform edge extraction on the contents of the binaryzated image, finding the circular elements in the edge-extracted image through Hough circle, and finding the plumb projection spot in the image according to the size of the circular area of the plumb projection spot; Step 5: performing coordinate system conversion according to the position of the spot center and the center point of the camera, and determining a second coordinate system; Step 6: determining the initial attitude of the top load platform of the shaft boring machine according to the first coordinate system, determining the position of the plumb projection spot center according to the second coordinate system, and setting an initial attitude point in combination with the initial attitude of the load platform and the position of the plumb projection spot center; Step 7: starting the boring of the shaft boring machine, establishing a third coordinate system according to the self-rotation angle of the second coordinate system and the angle between the first coordinate system; Step 8: converting the initial attitude point in step 6 in the third coordinate system to determine the deviation value of the center point of the top load platform of the shaft boring machine at this time; Step 9: calculating the X-axis and Y-axis deviation values of the top of the shaft boring machine according to the angles of the X-axis and Y-axis of the dual-axis tiltmeter and the distance from the center of the top load platform of the shaft boring machine to the top of the shaft boring machine; Step 10: repeating the above process to determine the attitude of the shaft boring machine according to the deviation value of the center point of the top load platform and the X-axis and Y-axis deviation values of the top of the shaft boring machine.

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