A small shield machine pose detection device and method in a curved pipe curtain construction

Abstract

The application discloses a small shield machine pose detection device and method in curved pipe curtain construction, a one-dimensional workbench is initially at the highest point of a guide rail through the gravity of a heavy hammer, the guide rail is vertically installed on a jacking mechanism rack, and a long grating displacement sensor measures the vertical displacement coordinates of the one-dimensional workbench in real time. In the construction process, a cross joint measurement module passes through a pipe joint, a convex flange one end is connected with a concave flange at the tail of the shield machine, the concave flange one end is connected with a convex flange at the bottom of the one-dimensional workbench, two circular grating angle sensors and a circular grating reading head are arranged on the cross joint, the rotation angle measurement of two mutually perpendicular axes of the cross joint is realized, a Bluetooth wireless transmission module reads the rotation angles of each joint at the same time, and the rotation angles are transmitted to a computer, the computer collects each data every moment, the position coordinates of the top end of the shield machine relative to a reference coordinate system are obtained through calculation, and the pose of the shield machine is detected in real time.

Description

Technical Field

[0001] This invention relates to a measuring device, and more specifically, to a multi-section detachable and combinable joint measuring module, which enables real-time position and posture measurement of a small tunnel boring machine during underground excavation, for the precise guidance of the tunnel boring machine. Background Technology

[0002] With the development of my country's economy, the development of underground space has attracted increasing attention. Vertical curved pipe jacking technology effectively avoids obstacles and pipelines during underground construction, meeting the needs of underground projects. Based on pipe jacking technology, vertical curved pipe jacking involves tightly arranging prefabricated pipe sections according to a predetermined radius of curvature to form an arched pipe jacking structure, serving as a temporary support structure for underground excavation. When a tunnel boring machine (TBM) is excavating through a narrow pipe jacking tunnel, a method is needed to measure its attitude in real time and dynamically display deviations to ensure it does not deviate from the predetermined tunnel construction route and to control the tunneling error within a certain range, thus providing precise guidance for the TBM.

[0003] Traditional methods for measuring the position and orientation of tunnel boring machines (TBMs), such as total station measurements, are generally used for large-scale tunnel excavations. However, these methods are unsuitable for situations with limited tunnel space and narrow working areas, necessitating the design of a new measurement method. Currently, research on using articulated arms for guiding curved pipe-draft TBMs is limited. Articulated arm coordinate measurement is a novel non-Cartesian coordinate measurement system with advantages such as small size, light weight, simple mechanical structure, large measurement range, and low cost, making it suitable for narrow pipe construction environments. Furthermore, the articulated arm's dual-angle measurement technology and the cross-joint dual-axis system design and manufacturing technology are mature and reliable. Unique angle calibration and whole-machine calibration technologies can significantly improve the measurement accuracy of the articulated arm.

[0004] Therefore, designing a small shield machine underground position real-time detection system using joint modules and establishing corresponding kinematic and error models has strong practical value and application prospects for shield machine posture detection in narrow spaces. Summary of the Invention

[0005] To address the shortcomings in the aforementioned background technology, the present invention aims to provide a device and method for detecting the posture of a small tunnel boring machine (TBM) during curved pipe curtain construction. This device enables real-time, accurate, and efficient detection of the TBM's posture in narrow underground working spaces, providing real-time error data for correcting the TBM's tunneling direction and ensuring the accuracy of the curved pipe curtain's shape and position.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A posture detection device for a small shield tunneling machine in curved pipe curtain construction includes a one-dimensional worktable, guide rail, counterweight, long grating displacement sensor, long grating reading head, cross joint measurement module, circular grating angle sensor, Bluetooth wireless transmission module, and curved pipe curtain construction device. The circular grating angle sensor and Bluetooth wireless transmission module are set in the cross joint measurement module.

[0008] The curved pipe curtain construction device includes a shield machine host, a pipe jacking section, a jacking mechanism, and a pile foundation platform on the ground supporting the jacking mechanism. The jacking mechanism is fixedly connected to the pile foundation platform. The cross joint measuring module passes through the pipe jacking section. One end of the convex flange is fixedly connected to the concave flange installed at the tail of the shield machine, and the other end of the concave flange is fixedly connected to the convex flange installed at the bottom of the one-dimensional worktable.

[0009] The weight is connected to the one-dimensional worktable via a fixed pulley. The weight of the weight ensures that the one-dimensional worktable is initially at the highest point of the guide rail. After the measurement module is connected, it pulls the one-dimensional worktable down along the guide rail with a small force.

[0010] The guide rail is vertically mounted on the frame of the jacking mechanism. A long grating displacement sensor and a long grating reading head are provided on one side of the guide rail to measure the vertical displacement coordinates of the one-dimensional worktable in real time. The origin of the three-dimensional reference coordinate system is set at the bottom of the one-dimensional worktable where it connects with the cross joint measurement module.

[0011] The cross joint measurement module includes a convex flange, a carbon fiber tube, a fork seat, a sensor end cap, a cross joint, a shaft, and a concave flange. One end of each of the two carbon fiber tubes is connected to the fork seat, and the fork seat is connected to the cross joint via the shaft. The other end of the upper carbon fiber tube is connected to the convex flange, and the other end of the lower carbon fiber tube is connected to the concave flange.

[0012] The cross joint is provided with a pin hole, and the cross joint is engaged with the shaft by a pin;

[0013] The sensor end cover is equipped with a circular grating reading head, which is located above the circular grating angle sensor. The sensor end cover is fitted with bolts and installed on the fork seat to realize the rotation angle measurement of the two axes of the joint.

[0014] The carbon fiber tube contains a Bluetooth wireless transmission module, which has a battery power supply to provide power to the Bluetooth transmission module and provides power to the grating reading head through the wire hole connected to the module.

[0015] Furthermore, the Bluetooth wireless transmission module continuously transmits the real-time joint rotation angle to the computer. The computer collects data at all times and calculates the position coordinates of the top of the tunnel boring machine relative to the reference coordinate system, thereby detecting the posture of the tunnel boring machine in real time.

[0016] A detection method for a small-scale shield tunneling machine position and posture detection device in curved pipe jacking construction includes the following steps:

[0017] a. The cross joint measuring module passes through the jacking pipe section. One end of the convex flange is fixedly connected to the concave flange installed at the tail of the shield machine. The other end of the concave flange is fixedly connected to the convex flange installed at the bottom of the one-dimensional worktable. Two circular grating angle measuring sensors and a circular grating reading head are set on the cross joint. A Bluetooth wireless transmission module is set on the carbon fiber tube.

[0018] b. As the tunnel boring machine gradually drills into the ground, the jacking pipe section and cross joint measurement module follow downwards, which in turn drives the one-dimensional worktable to move down. A long grating displacement sensor and a long grating reading head are installed on one side of the guide rail to measure the vertical displacement coordinates of the one-dimensional worktable in real time.

[0019] c. The circular grating angle sensor measures the real-time rotation angle and continuously transmits the real-time joint rotation angle to the computer via the Bluetooth wireless transmission module. The computer collects data at all times and calculates the position coordinates of the top of the tunnel boring machine relative to the reference coordinate system to detect the position and posture of the tunnel boring machine in real time.

[0020] d. After the jacking pipe section and the joint module are completely submerged in the ground, the connection between the cross joint measuring module and the one-dimensional worktable is released. The one-dimensional worktable rises to the coordinate origin under the gravity of the counterweight and is fitted with the next jacking pipe section. During this process, all cables connected to the tunnel boring machine, including power cables, water pipes and slag discharge pipes, need to be disconnected and passed through the pipe section. Then, the pipe section is welded to the previous pipe section. At the same time, the second joint module is connected in series. One end of the joint module is fixed to the flange installed at the bottom of the one-dimensional worktable, and the other end is fixed to the end of the previous joint module.

[0021] e. The tunnel boring machine continues to descend, the jacking mechanism continues to push the second tunnel segment downward, and the cross joint module continues to follow and descend. This process is repeated continuously. Since the system needs to be powered off, in order to ensure that the cross joint module can always obtain its own angle value in real time and transmit the angle signal in real time, the cross joint module is equipped with a battery to power the angle sensor and Bluetooth module, and does not rely on the system power supply.

[0022] f. Due to errors in the manufacturing and assembly of the cross-joint module, the measurement accuracy of the two angle sensors in the module is affected. After each module is assembled, a self-manufactured calibration device is used for error compensation, and the actual working radius parameter of that module is calibrated. This angle error model and the actual structural parameters are embedded in the measurement model. Since the actual parameters of each module are not exactly the same, after being input into the measurement model, each module is numbered according to the order of downward entry. In actual use, the order of downward entry of the modules cannot be changed.

[0023] The measurement model is established according to the following steps:

[0024] Step 1: Establish a coordinate system

[0025] Establish a reference coordinate system 0-XYZ, i.e. {O0}, at the bottom of the one-dimensional worktable. Its origin O is located at the connection between the bottom of the one-dimensional worktable and the joint module. The Z direction is parallel to the axis of the first joint of the joint module. The X axis is on the common perpendicular line between the Z axis of the reference coordinate system and the axis of the first joint of the joint module, and points to the first joint. The Y axis is determined by the right-hand rule.

[0026] Other coordinate systems are established at the flange connections and cross joint connections of adjacent joint modules, respectively. i The axis runs along the axial direction of each joint, with the origin O. i In Z i-1 Axis and Z i On the common perpendicular line of the axis, is Z. i The intersection of the axis and the common perpendicular, X i Along the Z axis i-1 Axis and Z i The common perpendicular of the axes, pointing away from Z. i-1 The direction of the axis, Y i The axis is determined by the right-hand rule;

[0027] Step 2: Calculation of the transformation matrix

[0028] Using the standard DH model, we obtain the coordinate system {O} i-1} to coordinate system {O i The homogeneous coordinate transformation matrix of} is:

[0029]

[0030]

[0031] Where θ i For joint angle, d i For joint offset, a i Let α be the length of the link. i For the connecting rod torsion angle;

[0032] By multiplying the transformation matrices of adjacent coordinate systems in sequence, the final coordinate system {O} is obtained. m Transformation matrix relative to the reference coordinate system {O0}:

[0033]

[0034] Step 3: The top of the tunnel boring machine relative to the end coordinate system {O m The homogeneous coordinates of} are (l x ,l y ,l z ,1) TThen, the coordinate transformation matrix relative to the reference coordinate system {O0} of the top of the tunnel boring machine can be expressed as:

[0035]

[0036] Given the structural parameters d of the joint module i a i α i θ measured by the circular grating sensor i The top of the tunnel boring machine relative to the end coordinate system {O m Homogeneous coordinates of} (l x ,l y ,l z ,1) T The coordinates of the top of the tunnel boring machine relative to the base coordinate system can be obtained as P = (x p ,y p ,z p ,1) T .

[0037] The beneficial effects of this invention are:

[0038] 1. This invention is designed as a multi-section detachable and combinable cross-joint measurement module to realize real-time position and posture measurement of small shield tunneling machines during underground excavation. The measurement error is small and it has the ability to resist interference, high temperature, sewage and silt.

[0039] 2. The articulated arm coordinate measurement system of this invention is a novel non-Cartesian coordinate measurement system, which has the advantages of small size, light weight, simple mechanical structure, large measurement range and low cost.

[0040] 3. In this invention, a circular grating angle measuring sensor, a grating reading head, and a Bluetooth wireless transmission module are added inside the multi-joint measurement module of a small shield machine position and posture detection device in curved pipe curtain construction. The power supply is provided by the battery power in the Bluetooth wireless module, and the power supply to the grating reading head is provided through the wire hole inside the fork to achieve better joint sealing.

[0041] 4. This invention measures the rotation angle of the two mutually perpendicular axes of the cross joint using a circular grating angle sensor and a circular grating reading head. Then, it continuously transmits the real-time joint rotation angle to the computer via a Bluetooth wireless transmission module. The computer collects data at all times and calculates the position coordinates of the top of the tunnel boring machine relative to the reference coordinate system, thereby detecting the position and posture of the tunnel boring machine in real time.

[0042] 5. In this invention, a long grating displacement sensor is provided on one side of the guide rail of a small shield machine posture detection device in curved pipe curtain construction. The long grating reading head is installed on the side of the one-dimensional worktable. During the tunneling process, the cross joint measuring module pulls the one-dimensional worktable down. The long grating displacement sensor measures the vertical displacement coordinates of the one-dimensional worktable in real time. When the jacking pipe section and the joint module are completely submerged in the ground, the connection between the cross joint measuring module and the one-dimensional worktable is released. The one-dimensional worktable rises to the coordinate origin by the gravity of the counterweight and is then fitted into the next jacking pipe section.

[0043] 6. This invention obtains the position coordinates of the shield machine top relative to the reference coordinate system by substituting the transformation matrix from the end coordinate system connected to the shield machine to the base coordinate system and the position coordinates of the shield machine top relative to the end coordinate system into the measurement model, thereby detecting the shield machine's posture in real time. Attached Figure Description

[0044] To make the technical means, creative features, achieved objectives, and effects of this invention easier to understand, the invention is further described below with reference to specific embodiments and accompanying drawings. However, the following embodiments are merely preferred embodiments of this invention and not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments described herein without creative effort are all within the protection scope of this invention.

[0045] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0046] Figure 2 This is a partial structural diagram of the present invention;

[0047] Figure 3 This is a partial structural diagram of the present invention;

[0048] Figure 4 This is a cross-sectional view of the raised flange connection of the present invention;

[0049] Figure 5 This is a schematic diagram of the cross-joint measurement module structure of the present invention;

[0050] Figure 6 This is a cross-sectional view of the cross-joint measurement module of the present invention;

[0051] Figure 7 This is a partial structural diagram of the present invention. Detailed Implementation

[0052] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. However, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0053] like Figure 1-4 As shown, a small shield machine posture detection device for curved pipe curtain construction includes a one-dimensional worktable 1, a guide rail 2, a counterweight 3, a long grating displacement sensor 4, a long grating reading head 10, a cross joint measuring module 8, a circular grating angle measuring sensor 806, a Bluetooth wireless transmission module 810, and a curved pipe curtain construction device. The circular grating angle measuring sensor 806 and the Bluetooth wireless transmission module 810 are installed in the cross joint measuring module 8.

[0054] The curved pipe curtain construction device includes a shield machine host 9, a jacking pipe section 5, a jacking mechanism 6, and a pile foundation platform 7 on the ground supporting the jacking mechanism. The jacking mechanism 6 is fixedly connected to the pile foundation platform 7. The cross joint measuring module 8 passes through the jacking pipe section 5. One end of the convex flange 801 is fixedly connected to the concave flange 812 installed at the tail of the shield machine host 9, and one end of the concave flange 812 is fixedly connected to the convex flange 801 at the bottom of the one-dimensional workbench 1.

[0055] The weight 3 is connected to the one-dimensional worktable 1 through a fixed pulley. The weight of the weight ensures that the one-dimensional worktable 1 is initially at the highest point of the guide rail 2. After the measurement module 8 is connected, it pulls the one-dimensional worktable 1 down with a small force. The guide rail 9 is vertically installed on the frame of the pushing mechanism 6. A long grating displacement sensor 2 and a long grating reading head 8 are provided on one side of the guide rail 9 to measure the vertical displacement coordinates of the one-dimensional worktable in real time. The origin of the three-dimensional reference coordinate system is set at the bottom of the one-dimensional worktable and the joint module connection.

[0056] like Figure 5-7 As shown, the cross joint measurement module 8 includes a convex flange 801, a carbon fiber tube 802, a fork seat 803, a sensor end cap 804, a cross joint 805, a shaft 808, and a concave flange 812. One end of each of the two carbon fiber tubes 802 is connected to the fork seat 803. The fork seat 803 is connected to the cross joint 805 through the shaft 808. The other end of the upper carbon fiber tube is connected to the convex flange 801, and the other end of the lower carbon fiber tube is connected to the concave flange 812.

[0057] Furthermore, the carbon fiber tube 802 is equipped with a Bluetooth wireless transmission module 811. The module has a battery power supply inside to provide power to the Bluetooth transmission module 811 and provides power to the circular grating reading head 807 through the wire hole 810 connected to the module.

[0058] Furthermore, the cross joint 805 is provided with a pin hole, and the cross joint 805 is engaged with the shaft 808 through the pin 809 with an interference fit to ensure that the shaft 808 does not rotate when the fork 803 rotates. A circular grating sensor 806 is provided at one end of the shaft 808; an upper bearing end cover is provided at the end of the shaft where the circular grating angle sensor 806 is provided, and a sensor end cover 804 is provided above the circular grating angle sensor 806; a lower bearing end cover is provided at the other end of the shaft; and a nut is provided above the inner ring of the bearing for pre-tightening.

[0059] Furthermore, a circular grating reading head 807 is provided inside the sensor end cover 804. The top of the sensor end cover does not contact the grating reading head. The circular grating reading head 807 is located above the circular grating angle sensor 806 and cooperates with the circular grating sensor to measure the joint angle value of the cross joint. The sensor end cover is fitted with bolts and installed on the fork seat 803 to realize the measurement of the rotation angle of the two axes of the joint.

[0060] Furthermore, the Bluetooth wireless transmission module 811 continuously transmits the joint rotation angle read in real time to the computer. The computer collects various data every moment and calculates the position coordinates of the top of the tunnel boring machine relative to the reference coordinate system to detect the posture of the tunnel boring machine in real time.

[0061] A detection method for a small-scale shield tunneling machine position and posture detection device in curved pipe jacking construction includes the following steps:

[0062] a. The cross joint measuring module passes through the jacking pipe section. One end of the convex flange is fixedly connected to the concave flange at the tail of the shield machine, and the other end of the concave flange is fixedly connected to the convex flange installed at the bottom of the one-dimensional worktable. Two circular grating angle measuring sensors and a circular grating reading head are set on the cross joint. A Bluetooth wireless transmission module is set on the carbon fiber tube.

[0063] b. As the tunnel boring machine gradually drills into the ground, the jacking pipe section and cross joint measurement module follow downwards, which in turn drives the one-dimensional worktable to move down. A long grating displacement sensor and a long grating reading head are installed on one side of the guide rail to measure the vertical displacement coordinates of the one-dimensional worktable in real time.

[0064] c. The circular grating angle sensor measures the rotation angle and continuously transmits the real-time joint rotation angle to the computer via Bluetooth wireless transmission module. The computer collects data at all times and calculates the position coordinates of the top of the tunnel boring machine relative to the reference coordinate system to detect the position and posture of the tunnel boring machine in real time.

[0065] d. After the jacking pipe section and the joint module are completely submerged in the ground, the connection between the cross joint measuring module and the one-dimensional worktable is released. The one-dimensional worktable rises to the coordinate origin under the gravity of the counterweight and is fitted with the next jacking pipe section. During this process, all cables connected to the tunnel boring machine, including power cables, water pipes and slag discharge pipes, need to be disconnected and passed through the pipe section. Then, the pipe section is welded to the previous pipe section. At the same time, the second joint module is connected in series. One end of the joint module is fixed to the flange installed at the bottom of the one-dimensional worktable, and the other end is fixed to the end of the previous joint module.

[0066] e. The tunnel boring machine continues to descend, the jacking mechanism continues to push the second tunnel segment downward, and the cross joint module continues to follow and descend. This process is repeated continuously. Since the system needs to be powered off, in order to ensure that the cross joint module can always obtain its own angle value in real time and transmit the angle signal in real time, the cross joint module is equipped with a battery to power the angle sensor and Bluetooth module, and does not rely on the system power supply.

[0067] f. Due to errors in the manufacturing and assembly of the cross-joint module, the measurement accuracy of the two angle sensors in the module is affected. After each module is assembled, a self-manufactured calibration device is used for error compensation, and the actual working radius parameter of that module is calibrated. This angle error model and the actual structural parameters are embedded in the measurement model. Since the actual parameters of each module are not exactly the same, after being input into the measurement model, each module is numbered according to the order of downward entry. In actual use, the order of downward entry of the modules cannot be changed.

[0068] A measurement model for a small-scale shield tunneling machine position and posture detection device in curved pipe jacking construction is established according to the following steps:

[0069] Step 1: Establish a coordinate system

[0070] Establish a reference coordinate system 0-XYZ, i.e. {O0}, at the bottom of the one-dimensional worktable. Its origin O is located at the connection between the bottom of the one-dimensional worktable and the joint module. The Z direction is parallel to the axis of the first joint of the joint module. The X axis is on the common perpendicular line between the Z axis of the reference coordinate system and the axis of the first joint of the joint module, and points to the first joint. The Y axis is determined by the right-hand rule.

[0071] Other coordinate systems are established at the flange connections and cross joint connections of adjacent joint modules, respectively. i The axis runs along the axial direction of each joint, with the origin O. i In Z i-1 Axis and Z i On the common perpendicular line of the axis, is Z. i The intersection of the axis and the common perpendicular, X i Along the Z axis i-1 Axis and Z i The common perpendicular of the axes, pointing away from Z.i-1 The direction of the axis, Y i The axis is determined by the right-hand rule;

[0072] Step 2: Calculation of the transformation matrix

[0073] Using the standard DH model, we obtain the coordinate system {O} i-1} to coordinate system {O i The homogeneous coordinate transformation matrix of} is:

[0074]

[0075] Where θ i For joint angle, d i For joint offset, a i Let α be the length of the link. i For the connecting rod torsion angle;

[0076] By multiplying the transformation matrices of adjacent coordinate systems in sequence, the final coordinate system {O} is obtained. m Transformation matrix relative to the reference coordinate system {O0}:

[0077]

[0078] Step 3: The top of the tunnel boring machine relative to the end coordinate system {O m The homogeneous coordinates of} are (l x ,l y ,l z ,1) T Then, the coordinate transformation matrix relative to the reference coordinate system {O0} of the top of the tunnel boring machine can be expressed as:

[0079]

[0080] Given the structural parameters d of the joint module i a i α i θ measured by the circular grating sensor i The top of the tunnel boring machine relative to the end coordinate system {O m Homogeneous coordinates of} (l x ,l y ,l z ,1) T The coordinates of the top of the tunnel boring machine relative to the base coordinate system can be obtained as P = (x p ,y p ,z p ,1) T .

[0081] The embodiments described herein are merely preferred embodiments of the invention and are not intended to limit the concept and scope of the invention. Any modifications and improvements made by those skilled in the art to the technical solutions of the invention without departing from the design concept of the invention should fall within the protection scope of the invention. The technical content for which protection is sought in this invention has been fully described in the claims.

Claims

1. A position and posture detection device for a small-sized shield tunneling machine in curved pipe curtain construction, characterized in that: The device includes a one-dimensional worktable (1), a guide rail (2), a counterweight (3), a long grating displacement sensor (4), a long grating reading head (10), a cross joint measurement module (8), a circular grating angle sensor (806), a Bluetooth wireless transmission module (811), and a curved pipe curtain construction device. The circular grating angle sensor (806) and the Bluetooth wireless transmission module (811) are installed inside the cross joint measurement module (8). The curved pipe curtain construction device includes a shield machine host (9), a jacking pipe section (5), a jacking mechanism (6), and a pile foundation platform (7) on the ground supporting the jacking mechanism. The jacking mechanism (6) is fixedly connected to the pile foundation platform (7). The cross joint measurement module (8) passes through the jacking pipe section (5). One end of the convex flange (801) is fixedly connected to the concave flange (812) installed at the tail of the shield machine host (9). One end of the concave flange (812) is fixedly connected to the convex flange (801) installed at the bottom of the one-dimensional workbench (1). The weight (3) is connected to the one-dimensional worktable (1) through a fixed pulley. The weight of the weight ensures that the one-dimensional worktable is always at the highest point of the guide rail (2). After the measurement module (8) is connected, it pulls the one-dimensional worktable (1) down along the guide rail (2). The guide rail (2) is vertically installed on the frame of the push mechanism (6). A long grating displacement sensor (4) is provided on one side of the guide rail (2). The long grating reading head (10) is arranged on the side (1) of the one-dimensional worktable. The origin of the three-dimensional reference coordinate system is set at the bottom of the one-dimensional worktable (1) and the connection between it and the cross joint measurement module (8). The cross joint measurement module (8) includes a convex flange (801), a carbon fiber tube (802), a fork seat (803), a sensor end cap (804), a cross joint (805), a shaft (808), and a concave flange (812). One end of each of the two carbon fiber tubes (802) is connected to the fork seat (803), and the fork seat (803) is connected to the cross joint (805) through the shaft (808). The other end of the upper carbon fiber tube is connected to the convex flange (801), and the other end of the lower carbon fiber tube is connected to the concave flange (812). The cross joint (805) is provided with a pin hole, and the cross joint (805) is engaged with the shaft (808) by a pin (809); The sensor end cap (804) is equipped with a circular grating reading head (807), which is located above the circular grating angle sensor (806). The sensor end cap is fitted with bolts and installed on the fork seat (803) to realize the rotation angle measurement of the two axes of the joint.

2. The position and posture detection device for a small-sized shield tunneling machine in curved pipe curtain construction according to claim 1, characterized in that, The carbon fiber tube (802) is equipped with a Bluetooth wireless transmission module (811). The module has a battery power supply to provide power to the Bluetooth wireless transmission module (811). The power supply to the circular grating reading head (807) is provided through the wire hole (810) connected to the module. The circular grating data is transmitted to the computer in real time via the Bluetooth wireless transmission module (811), and then the computer collects all angle values ​​at the same time.

3. The position and posture detection device for a small-sized shield tunneling machine in curved pipe curtain construction according to claim 2, characterized in that, The Bluetooth wireless transmission module (811) continuously transmits the joint rotation angle read in real time to the computer. The computer collects data every moment and calculates the position coordinates of the top of the tunnel boring machine relative to the reference coordinate system to detect the posture of the tunnel boring machine in real time.

4. A detection method for the position and posture detection device of a small shield tunneling machine in curved pipe curtain construction as described in claim 3, characterized in that, Includes the following steps: a. The cross joint measuring module passes through the jacking pipe section. One end of the convex flange is fixedly connected to the concave flange at the tail of the shield machine, and the other end of the concave flange is fixedly connected to the convex flange installed at the bottom of the one-dimensional worktable. Two circular grating angle measuring sensors and a circular grating reading head are set on the cross joint. A Bluetooth wireless transmission module is set on the carbon fiber tube. b. As the tunnel boring machine gradually drills into the ground, the pipe jacking section and cross joint measurement module follow downwards, which in turn drives the one-dimensional worktable to move down. A long grating displacement sensor and a long grating reading head are installed on one side of the guide rail. The long grating reading head is arranged on the side of the one-dimensional worktable to measure the vertical displacement coordinates of the one-dimensional worktable in real time. c. The circular grating angle sensor measures the real-time rotation angle and continuously transmits the real-time joint rotation angle to the computer via the Bluetooth wireless transmission module. The computer collects data at all times and calculates the position coordinates of the top of the tunnel boring machine relative to the reference coordinate system to detect the position and posture of the tunnel boring machine in real time. d. After the jacking pipe section and the cross joint measurement module are completely submerged in the ground, the connection between the cross joint measurement module and the one-dimensional worktable is released. The one-dimensional worktable rises to the coordinate origin under the gravity of the counterweight and is fitted with the next jacking pipe section. During this process, all cables connected to the tunnel boring machine, including power cables, water pipes and slag discharge pipes, need to be disconnected and pass through the pipe section. Then, the pipe section is welded to the previous pipe section. At the same time, the second cross joint measurement module is connected in series. One end of the cross joint measurement module is fixed to the flange installed at the bottom of the one-dimensional worktable, and the other end is fixed to the end of the previous cross joint measurement module. e. The tunnel boring machine continues to descend, the jacking mechanism continues to push the second tunnel segment downward, and the cross joint measurement module continues to follow the descent. This process is repeated continuously. Since the system needs to be powered off, in order to ensure that the cross joint measurement module can always obtain its own angle value in real time and transmit the angle signal in real time, the cross joint measurement module is equipped with a battery-powered circular grating angle sensor and a Bluetooth wireless transmission module, without relying on the system power supply. f. Due to errors in the manufacturing and assembly of the cross-joint measurement module, the measurement accuracy of the two circular grating angle sensors in the module is affected. After the assembly of each module, a self-made calibration device is used to compensate for the error and calibrate the actual working radius parameter of the module. The angle error model and the actual working radius parameter are embedded in the measurement model. Since the actual working radius parameter of each module is not exactly the same, after being introduced into the measurement model, each module is numbered according to the order of downward entry. In actual use, the order of downward entry of the modules cannot be changed.

5. A detection method for a small shield machine position detection device in curved pipe curtain construction according to claim 4, characterized in that: The measurement model is established according to the following steps: Step 1: Establish a coordinate system Establish a reference coordinate system at the bottom of the one-dimensional worktable ,Right now Its coordinate origin Located at the bottom of the one-dimensional worktable, where it connects to the cross-joint measurement module. The direction is parallel to the axis of the first joint of the cross-joint measurement module. The axis in the reference coordinate system On the common perpendicular line between the axis and the first joint axis of the cross-joint measurement module, pointing towards the first joint. The axis is determined by the right-hand rule; Other coordinate systems are established at the flange connection and the joint connection of adjacent cross-joint measurement modules, respectively. The axis runs along the axial direction of each joint, with the origin at... exist shaft and On the common perpendicular line of the axis, is The intersection of the axis and the common perpendicular. shaft edge shaft and The common perpendicular of the axis, and pointing away from it. The direction of the axis, The axis is determined by the right-hand rule; Step 2: Calculation of the transformation matrix Using the standard DH model, we obtain the coordinate system To coordinate system The homogeneous coordinate transformation matrix is: ； in For joint angle, This is due to joint misalignment. The length of the link. For the connecting rod torsion angle; The final coordinate system is obtained by multiplying the transformation matrices of adjacent coordinate systems in sequence. Relative to the reference coordinate system Transformation matrix: ； Step 3: The top of the tunnel boring machine relative to the end coordinate system The homogeneous coordinates are The top of the tunnel boring machine is relative to the reference coordinate system. The coordinate transformation matrix can be represented as: ； The structural parameters of the cruciate joint measurement module are known. , , Measured by circular grating angle sensor The top of the tunnel boring machine relative to the end coordinate system homogeneous coordinates The coordinates of the top of the tunnel boring machine relative to the base coordinate system can be obtained as follows: .

Images