A system and method for precision guidance in tunnel engineering

Abstract

The application discloses a kind of system and method for tunnel engineering precision orientation, and the orientation system and method are used for the tunnel engineering boring equipment, including inertial measurement device, displacement sensor, industrial computer and host computer;Inertial measurement device includes inertial measurement component, guide rail and driving mechanism, inertial measurement component is slidably connected with guide rail, driving mechanism is drivingly connected with inertial measurement component, and driving mechanism is used to drive inertial measurement component along guide rail uniform speed reciprocating motion;Guide rail is parallel to the central axis of boring equipment, and inertial measurement component includes fiber-optic gyroscope and accelerometer;Inertial measurement component and displacement sensor are connected with industrial computer, and industrial computer is connected with host computer.The method of the application is beneficial to the trajectory of boring equipment in tunnel is accurately measured and positioned, measurement step is simple, and the universality is strong, improve the precision of orientation and promote construction quality.The orientation system of the application achieves the purpose of accurate measurement data, strong applicability.

Description

Technical Field

[0001] This invention relates to the field of guidance technology for tunnel excavation equipment in underground tunnel engineering, and in particular to a system and method for precise guidance in tunnel engineering. Background Technology

[0002] With the development of underground space, tunnel construction is becoming increasingly common, and guidance measurement and attitude control have always been key technical aspects of tunnel construction. Precise guidance and refined attitude control reduce the amount of correction required during tunnel boring machine (TBM) jacking, which helps to minimize soil disturbance, ground settlement, and impact on the surrounding environment. This also allows the TBM to successfully complete the tunnel in the designed attitude, ensuring construction quality.

[0003] Currently, the guidance technology for pipe jacking machines in tunnel engineering mainly includes optical guidance and gyro guidance. Optical guidance methods are mostly based on laser measurement, and then integrate other measurement technologies according to different construction types and actual application environments. For example, in short-distance straight pipe jacking construction, guidance can be achieved solely through laser theodolite measurement. This is simple to operate, data acquisition is easy and intuitive, and measurement results are provided in real time, requiring low operator skill. However, as the jacking distance increases or in curved pipe jacking construction, laser theodolite measurement guidance technology becomes unsuitable, necessitating the use of a total station for measurement guidance. However, total stations have limited measurement range and their line of sight is easily obstructed, making it impossible to measure the jacking mileage and absolute coordinates, resulting in low measurement accuracy. In curved construction, prisms need to be set at intervals and frequent manual re-measurements are required, leading to low guidance accuracy and poor versatility. Therefore, fiber optic gyro guidance technology is gradually being introduced into underground engineering surveying.

[0004] Compared to optical guidance technology, fiber optic gyroscope guidance technology has significant advantages. Its equipment is simple, lightweight, small in size, low in cost, and offers extremely high measurement accuracy. Data is automatically and continuously acquired, eliminating the need for prisms and reducing the frequency of manual tunnel entry for re-measurement. Furthermore, the measurement is not limited by terrain or construction environment (such as heavy fog in tunnels that can interfere with laser visibility and affect measurement accuracy), and it is unaffected by electromagnetic interference. Therefore, it can provide precise guidance and attitude control for pipe jacking machines in long-distance, curved, and small-size pipe curtain construction scenarios.

[0005] The patent application, CN2016107011142.X, entitled "A Pipe Jacking Correction Control System and Method Based on Fiber Optic Gyroscope," employs a three-axis fiber optic gyroscope as the detection unit and a PLC controller as the control core. It acquires the three-dimensional coordinates of the pipe jacking machine in real time, compares these real-time coordinates with the control target coordinates to determine the deviation of the machine head axis. By querying the fuzzy value of the correction cylinder quantity through a pre-set fuzzy control rule table, the attitude of the pipe jacking machine head is adjusted accordingly for automatic correction.

[0006] The patent application, CN202011495358.8, entitled "System and Method for Guiding a Tunnel Boring Machine Using a Fiber Optic Gyroscope and a Static Level," describes a system that provides a fiber optic gyroscope mounted on the tunnel boring machine (TBM), an accelerometer mounted near the gyroscope, and a static level mounted near the gyroscope. The system directly acquires the TBM's spatial attitude data using the fiber optic gyroscope, acquires the horizontal drop data using the static level, and acquires the TBM's velocity data using the accelerometer. The actual tunneling path is calculated using these three data points, and the TBM's propulsion route is then calculated by comparing the actual tunneling path with the designed path to achieve proper guidance.

[0007] Fiber optic gyroscopes are high-precision instruments; the longer the sampling time, the better the zero-bias stability. Currently, the jacking speed of tunnel boring machines (TBMs) in underground tunnel engineering is relatively slow, falling outside the range that fiber optic gyroscopes can detect. Furthermore, in actual engineering projects, uncontrollable factors can lead to prolonged downtime for the TBMs, resulting in significant data dispersion, large errors, and unreliable accuracy in the data read by the fiber optic gyroscopes. In addition, accelerometers have a definite minimum acceleration input value for output, i.e., the minimum input rate that a fiber optic gyroscope can detect. Because the jacking speed of existing TBMs is too slow to be detected by the fiber optic gyroscopes, the accelerometers cannot read the true data of the TBM's progress. In summary, while existing technologies that directly mount fiber optic gyroscopes on the TBMs to obtain data are similar in principle, they cannot accurately obtain the actual spatial attitude data and actual tunneling path of the TBMs when the jacking speed is slow or uncontrollable factors lead to prolonged downtime, thus failing to achieve precise guidance. Summary of the Invention

[0008] The purpose of this invention is to propose a method for precise guidance in tunnel engineering, which is beneficial for accurately measuring and guiding the trajectory of tunneling equipment in the tunnel. The measurement steps are simple and highly versatile, improving the accuracy of guidance and enhancing construction quality.

[0009] The purpose of this invention is to propose a system for precise guidance in tunnel engineering, which adopts the above-mentioned guidance method to achieve the characteristics of accurate measurement data and strong applicability.

[0010] To achieve this objective, the present invention adopts the following technical solution:

[0011] A method for precise guidance in tunnel engineering, the method being used in tunnel excavation equipment, including an inertial measurement unit, a displacement sensor, an industrial control computer, and a host computer;

[0012] The inertial measurement device includes an inertial measurement component, a guide rail, and a drive mechanism. The inertial measurement component is slidably engaged with the guide rail, and the drive mechanism is drivenly connected to the inertial measurement component. The drive mechanism is used to drive the inertial measurement component to reciprocate at a uniform speed along the guide rail. The guide rail is parallel to the central axis of the tunneling equipment. The inertial measurement component includes a fiber optic gyroscope and an accelerometer.

[0013] Both the inertial measurement unit and the displacement sensor are connected to the industrial control computer, which is connected to the host computer.

[0014] The method includes the following steps:

[0015] S0. Before the tunneling equipment starts, the inertial measurement device is debugged.

[0016] S1. The host computer generates a preset three-dimensional trajectory curve F(x, y, z) = 0 and its projection curves F1(x, 0, z) = 0 and F2(x, y, 0) = 0; the industrial control computer acquires the initial data of the inertial measurement device.

[0017] S2. After the tunneling equipment starts, the inertial measurement unit reciprocates at a constant speed along the guide rail under the drive mechanism. During the movement, the inertial measurement unit sends data signals to the industrial control computer: angular velocity signal ω0(ω x0 ω y0 ω z0 ) and acceleration signal a0(a x0 a y0 a z0 );

[0018] S3. When the industrial control computer obtains the advance ΔL of the tunneling equipment based on the signal from the displacement sensor, the industrial control computer determines the attitude angle ψ of the tunneling equipment based on the obtained angular velocity and acceleration signals. i (α i ,β i γ i ) and at the measured point A i Three-dimensional coordinates (X, Y, Z) in the geodetic coordinate system i Y i Z i And send it to the host computer;

[0019] S4. The host computer compares the attitude angle and three-dimensional coordinates of the tunneling equipment in the geodetic coordinate system with the parameters of the preset three-dimensional trajectory curve to obtain the measured trajectory deviation of the tunneling equipment.

[0020] S5. Repeat steps S2-S4. When the tunneling equipment advances multiple ΔL, the host computer generates the real-time trajectory curve of the tunneling equipment and compares the real-time trajectory curve f(x, y, z) = 0 with the preset three-dimensional trajectory curve F(x, y, z) = 0. The host computer guides and corrects the attitude of the tunneling equipment.

[0021] Furthermore, in step S3, the industrial control computer removes trend terms from the data signals sent by the inertial measurement unit, and connects the signal data sent by the inertial measurement unit into a curve to obtain the motion posture curve of the guide rail as it moves forward with the tunneling equipment.

[0022] Then, within the displacement interval of ΔL during the advance of the tunneling equipment, the angular velocity signal ω of the point at the very front or very end of the guide rail motion curve is taken. i (ω xi ω yi ω zi ) and acceleration signal a i (a xi a yi a zi The value is then converted into the attitude angle ψ of the tunneling equipment. i (α i ,β i γ i ) and the measured point A i Three-dimensional coordinates (X, Y, Z) in the geodetic coordinate system i Y i Z i ).

[0023] Further, in step S1, the host computer inputs the initial point C(X0, Y0, Z0) of the tunneling equipment in the geodetic coordinate system OXYZ, the initial two-dimensional tangent vectors υ0(m0, n0) and μ0(m0, k0), and the parameters and allowable values ​​of the preset three-dimensional trajectory curve F(x, y, z) = 0 in the relative coordinate system Oxyz; and generates the preset three-dimensional trajectory curve F(x, y, z) = 0 and its projection curves F1(x, 0, z) = 0 and F2(x, y, 0) = 0.

[0024] Furthermore, in step S4, the host computer will measure point A. i Three-dimensional coordinates (X, Y, Z) in the geodetic coordinate system i Y i Z i Transform into three-dimensional coordinates A in the relative coordinate system Oxyz. i '(x i y i , z i );

[0025] The host computer uses three-dimensional coordinates A i '(x i y i , z i ) and standard point B i (x i y i , z i The relative position vector OA0'(x0, y0, z0) of the measured point A is given by the vector OA0'(x0, y0, z0). i In the three-dimensional coordinates A of the relative coordinate system Oxyz i '(x i y i , z i ) converted into the standard point B of the tunneling equipment i The three-dimensional coordinates B in the relative coordinate system Oxyz i (x i y i , z i The three-dimensional trajectory deviation (Δy) of the tunneling equipment in the relative coordinate system is obtained. i Δz i ).

[0026] Furthermore, the aforementioned geodetic coordinate system OXYZ refers to a coordinate system with the Earth as a reference: the X-axis is due east, the Y-axis is due north, and the Z-axis is due celestial.

[0027] The relative coordinate system Oxyz refers to a coordinate system based on the geodetic coordinate system OXYZ and with the tunnel starting point as a reference. x is the horizontal direction to the east, y is the horizontal direction to the north, and z is the vertical direction upward.

[0028] The initial point C(X0, Y0, Z0) is equivalent to O(0, 0, 0), which is the center point of the initial tunnel face, and its three-dimensional coordinates relative to the coordinate system A. i '(x i y i , z i ) = A i (X i Y i Z i -C(X0, Y0, Z0);

[0029] Three-dimensional coordinates B in relative coordinate system i (x i y i , z i ) = A i '(x i y i , z i )+E*A0'(x0, y0, z0);

[0030] Among them, the attitude matrix

[0031] A system for precise guidance in tunnel engineering includes an inertial measurement unit, a displacement sensor, an industrial control computer, and a host computer; the inertial measurement unit is installed on the tunnel boring equipment and the displacement sensor is installed on the forward movement equipment in the tunnel engineering.

[0032] The inertial measurement device includes an inertial measurement component, a guide rail, and a drive mechanism. The inertial measurement component is slidably engaged with the guide rail, and the drive mechanism is drivenly connected to the inertial measurement component. The drive mechanism is used to drive the inertial measurement component to reciprocate at a constant speed along the guide rail, and the guide rail is parallel to the central axis of the tunneling equipment.

[0033] Both the inertial measurement unit and the displacement sensor are connected to the industrial control computer, which is connected to the host computer.

[0034] The inertial measurement unit includes a fiber optic gyroscope and an accelerometer. The inertial measurement unit is used to acquire the angular velocity signal and acceleration signal of the tunneling equipment and send them to the industrial control computer.

[0035] The displacement sensor is used to measure the length of each advance of the main top cylinder, that is, to obtain the advance distance of the tunneling equipment and send it to the industrial control computer;

[0036] The industrial control computer calculates the attitude angle and three-dimensional coordinates of the tunneling equipment in the geodetic coordinate system based on the angular velocity signal, acceleration signal and displacement signal, and sends them to the host computer.

[0037] The host computer compares the attitude angle and three-dimensional coordinates of the tunneling equipment in the geodetic coordinate system with the parameters of the preset three-dimensional trajectory curve to obtain the measured trajectory deviation, and generates the real-time trajectory curve of the tunneling equipment. The host computer then compares the real-time trajectory curve with the preset three-dimensional trajectory curve to precisely guide and correct the attitude of the tunneling equipment.

[0038] Furthermore, the inertial measurement unit includes three single-axis fiber optic gyroscopes and three single-axis accelerometers;

[0039] The three single-axis fiber optic gyroscopes are orthogonally arranged to form a carrier coordinate system. The three single-axis fiber optic gyroscopes are used to detect the angular velocity signals of the tunneling equipment on the three independent axes of the carrier coordinate system.

[0040] The positions of the three single-axis accelerometers correspond to the positions of the three single-axis fiber optic gyroscopes, and the three single-axis accelerometers are used to detect the acceleration signals of the tunneling equipment in the independent three axes of the carrier coordinate system.

[0041] Furthermore, the first end of the guide rail is close to the front end of the tunneling equipment, and the last end of the guide rail is close to the rear end of the tunneling equipment.

[0042] Limiting devices are installed at both ends of the guide rail, and the inertial measurement device is installed inside the protective sleeve.

[0043] Furthermore, both the protective sleeve and the guide rail are made of flexible materials.

[0044] The technical solution provided by this invention may include the following beneficial effects:

[0045] This invention utilizes an inertial measurement unit (IMU) equipped with a fiber optic gyroscope to reciprocate along a guide rail installed within a tunneling machine, accurately acquiring real-time data from the tunneling equipment. This measurement and guidance system and method are unaffected by the tunneling equipment's jacking speed, whether the equipment is in a jacking state, or the inability to measure due to prolonged downtime caused by uncontrollable factors. It is even unaffected by long-distance straight or curved jacking projects. The fiber optic gyroscope maintains a constant speed throughout the entire jacking process, allowing the IMU to continuously measure and transmit data to the industrial control computer. By integrating and converting the data, precise real-time attitude data and actual trajectory curves of the tunneling equipment are obtained, providing accurate guidance for the jacking operation. The guidance system and method of this invention are simple, highly accurate, and solve the problems of existing optical guidance technologies. They also address the issues of inaccurate data acquisition or large data dispersion, significant errors, and unreliable accuracy caused by directly mounting the fiber optic gyroscope on the tunneling machine in existing technologies. This invention facilitates accurate measurement of the trajectory of tunneling equipment within a tunnel. The measurement steps are simple and highly versatile, improving the accuracy of guidance and enhancing construction quality.

[0046] This invention is applicable to underground engineering construction equipment such as small-diameter pipe jacking machines, circular pipe jacking machines, rectangular pipe jacking machines, and shield machines for long-distance straight or curved jacking construction, providing precise guidance and accurate correction for the construction of underground tunnel excavation equipment. Attached Figure Description

[0047] Figure 1 It is a schematic diagram for precise guidance in tunnel engineering;

[0048] Figure 2 This is a schematic diagram of the measurement principle of the inertial measurement unit;

[0049] Figure 3 This is a schematic diagram of the motion trajectory of the inertial measurement unit;

[0050] Figure 4 This is a schematic diagram of the inertial measurement unit being installed on the tunneling equipment;

[0051] Figure 5This is a schematic diagram of the trajectory deviation of the tunneling equipment;

[0052] Figure 6 It is a side view of the real-time trajectory curve of the tunneling equipment;

[0053] Figure 7 It is a top view of the real-time trajectory curve of the tunneling equipment;

[0054] Figure 8 This is a schematic diagram of the attitude angles of the tunneling equipment;

[0055] The components include: inertial measurement unit 1, guide rail 2, limit device 21, protective sleeve 22, tunneling equipment 3, and main jacking cylinder 4. Detailed Implementation

[0056] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0057] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0058] Reference Figure 1-8 This invention provides a method for precise guidance in tunnel engineering. The method is used in tunnel excavation equipment and includes an inertial measurement device, a displacement sensor, an industrial control computer, and a host computer.

[0059] The inertial measurement unit includes an inertial measurement component, a guide rail, and a drive mechanism. The inertial measurement component is slidably fitted with the guide rail, and the drive mechanism is drivenly connected to the inertial component. The drive mechanism is used to drive the inertial measurement component to reciprocate at a uniform speed along the guide rail. The guide rail is parallel to the central axis of the tunneling equipment. The inertial measurement component includes a fiber optic gyroscope and an accelerometer. The inertial measurement unit is installed inside a protective sleeve 22 to protect it from damage.

[0060] Both the inertial measurement unit and the displacement sensor are connected to the industrial control computer, which in turn is connected to the host computer.

[0061] The method includes the following steps:

[0062] S0. Before the tunneling equipment starts, the inertial measurement device is debugged.

[0063] S1. Generate a preset three-dimensional trajectory curve F(x, y, z) = 0 and its projection curves F1(x, 0, z) = 0 and F2(x, y, 0) = 0 on the host computer; the industrial control computer acquires the initial data of the inertial measurement device.

[0064] S2. After the tunneling equipment starts, the inertial measurement unit reciprocates at a constant speed along the guide rail under the drive mechanism. During the motion, the inertial measurement unit sends data signals to the industrial control computer: angular velocity signal ω0(ω x0 ω y0 ω z0 ) and acceleration signal a0(a x0 a y0 a z0 );

[0065] S3. When the industrial control computer obtains the advance ΔL of the tunneling equipment based on the signal from the displacement sensor, the industrial control computer determines the attitude angle ψ of the tunneling equipment based on the obtained angular velocity and acceleration signals. i (α i ,β i γ i ) and at the measured point A i Three-dimensional coordinates (X, Y, Z) in the geodetic coordinate system i Y i Z i And send it to the host computer;

[0066] S4. The host computer compares the attitude angle and three-dimensional coordinates of the tunneling equipment in the geodetic coordinate system with the parameters of the preset three-dimensional trajectory curve to obtain the measured trajectory deviation.

[0067] S5. Repeat steps S2-S4. When the tunneling equipment advances multiple ΔL, the host computer generates the real-time trajectory curve of the tunneling equipment and compares the real-time trajectory curve f(x, y, z) = 0 with the preset three-dimensional trajectory curve F(x, y, z) = 0. The host computer guides and corrects the attitude of the tunneling equipment.

[0068] Reference Figure 1 A schematic diagram showing the inertial measurement unit collecting angular velocity and acceleration signals while moving along the guide rail. The attitude and position data at the beginning and end of the guide rail are obtained by the industrial control computer based on the angular velocity and acceleration signals sent by the inertial measurement unit.

[0069] Addressing the problems in existing technologies, such as slow jacking speed of pipe jacking machines, the inertial measurement unit of fiber optic gyroscopes failing to detect the true angular velocity signal data of the pipe jacking machine, and the accelerometer failing to acquire the true acceleration signal data of the pipe jacking machine, resulting in unreliable measurement data accuracy and difficulty in controlling the jacking attitude, this invention provides a method for precise guidance in tunnel engineering. A guide rail of a certain length L0 is installed on the inner wall of the tunneling equipment, allowing the inertial measurement unit to reciprocate at a uniform speed along the guide rail. Measurement data from the inertial measurement unit is collected under specified displacement and time conditions, thereby obtaining a relatively accurate real-time attitude of the tunneling equipment. It should be noted that after the tunneling equipment starts moving, the inertial measurement unit remains in a state of uniform motion. Data signals from the inertial measurement unit at the beginning and / or end of the guide rail are transmitted in real time to the industrial control computer to obtain the real-time trajectory curve of the tunneling equipment.

[0070] In this invention, an inertial measurement unit equipped with a fiber optic gyroscope reciprocates on a guide rail installed inside the tunnel boring machine to accurately acquire real-time data of the tunneling equipment. This measurement and guidance system and method are unaffected by the jacking speed of the tunneling equipment, nor are they limited by whether the equipment is in a jacking state or by the inability to measure due to long downtime caused by uncontrollable factors. It is even unrestricted by long-distance straight or curved jacking projects. The fiber optic gyroscope maintains a constant speed throughout the entire jacking process, continuously acquiring data and obtaining precise attitude data of the tunneling equipment. This facilitates accurate measurement of the trajectory of the tunneling equipment within the tunnel. The measurement steps are simple, highly versatile, and improve the accuracy of guidance and construction quality.

[0071] The method of this invention is applicable to underground engineering construction equipment such as small-diameter pipe jacking machines, circular pipe jacking machines, rectangular pipe jacking machines, and shield machines for long-distance straight or curved jacking construction. It provides precise guidance and accurate correction for the construction of underground tunnel excavation equipment. That is, the excavation equipment can be underground engineering construction equipment such as small-diameter pipe jacking machines, circular pipe jacking machines, rectangular pipe jacking machines, or shield machines.

[0072] Specifically, in step S0, before the tunneling equipment starts, the debugging of the inertial measurement device is completed, including the installation and debugging of the guide rail, drive mechanism, and inertial measurement components.

[0073] Furthermore, in step S3, the industrial control computer removes trend terms from the data signals sent by the inertial measurement unit, and connects the signal data sent by the inertial measurement unit into a curve to obtain the motion posture curve of the guide rail as it moves forward with the tunneling equipment.

[0074] Then, within the displacement interval of ΔL during the advance of the tunneling equipment, the angular velocity signal ω of the point at the very front or very back of the guide rail motion curve is taken. i (ω xi ωyi ω zi ) and acceleration signal a i (a xi a yi a zi This is then converted into the measured attitude angle ψ of the tunneling equipment. i (α i ,β i γ i ) and the measured point A i Three-dimensional coordinates (X, Y, Z) in the geodetic coordinate system i Y i Z i ).

[0075] It is understood that the inertial measurement unit can send data signals to the industrial control computer at any position on the guide rail. Preferably, the inertial measurement unit is defined to send data signals to the industrial control computer at a preset position on the guide rail, so as to facilitate the processing of data signals by the industrial control computer and reduce the amount of data processing by the industrial control computer. More preferably, in step S2, when the inertial measurement unit is located at the beginning and / or end of the guide rail, it sends a set of data signals to the industrial control computer, namely the angular velocity signal ω0(ω x0 ω y0 ω z0 ) and acceleration signal a0(a x0 a y0 a z0 );

[0076] In step S3, the industrial control computer removes trend terms from the signal data of the inertial measurement unit when it is located at the beginning or end of the guide rail. The industrial control computer connects the signal data of the inertial measurement unit when it is located at the beginning or end of the guide rail into a curve to obtain the motion posture curve of the guide rail as the tunneling equipment moves forward.

[0077] Reference Figure 2 The tunneling equipment 3 is advanced by the main jacking cylinder by multiple ΔL. The data from the guide rail's head end is converted and connected to obtain the tunneling equipment's motion trajectory 1. The data from the guide rail's end end is converted and connected to obtain the tunneling equipment's motion trajectory 2. The guide rail's head end data and guide rail's end data refer to the position and attitude data of the guide rail's head and end ends. For example, a displacement sensor is installed on the main jacking cylinder of the tunneling equipment. When the main jacking cylinder advances ΔL = 10cm, the industrial control computer accumulates and superimposes the values ​​in the inertial measurement unit's data signals acquired when the equipment moves to the guide rail's head end, removes trend terms from the data, and then automatically acquires the signal data from the inertial measurement unit each time it moves to the guide rail's head or end end, connects them to form a curve to obtain the guide rail's motion attitude curve, and then takes the angular velocity signal ω of the point at the very front or very back of the guide rail's motion curve at that displacement interval. i (ω xi ω yi ω zi) and acceleration signal a i (a xi a yi a zi After conversion, the attitude angle ψ of the pipe jacking machine is obtained. i (α i ,β i γ i (Pitch angle, yaw angle, roll angle) and the measured point A i Three-dimensional coordinates (X, Y, Z) in the geodetic coordinate system i Y i Z i ).

[0078] The aforementioned cumulative superposition refers to the process where, for every ΔL advance of the main jacking cylinder, the guide rail simultaneously advances the inertial measurement unit by the same distance. This cumulative superposition involves collecting data from the guide rail's initial position after each jacking stroke. Removing trend terms refers to situations where the tunneling equipment encounters special conditions (such as unfavorable geological formations or underground obstacles), which may cause the jacking speed to slow down or stop, resulting in less accurate data. Therefore, these trend terms need to be removed by simply superimposing the data from the guide rail's initial or final position.

[0079] Specifically, refer to Figure 1 and Figure 8 Measured attitude angle ψ of the tunneling equipment i Pitch angle Deflection angle Roll angle Pitch angle is positive upwards (i.e., from x+ to z+), yaw angle is positive to the left (i.e., from y+ to x+), and roll angle is positive clockwise (i.e., from z+ to y+).

[0080] Furthermore, in step S1, the host computer inputs the initial point C(X0, Y0, Z0) of the tunneling equipment in the geodetic coordinate system OXYZ, the initial two-dimensional tangent vectors υ0(m0, n0) and μ0(m0, k0), and the parameters of the preset three-dimensional trajectory curve F(x, y, z) = 0 in the relative coordinate system Oxyz, as well as the allowable value of trajectory deviation (|Δy). i |,|Δz i |); Generate a preset three-dimensional trajectory curve F(x, y, z) = 0 and its projection curves F1(x, 0, z) = 0 and F2(x, y, 0) = 0.

[0081] The geodetic coordinate system OXYZ refers to a coordinate system with the Earth as a reference: the X-axis is due east, the Y-axis is due north, and the Z-axis is due up. The relative coordinate system Oxyz refers to a coordinate system based on the geodetic coordinate system OXYZ and with the tunnel starting point as a reference: x is the horizontal direction to the east, y is the horizontal direction to the north, and z is the vertical direction upward. The initial point C(X0, Y0, Z0) is O(0, 0, 0), which is the center point of the initial surface of the tunnel.

[0082] In step S1, acquiring the initial data from the inertial measurement unit (IMU) means reading the initial data from the IMU and inputting it into the IMU. The IMU is then programmed with a conversion function to determine the positional relationship between the guide rail and the central axis of the tunneling equipment.

[0083] Furthermore, in step S4, the host computer will measure point A. i Three-dimensional coordinates (X, Y, Z) in the geodetic coordinate system i Y i Z i Transform into three-dimensional coordinates A in the relative coordinate system Oxyz. i '(x i y i , z i );

[0084] The host computer uses three-dimensional coordinates A i '(x i y i , z i ) and standard point B i (x i y i , z i The relative position vector OA0'(x0, y0, z0) of the measured point A is given by the vector OA0'(x0, y0, z0). i In the three-dimensional coordinates A of the relative coordinate system Oxyz i '(x i y i , z i ) Converted into standard point B for tunneling equipment i The three-dimensional coordinates B in the relative coordinate system Oxyz i (x i y i , z i And obtain the three-dimensional trajectory deviation (Δy) of the tunneling equipment in the relative coordinate system. i Δz i ).

[0085] A i The coordinates of the acceleration signals collected by the inertial measurement unit at the beginning or end of the guide rail are processed and then converted into the coordinates B of the center point of the pipe jacking machine. i And through connection B iThe coordinates of the points form the actual three-dimensional trajectory curve.

[0086] The coordinates OA0' are only used as A i 'Convert point coordinates to B' i Factors of point coordinates. Three-dimensional coordinates A in a relative coordinate system. i '(x i y i , z i ) = A i (X i Y i Z i -C(X0, Y0, Z0). Three-dimensional coordinates B in the relative coordinate system. i (x i y i , z i ) = A i '(x i y i , z i )+E*A0'(x0, y0, z0);

[0087] Among them, the attitude matrix

[0088] Measured trajectory deviation (Δy) i Δz i (x) refers to the tunneling equipment moving to a certain position. i At that time, its standard point B i (x i y i , z i The deviations in the y and z directions between the measured three-dimensional trajectory curve f(x, y, z) = 0 and the preset three-dimensional trajectory curve F(x, y, z) = 0 (refer to...) Figure 5 ), Δy i =y i -y i ',Δz i =z i -z i ',y i 'and z i 'By F(x) i We can find the answer by finding that y, z) = 0.

[0089] Reference Figure 6 and Figure 7 Measured position tangent vector υ i (x i , z i ) and μ i (x i y i The standard point B on the measured three-dimensional trajectory curve f(x, y, z) = 0 is...i (x i y i , z i The direction vectors of the projection curves f1(x, 0, z) = 0 and f2(x, y, 0) = 0 in the two-dimensional coordinate systems xOz and xOy.

[0090] Furthermore, the measured point A i The method to obtain it is as follows:

[0091] During the reciprocating motion of the inertial measurement unit along the guide rail, it generates a set of data signals each time it is located at the beginning and end of the guide rail: angular velocity signal ω. 首 (ω x首 ω y首 ω z首 ) and acceleration signal a 首 (a x首 a y首 a z首 ); angular velocity signal ω 末 (ω x末 ω y末 ω z末 ) and acceleration signal a 末 (a x末 a y末 a z末 );

[0092] Measured point A i The formula for calculating coordinates is: The tunneling equipment starts at time t0 = 0, t i The time it takes for the tunneling equipment to advance to a certain position.

[0093] When the guiding method of the present invention is applied to a pipe jacking machine, the guiding control principle is as follows:

[0094] (1) Measured attitude angle ψ i (α i ,β i γ i All of them do not exceed the allowable attitude angles (|α|, |β|, |γ|) of the pipe jacking machine.

[0095] (2) The inertial measurement unit is automatically calibrated during each pipe section installation in the pipe jacking project or at regular intervals as needed to eliminate cumulative errors.

[0096] (3) For Δy i ≌ or ≥|Δy i |, when β i When ≤0, control the right-side correction cylinder to extend; when β i When the value is >0, control the right-side correction cylinder to extend or remain stationary;

[0097] For Δy i ≌ or ≤-|Δy i |, when β i When ≥0, the left-side correction cylinder extends; when β i When the value is less than 0, the right-side correction cylinder is extended or kept stationary.

[0098] (4) For Δz i ≌ or ≥|Δz i |, when α i When α ≥ 0, the upper correction cylinder extends; when α i When <0, control the upper correction cylinder to extend or remain stationary;

[0099] For Δz i ≌ or ≤ -|Δz i |, when α i When ≤0, control the lower-level correction cylinder to extend; when α i When the value is ≥0, the lower-level correction cylinder is extended or kept stationary.

[0100] (5) When γ i ≥|γ| or γ i When the value is ≤-|γ|, the cutter head is controlled to reverse for cutting.

[0101] (6) The real-time correction angle of the pipe jacking machine's correction cylinder shall not exceed the allowable correction angle once.

[0102] Accordingly, a system for precise guidance in tunnel engineering according to an embodiment of the present invention includes an inertial measurement device, a displacement sensor, an industrial control computer, and a host computer; the inertial measurement device is installed on the tunneling equipment 3 used in tunnel engineering, and the displacement sensor is installed on the main top cylinder 4 of the tunneling equipment;

[0103] The inertial measurement device includes an inertial measurement component 1, a guide rail 2, and a drive mechanism. The inertial measurement component 1 is slidably fitted with the guide rail 2, and the drive mechanism is drivenly connected to the inertial component. The drive mechanism is used to drive the inertial measurement component 1 to reciprocate at a uniform speed along the guide rail 2, which is parallel to the central axis of the tunneling equipment 3.

[0104] Both the inertial measurement unit 1 and the displacement sensor are connected to the industrial control computer, which in turn is connected to the host computer.

[0105] The inertial measurement unit 1 includes a fiber optic gyroscope and an accelerometer. The inertial measurement unit 1 is used to acquire the angular velocity signal and acceleration signal of the tunneling equipment 3 and send them to the industrial control computer.

[0106] The displacement sensor is used to obtain the advancing distance of the tunneling equipment 3 and send it to the industrial control computer;

[0107] The industrial control computer calculates the attitude angle and three-dimensional coordinates of the tunneling equipment 3 in the geodetic coordinate system based on the angular velocity signal, acceleration signal and displacement signal, and sends them to the host computer.

[0108] The host computer compares the attitude angle and three-dimensional coordinates of the tunneling equipment 3 in the geodetic coordinate system with the parameters of the preset three-dimensional trajectory curve to obtain the measured trajectory deviation, and generates the real-time trajectory curve of the tunneling equipment 3. The host computer then compares the real-time trajectory curve with the preset three-dimensional trajectory curve to guide and correct the attitude of the tunneling equipment 3.

[0109] The guiding system of the present invention adopts the above-mentioned guiding method, which achieves the characteristics of accurate measurement data and strong applicability. It can be applied to underground engineering construction equipment such as small-diameter pipe jacking machines, circular pipe jacking machines, rectangular pipe jacking machines, and shield machines for long-distance straight or curved jacking construction, providing precise guidance and accurate correction for the construction of underground tunnel excavation equipment.

[0110] The displacement sensor is installed on the main top cylinder 4 of the tunneling equipment 3. The displacement sensor is used to measure the length of each advance of the main top cylinder 4. It is responsible for measuring the length of each advance of the main top cylinder so as to collect the displacement interval of the inertial measurement component 1 during the multiple head-tail reciprocating motions within this stroke.

[0111] Understandably, when the main jacking cylinder 4 retracts to its position before the next extension, and the tunneling equipment 3 is in a stopped jacking state and installing pipe sections, the inertial measurement unit 1 continues to reciprocate at a constant speed and sends data to the industrial control computer. The data transmitted during this period should form a smooth curve, which can be used as the initial position coordinates when the main jacking cylinder 4 extends again, i.e., when the tunneling equipment 3 jacks forward again. If the downtime is long due to special reasons, the inertial measurement unit 1 can be stopped and calibrated. When the tunneling equipment 3 resumes jacking, the inertial measurement unit 1 can be driven to re-enter and acquire data.

[0112] Furthermore, the inertial measurement unit 1 includes three single-axis fiber optic gyroscopes and three single-axis accelerometers;

[0113] Three single-axis fiber optic gyroscopes are orthogonally arranged to form a carrier coordinate system. The three single-axis fiber optic gyroscopes are used to detect the angular velocity signals of the tunneling equipment 3 on the independent three axes of the carrier coordinate system, and then obtain the attitude information of the tunneling equipment 3 in terms of horizontal, vertical and pitch angles.

[0114] The positions of the three single-axis accelerometers correspond to the three single-axis fiber optic gyroscopes. The three single-axis accelerometers are used to detect the acceleration signals of the tunneling equipment 3 in the independent three axes of the carrier coordinate system.

[0115] Furthermore, the first end of guide rail 2 is close to the front end of tunneling equipment 3, and the last end of guide rail 2 is close to the last end of tunneling equipment 3; when the inertial measurement unit 1 moves to the first end of guide rail 2, its position coordinates are closer to the coordinates of the center point of tunneling equipment 3, resulting in more accurate data. Limiting devices 21 are installed at both ends of guide rail 2. The inertial measurement unit is installed inside protective sleeve 22, which is connected to the tunneling equipment and is used to protect the inertial measurement unit from damage.

[0116] Furthermore, the protective sleeve 22 and the guide rail 2 are made of flexible materials, enabling the guiding system to adapt to curved jacking projects.

[0117] For example, the drive mechanism adopts a motor-screw drive system. The screw is threadedly connected to the inertial measurement unit 1. The motor drives the inertial measurement unit 1 to move along the guide rail through the screw, which makes the motion control of the inertial measurement unit 1 more precise.

[0118] Specifically, both the industrial control computer and the host computer are located on the control panel. The industrial control computer includes a data acquisition unit, a data processor, a data display, and a data storage device. The inertial measurement unit 1 and the displacement sensor are connected to the data acquisition unit, the data processor is connected to the data acquisition unit, the data display is connected to the data processor, and the data storage device is connected to both the data processor and the host computer. The data acquisition unit is used to acquire the angular velocity and acceleration signals transmitted by the inertial measurement unit 1. The data processor can convert the angular velocity signals into the pitch, yaw, and roll angles of the tunneling equipment 3, and can convert the acceleration signals into the three-dimensional coordinates of the tunneling equipment 3 in the geodetic coordinate system. The data display can display the three-dimensional coordinates of the tunneling equipment 3 in real time, and can display attitude angle data such as pitch, yaw, and roll angles in real time. The data storage device can store the angular velocity, acceleration, three-dimensional coordinates, and attitude angles of the tunneling equipment 3 throughout the entire jacking process in real time for subsequent data analysis.

[0119] The host computer connects to the data processor. The data display on the host computer software shows data such as the three-dimensional trajectory curve, position coordinates, position tangent vector, and trajectory deviation of the tunneling equipment 3. The host computer's serial port supports hot-swapping; simply disconnect and reconnect when installing pipe sections. The host computer is also used to input parameters for the preset three-dimensional trajectory curve of the tunneling equipment 3, including the three-dimensional coordinates of the initial point, the two-dimensional tangent vector of the initial point, the allowable values ​​of the attitude angle and trajectory deviation, and can display the preset three-dimensional trajectory curve model, measured three-dimensional coordinate position, measured three-dimensional trajectory curve, measured position tangent vector, measured attitude angle, and measured trajectory deviation of the tunneling equipment 3.

[0120] Other configurations and operations of the system and method for precise guidance in tunnel engineering according to embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0121] In the description of this specification, references to terms such as "embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0122] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A method for precise guidance in tunnel engineering, characterized in that, This method is used in tunnel boring equipment, including inertial measurement units, displacement sensors, industrial control computers, and host computers; The inertial measurement device includes an inertial measurement component, a guide rail, and a drive mechanism. The inertial measurement component is slidably engaged with the guide rail, and the drive mechanism is drivenly connected to the inertial measurement component. The drive mechanism is used to drive the inertial measurement component to reciprocate at a uniform speed along the guide rail. The guide rail is parallel to the central axis of the tunneling equipment. The inertial measurement component includes a fiber optic gyroscope and an accelerometer. Both the inertial measurement unit and the displacement sensor are connected to the industrial control computer, which is connected to the host computer. The method includes the following steps: S0. Before the tunneling equipment starts, the inertial measurement device is debugged. S1. The host computer generates a preset three-dimensional trajectory curve F(x, y, z) = 0 and its projection curves F1(x, 0, z) = 0 and F2(x, y, 0) = 0; the industrial control computer acquires the initial data of the inertial measurement device. S2. After the tunneling equipment starts, the inertial measurement unit reciprocates at a constant speed along the guide rail under the drive of the drive mechanism. During the movement, the inertial measurement unit sends data signals to the industrial control computer: angular velocity signal ω0 (ω x0 ω y0 ω z0 ) and acceleration signal a0 (a x0 a y0 a z0 ); S3. When the industrial control computer obtains the propulsion of the tunneling equipment based on the signal from the displacement sensor... At time L, the industrial control computer determines the attitude angle ψ of the tunneling equipment based on the obtained angular velocity and acceleration signals. i (α) i ,β i γ i ) and at the measured point A i Three-dimensional coordinates (X, Y, Z) in the geodetic coordinate system i Y i Z i And send it to the host computer; S4. The host computer compares the attitude angle and three-dimensional coordinates of the tunneling equipment in the geodetic coordinate system with the parameters of the preset three-dimensional trajectory curve to obtain the measured trajectory deviation. S5. Repeat steps S2-S4, the tunneling equipment advances multiple... When L is reached, the host computer generates the real-time trajectory curve of the tunneling equipment and compares the real-time trajectory curve f(x, y, z) = 0 with the preset three-dimensional trajectory curve F(x, y, z) = 0. The host computer then guides and corrects the attitude of the tunneling equipment. In step S3, the industrial control computer removes trend terms from the data signals sent by the inertial measurement unit, and connects the signal data sent by the inertial measurement unit into a curve to obtain the motion posture curve of the guide rail as it moves forward with the tunneling equipment. Then the tunneling equipment advances. Within the displacement interval L, the angular velocity signal ω of the point at the very beginning or end of the guide rail motion curve is taken. i (ω) xi ω yi ω zi ) and acceleration signal a i (a) xi a yi a zi ), and convert it into the measured attitude angle ψ of the tunneling equipment. i (α) i ,β i γ i ) and the measured point A i Three-dimensional coordinates (X, Y, Z) in the geodetic coordinate system i Y i Z i ).

2. The method for precision guidance in tunnel engineering according to claim 1, characterized in that, In step S2, when the inertial measurement unit is located at the beginning and / or end of the guide rail, it sends a set of data signals to the industrial control computer, namely, angular velocity signals ω0 (ω x0 ω y0 ω z0 ) and acceleration signal a0 (a x0 a y0 a z0 ); In step S3, the industrial control computer removes trend terms from the signal data of the inertial measurement component when it is located at the beginning or end of the guide rail, and connects the signal data of the inertial measurement component when it is located at the beginning or end of the guide rail to form a curve to obtain the motion posture curve of the guide rail as it moves forward with the tunneling equipment.

3. The method for precision guidance in tunnel engineering according to claim 1, characterized in that, In step S1, the host computer inputs the initial point C(X0, Y0, Z0) of the tunneling equipment in the geodetic coordinate system OXYZ, the initial two-dimensional tangent vectors υ0(m0, n0) and μ0(m0, k0), and the parameters and allowable values ​​of the preset three-dimensional trajectory curve F(x, y, z) = 0 in the relative coordinate system Oxyz; and generates the preset three-dimensional trajectory curve F(x, y, z) = 0 and its projection curves F1(x, 0, z) = 0 and F2(x, y, 0) = 0.

4. The method for precision guidance in tunnel engineering according to claim 3, characterized in that, In step S4, the host computer will measure point A. i Three-dimensional coordinates (X, Y, Z) in the geodetic coordinate system i Y i Z i Transform into three-dimensional coordinates A in the relative coordinate system Oxyz. i '(x) i y i , z i ); The host computer uses three-dimensional coordinates A i '(x) i y i , z i ) and standard point B i (x) i y i , z i The relative position vector OA0'(x0, y0, z0) of the measured point A is given by the vector OA0'(x0, y0, z0). i In the three-dimensional coordinates A of the relative coordinate system Oxyz i '(x) i y i , z i ) converted into the standard point B of the tunneling equipment i The three-dimensional coordinates B in the relative coordinate system Oxyz i (x) i y i , z i ), and obtain the three-dimensional trajectory deviation (Δx) of the tunneling equipment in the relative coordinate system. i Δy i Δz i ).

5. The method for precision guidance in tunnel engineering according to claim 4, characterized in that, The geodetic coordinate system OXYZ: the X-axis is due east, the Y-axis is due north, and the Z-axis is due celestial. The relative coordinate system Oxyz refers to a coordinate system based on the geodetic coordinate system OXYZ and with the tunnel starting point as a reference. x is the horizontal direction to the east, y is the horizontal direction to the north, and z is the vertical upward direction. The initial point C(X0, Y0, Z0) is equivalent to O(0, 0, 0), which is the center point of the initial tunnel face, and its three-dimensional coordinates relative to the coordinate system A. i '(x) i y i , z i )=A i (X) i Y i Z i -C(X0, Y0, Z0); Three-dimensional coordinates B in relative coordinate system i (x) i y i , z i )=A i '(x) i y i , z i )+E*OA0'(x0, y0, z0); Where, the attitude matrix E= .

6. A system for precision guidance in tunnel engineering, characterized in that The method for precise guidance in tunnel engineering according to any one of claims 1 to 5 includes an inertial measurement device, a displacement sensor, an industrial control computer, and a host computer; the inertial measurement device is installed on the tunneling equipment used in the tunnel engineering, and the displacement sensor is installed on the main top cylinder of the tunneling equipment; The inertial measurement device includes an inertial measurement component, a guide rail, and a drive mechanism. The inertial measurement component is slidably engaged with the guide rail, and the drive mechanism is drivenly connected to the inertial measurement component. The drive mechanism is used to drive the inertial measurement component to reciprocate at a constant speed along the guide rail, and the guide rail is parallel to the central axis of the tunneling equipment. Both the inertial measurement unit and the displacement sensor are connected to the industrial control computer, which is connected to the host computer. The inertial measurement unit includes a fiber optic gyroscope and an accelerometer. The inertial measurement unit is used to acquire the angular velocity signal and acceleration signal of the tunneling equipment and send them to the industrial control computer. The displacement sensor is used to measure the length of each advance of the main top hydraulic cylinder, that is, to obtain the advance distance of the tunneling equipment and send it to the industrial control computer; The industrial control computer calculates the attitude angle and three-dimensional coordinates of the tunneling equipment in the geodetic coordinate system based on the angular velocity signal, acceleration signal and displacement signal, and sends them to the host computer. The host computer compares the attitude angle and three-dimensional coordinates of the tunneling equipment in the geodetic coordinate system with the parameters of the preset three-dimensional trajectory curve to obtain the measured trajectory deviation, and generates the real-time trajectory curve of the tunneling equipment. The host computer then compares the real-time trajectory curve with the preset three-dimensional trajectory curve to guide and correct the attitude of the tunneling equipment.

7. The system for precision guidance of tunnel engineering according to claim 6, characterized in that, The inertial measurement unit includes three single-axis fiber optic gyroscopes and three single-axis accelerometers. The three single-axis fiber optic gyroscopes are orthogonally arranged to form a carrier coordinate system. The three single-axis fiber optic gyroscopes are used to detect the angular velocity signals of the tunneling equipment on the three independent axes of the carrier coordinate system. The positions of the three single-axis accelerometers correspond to the positions of the three single-axis fiber optic gyroscopes, and the three single-axis accelerometers are used to detect the acceleration signals of the tunneling equipment in the independent three axes of the carrier coordinate system.

8. The system for precision guidance of tunneling works according to claim 6, characterized in that, The first end of the guide rail is close to the front end of the tunneling equipment, and the last end of the guide rail is close to the rear end of the tunneling equipment. Limiting devices are installed at both ends of the guide rail, and the inertial measurement device is installed inside the protective sleeve.

9. The system for precision guidance of tunnel engineering of claim 8, wherein, The guide rail and protective sleeve are made of flexible material.

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