Shield tail end gap measurement method, apparatus and device

Abstract

The present disclosure relates to a shield tail end gap measurement method, device and equipment, comprising: projecting a plurality of first laser lines at the end of the shield segment and the shield tail end gap through a grating module laser, and projecting a second laser line perpendicular to the first laser lines through a linear laser; collecting a shield segment end image through an industrial camera, and obtaining a segment end image; in the segment end image, constructing an arc shield wall curve according to the second laser line and the laser lines parallel to each other in each first laser line; in the segment end image, determining the upper vertex and the lower vertex of the shield tail end gap according to the arc shield wall curve and the laser lines distorted and not parallel to each other in each first laser line; and determining the shield tail end gap according to the second laser line, the upper vertex, the lower vertex and the actual distance from the linear laser to the arc shield wall of the shield segment, thereby improving the accuracy of shield tail end gap measurement.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of shield construction, in particular to a method, device and equipment for measuring a shield tail end gap. BACKGROUND

[0002] The shield tail end gap refers to a gap between an arc-shaped inner shield wall of a segment and an arc-shaped outer shield wall of an adjacent segment. In the shield construction process, if the shield tail end gap exceeds a normal range, firstly, it may cause the shield tunneling resistance to increase and reduce the shield tunneling speed; secondly, it may easily cause the segment to be misassembled, the segment to be squeezed and damaged; thirdly, it may cause the shield tail brush to be worn out quickly, affect the sealing performance of the shield tail brush, cause the tunnel to leak or the ground to sink, and exist the risk of causing a major safety accident.

[0003] In the traditional measurement, the shield tail end gap is usually measured by manual operation or by using some contact type measurement method during the shield construction process. However, since the shield tail end gap needs to be measured at multiple points of each ring, it is inconvenient and unsafe for a worker to carry a shield tail end gap measuring tool to climb to each point; and by using some contact type measurement, for example, a rope sensor, the measurement accuracy is not high in a harsh working environment of the shield tail, and the rope sensor position is trapped between the inner wall of the shield tail and the shield tail segment, which is inconvenient for manual maintenance.

[0004] In a related scenario, an original image of the shield tail end gap is captured by using a camera, and the actual distance of the shield tail end gap is converted according to the distance from the camera installation position to the shield wall. However, the lower detection point segment lower edge is covered with shield tail grease, water and the like, and it is difficult to distinguish the segment lower edge from the shield tail end gap in the image, resulting in low measurement distance accuracy. A laser is used to shoot a laser line to the shield tail segment to cooperate with the shield tail end gap measurement, the shield tail end gap image is processed to obtain shield tail end gap pixels, the actual distance corresponding to each shield tail end gap pixel is obtained through the advance of the cylinder stroke, and the shield tail end gap is obtained by using the shield tail end gap pixels and the actual distance. However, the lower detection point is covered with shield tail grease, water and the like, and the intersection of the first segment laser line may not be on the segment lower edge, resulting in low accuracy of the shield tail end gap measurement. SUMMARY

[0005] To overcome the technical problem of low accuracy of the shield tail end gap measurement in the related art, the present disclosure provides a method, device and equipment for measuring a shield tail end gap.

[0006] In a first aspect of the embodiments of the present disclosure, a method for measuring a shield tail end gap is provided, comprising:

[0007] A plurality of first laser lines are projected by a grating module laser at the end of a shield segment and a gap between the end of the shield segment and a tail shield, and a second laser line is projected by a linear laser perpendicular to the first laser lines, wherein the grating module laser and the linear laser are both mounted on a partition plate between two propulsion cylinders of a shield tunneling machine;

[0008] A shield segment end image is acquired by an industrial camera in an orthographic view to obtain a segment end image, wherein the segment end image includes an end image of the shield segment, and laser images of the first laser lines and the second laser line at the end of the shield segment and the gap between the end of the shield segment and the tail shield;

[0009] In the segment end image, an arc-shaped shield wall curve is constructed according to the second laser line and laser lines of mutually parallel portions of each of the first laser lines;

[0010] In the segment end image, upper and lower vertices of the gap between the end of the shield segment and the tail shield are determined according to the arc-shaped shield wall curve and laser lines of distorted non-parallel portions of each of the first laser lines;

[0011] The gap between the end of the shield segment and the tail shield is determined according to the second laser line, the upper and lower vertices, and an actual distance from the linear laser to the arc-shaped shield wall of the shield segment.

[0012] In one embodiment, the construction of the arc-shaped shield wall curve in the segment end image according to the second laser line and the laser lines of mutually parallel portions of each of the first laser lines includes:

[0013] In the segment end image, a first target laser line at a most central position of each of the first laser lines is obtained by linear fitting of the laser lines of mutually parallel portions of each of the first laser lines;

[0014] A first intersection point of the first target laser line and the second laser line is determined;

[0015] In the segment end image, lower end points of mutually parallel portions of each of the first laser lines are determined;

[0016] The arc-shaped shield wall curve is obtained by curve fitting according to the first intersection point and the lower end points.

[0017] In one embodiment, the determination of the upper and lower vertices of the gap between the end of the shield segment and the tail shield in the segment end image according to the arc-shaped shield wall curve and the laser lines of distorted non-parallel portions of each of the first laser lines includes:

[0018] The intersection point of the first target laser line and the arc-shaped shield wall curve is determined as the upper vertex of the gap between the end of the shield segment and the tail shield.

[0019] the laser light ray in the middle position of the first laser light rays after distortion and not parallel is taken as a second target laser light ray;

[0020] an extension line of the first intersection and the upper vertex is drawn;

[0021] the intersection of the extension line and the second target laser light ray is determined as the lower vertex of the tail end gap of the shield.

[0022] In one embodiment, the determination of the tail end gap of the shield according to the second laser light ray, the upper vertex, the lower vertex and the actual distance of the linear laser to the curved shield wall of the shield segment comprises:

[0023] the coordinates of the lower vertex in the image of the end of the shield segment are determined according to the first target laser light ray and the second target laser light ray;

[0024] the coordinates of the first intersection in the image of the end of the shield segment are determined according to the second laser light ray and the first target laser light ray;

[0025] the coordinates of the upper vertex of the curved shield wall curve and the first target laser light ray in the image of the end of the shield segment are determined;

[0026] the tail end gap of the shield is determined according to the coordinates of the lower vertex, the coordinates of the first intersection, the coordinates of the upper vertex and the actual distance of the linear laser to the curved shield wall of the shield segment.

[0027] In one embodiment, the determination of the tail end gap of the shield according to the coordinates of the lower vertex, the coordinates of the first intersection, the coordinates of the upper vertex and the actual distance of the linear laser to the curved shield wall of the shield segment comprises:

[0028] a first pixel distance is determined according to the coordinates of the first intersection and the coordinates of the lower vertex;

[0029] a second pixel distance is determined according to the coordinates of the upper vertex and the coordinates of the lower vertex;

[0030] the tail end gap of the shield is determined according to the first pixel distance, the second pixel distance and the actual distance of the linear laser to the curved shield wall of the shield segment.

[0031] In one embodiment, the determination of the tail end gap of the shield according to the first pixel distance, the second pixel distance and the actual distance of the linear laser to the curved shield wall of the shield segment comprises:

[0032] calculating a ratio of the first pixel distance and the second pixel distance;

[0033] calculating a product of the ratio and an actual distance from the linear laser to an arc-shaped shield wall of the shield segment, to obtain the shield tail end gap.

[0034] In one embodiment, the mounting positions of the grating module laser, the linear laser and the industrial camera on the bulkhead satisfy the following conditions:

[0035] A circle is drawn with the mounting position of the grating module laser on the bulkhead as the center, two intersection points of the circle and any arc-shaped shield wall of the shield segment are obtained, a perpendicular line is drawn through the center of the circle and the connecting line of the two intersection points, the mounting position of the linear laser on the bulkhead is on the perpendicular line, and the mounting position of the industrial camera on the bulkhead is not on the straight line passing through the mounting positions of the grating module laser and the linear laser.

[0036] In one embodiment, the collecting of the shield segment end image by the industrial camera in front view to obtain the segment end image comprises:

[0037] The shield segment end image is collected by the industrial camera in front view, and pre-processing is performed on the shield segment end image to obtain a standby end image;

[0038] The standby end image is converted to generate a gray end image;

[0039] The gray end image is filtered to obtain a filtered end image;

[0040] The filtered end image is binarized to obtain a black and white segment end image with only laser stripes;

[0041] The black and white segment end image is edge detected to obtain the segment end image.

[0042] In a second aspect of the embodiments of the present disclosure, a shield tail end gap measuring device is provided, comprising:

[0043] A projection module is configured to project a plurality of first laser lines on the end of the shield segment and the shield tail end gap by a grating module laser, and to project a second laser line perpendicular to the first laser lines by a linear laser, wherein the grating module laser and the linear laser are both mounted on a bulkhead between two propulsion oil cylinders of a shield tunneling machine;

[0044] The collection module is configured to collect a shield segment end image by an industrial camera, and obtain the shield segment end image, wherein the shield segment end image comprises an end image of a shield segment, a laser image formed by the first laser line and the second laser line at the end and the tail end gap of the shield segment;

[0045] The construction module is configured to construct an arc shield wall curve according to the second laser line and the laser lines of the mutually parallel portions of the first laser lines in the shield segment end image;

[0046] The first determination module is configured to determine an upper vertex and a lower vertex of the tail end gap of the shield segment according to the arc shield wall curve and the laser lines of the distorted non-parallel portions of the first laser lines in the shield segment end image;

[0047] The second determination module is configured to determine the tail end gap of the shield segment according to the second laser line, the upper vertex, the lower vertex and an actual distance from the line laser to the arc shield wall of the shield segment.

[0048] In one embodiment, the construction module is configured to:

[0049] In the shield segment end image, a first target laser light line at a most middle position of the first laser lines is obtained by performing linear fitting on the laser lines of the mutually parallel portions of the first laser lines;

[0050] A first intersection point of the first target laser light line and the second laser line is determined;

[0051] In the shield segment end image, lower endpoints of the mutually parallel portions of the first laser lines are determined;

[0052] An arc shield wall curve is obtained by performing curve fitting on the first intersection point and the lower endpoints.

[0053] In one embodiment, the first determination module is configured to:

[0054] An intersection point of the first target laser light line and the arc shield wall curve is determined as the upper vertex of the tail end gap of the shield segment;

[0055] A laser light line at a most middle position of the distorted non-parallel first laser lines is taken as a second target laser light line;

[0056] An extension line of a line connecting the first intersection point and the upper vertex is drawn;

[0057] An intersection point of the extension line and the second target laser light line is determined as the lower vertex of the tail end gap of the shield segment.

[0058] In one embodiment, the second determining module is configured to:

[0059] determine coordinates of the lower vertex in the shield segment end image according to the first target laser light ray and the second target laser light ray;

[0060] determine coordinates of the first intersection in the shield segment end image according to the second laser light ray and the first target laser light ray;

[0061] determine coordinates of the upper vertex in the shield segment end image according to the arc-shaped shield wall curve and the first target laser light ray;

[0062] determine the shield tail end gap according to the coordinates of the lower vertex, the coordinates of the first intersection, the coordinates of the upper vertex, and the actual distance from the linear laser to the arc-shaped shield wall of the shield segment;

[0063] In one embodiment, the second determining module is configured to:

[0064] determine a first pixel distance according to the coordinates of the first intersection and the coordinates of the lower vertex;

[0065] determine a second pixel distance according to the coordinates of the upper vertex and the coordinates of the lower vertex;

[0066] determine the shield tail end gap according to the first pixel distance, the second pixel distance, and the actual distance from the linear laser to the arc-shaped shield wall of the shield segment.

[0067] In one embodiment, the second determining module is configured to:

[0068] calculate a ratio of the first pixel distance and the second pixel distance;

[0069] calculate a product of the ratio and the actual distance from the linear laser to the arc-shaped shield wall of the shield segment to obtain the shield tail end gap.

[0070] In one embodiment, the mounting positions of the grating module laser, the linear laser, and the industrial camera on the partition plate satisfy the following conditions:

[0071] A circle is made with the mounting position of the grating module laser on the partition plate as the center, two intersection points of the circle and any arc-shaped shield wall of the shield segment are obtained, a perpendicular line of the connecting line of the two intersection points is made through the center of the circle, the mounting position of the linear laser on the partition plate is on the perpendicular line, and the mounting position of the industrial camera on the partition plate is not on a straight line passing through the mounting position of the grating module laser and the mounting position of the linear laser.

[0072] In one of the embodiments, the acquisition module is configured to:

[0073] An image of the end of the shield segment is acquired by the industrial camera in the front view, and the image of the end of the shield segment is preprocessed to obtain a standby end image;

[0074] The standby end image is converted to generate a gray end image;

[0075] The gray end image is filtered to obtain a filtered end image;

[0076] The filtered end image is binarized to obtain a black-and-white segment end image with only laser stripes;

[0077] The black-and-white segment end image is edge detected to obtain the segment end image.

[0078] In a third aspect of the embodiments of the present disclosure, an electronic device is provided, comprising:

[0079] a processor;

[0080] a memory for storing processor-executable instructions;

[0081] The processor is configured to execute the executable instructions in the memory to implement the shield tail end gap measurement method in any one of the first aspect.

[0082] The technical solutions provided by the embodiments of the present disclosure can include the following beneficial effects:

[0083] The current input parameters of the control variables in the plasma powder production system are obtained; the input parameters are input into the pre-established prediction control model corresponding to the powder production raw material, to obtain the target output parameters corresponding to the controlled variables, the prediction control model is trained according to the historical input parameters of the control variables, the historical output parameters corresponding to the controlled variables, the historical powder production state of the corresponding plasma powder production system, and the historical powder production state is feedback corrected, compared with the reference powder production state, and the performance index is rolled and optimized until the output parameters of the controlled variables meet the corresponding preset threshold value, and the corresponding preset threshold value of the controlled variables has a corresponding relationship with the powder production raw material and the power supply power; the prediction control model established through the online identification experiment is used to predict the output parameters corresponding to the controlled variables, so as to realize high-precision powder production control, which can not only reduce the fluctuation of the control index, improve the stability, anti-interference ability and control precision of the powder production system, but also improve the safety and economy of the high-frequency induction plasma powder production device. According to the target output parameters, the opening of the controlled variable corresponding to the regulating valve is controlled. The control precision of the plasma powder production system is improved. The influence of multivariable and strong coupling on the powder production system can be overcome.

[0084] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0085] The accompanying drawings, which are incorporated into the specification and constitute part of it, illustrate embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the present disclosure.

[0086] Figure 1 is a flow chart of a shield tail end gap measurement method according to an exemplary embodiment.

[0087] Figure 2 is a flow chart of a method for implementing S13 in FIG. Figure 1 is a flow chart of a method for implementing S14 in FIG.

[0088] Figure 3 is a flow chart of a method for implementing S15 in FIG. Figure 1 is a flow chart of a method for implementing S14 in FIG.

[0089] Figure 4 is a flow chart of a method for implementing S15 in FIG. Figure 1 is a flow chart of a method for implementing S15 in FIG.

[0090] Figure 5 is a schematic diagram of the mounting position of a grating module laser, a linear laser and an industrial camera according to an exemplary embodiment.

[0091] Figure 6is a schematic diagram of a shield tail end gap measurement according to an example embodiment.

[0092] Figure 7 is a block diagram of a shield tail end gap measurement device according to an example embodiment. Embodiments

[0093] The example embodiments will be described in detail herein with reference to the attached drawings. In the following description, like reference numerals refer to like elements, unless the context clearly dictates otherwise. The embodiments described in the following example embodiments are not meant to represent all embodiments consistent with the present disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0094] Figure 1 is a flowchart of a shield tail end gap measurement method according to an example embodiment, as shown in Figure 1 the method includes the following steps.

[0095] S11, projecting a plurality of first laser lines at the end of the shield segment and the shield tail end gap by a grating module laser, and projecting a second laser line perpendicular to the first laser lines by a linear laser.

[0096] wherein the grating module laser and the linear laser are both mounted on a bulkhead between two propulsion oil cylinders of the shield machine.

[0097] S12, acquiring a shield segment end image by an industrial camera in an orthoview, to obtain a segment end image, wherein the shield segment end image includes an end image of the shield segment, a laser image formed by the first laser lines and the second laser line at the end and the shield tail end gap.

[0098] S13, constructing an arc-shaped shield wall curve in the segment end image according to the second laser line and the laser lines in each of the first laser lines that are parallel to each other.

[0099] S14, determining an upper vertex and a lower vertex of the shield tail end gap in the segment end image according to the arc-shaped shield wall curve and the laser lines in each of the first laser lines that are not parallel after distortion.

[0100] It can be explained that the first laser line falling on the segment end is a plurality of equidistant parallel light lines, and since the grating module laser adopts a plurality of parallel light lines formed by focusing and then projecting through the grating piece, the light lines displayed in the lower part are not parallel light lines due to the existence of the folding angle, but a plurality of light lines with barrel-type distortion, that is, the light lines in the lower part of the shield tail end are not parallel, but the light lines in the upper part do not produce any distortion and are parallel.

[0101] S15, determining the shield tail end gap according to the second laser line, the upper vertex, the lower vertex, and the actual distance from the line laser to the arc-shaped shield wall of the shield segment.

[0102] The technical solution has strong anti-interference capability, especially when the lower edge of the segment is partially blocked by shield tail grease and sewage. By fitting the lower end points of the plurality of laser lines, part of the invalid points can be removed, and the calculation error in subsequent image processing can be reduced. By fitting the lower edge of the segment with the lower end points of the plurality of laser lines, the real intersection point of the middle laser line and the lower edge of the segment is obtained, so that a more accurate pixel value of the shield tail end gap is obtained, and the actual distance of the shield tail end gap is obtained by conversion, thereby effectively improving the measurement accuracy of the shield tail end gap. The partial edge of the segment can be effectively excluded due to the blocking of grease, sewage, and the like. The intersection point of the fitted lower edge of the segment and the middle laser line is the real intersection point of the lower edge of the segment and the middle laser line, so that the pixel value of the shield tail end gap obtained is more accurate, thereby improving the measurement accuracy of the shield tail end gap.

[0103] In one embodiment, referring to FIG. 13, Figure 2 In S13, the arc-shaped shield wall curve is constructed in the segment end image according to the second laser line and the laser lines in the mutually parallel parts of each first laser line, including:

[0104] S131, in the segment end image, linear fitting is performed according to the laser lines in the mutually parallel parts of each first laser line to obtain a first target laser line located in the middlemost position of each first laser line.

[0105] S132, determining the first intersection point of the first target laser line and the second laser line.

[0106] S133, in the segment end image, determining the lower end points of the mutually parallel parts of each first laser line.

[0107] S134, curve fitting is performed according to the first intersection point and each lower end point to obtain an arc-shaped shield wall curve.

[0108] In one embodiment, referring to FIG. 13, Figure 3In S14, the upper vertex and the lower vertex of the tail gap are determined according to the curved shield wall curve and the laser line after distortion in each of the first laser lines, in the pipe segment end image, including:

[0109] S141, the intersection of the first target laser light and the curved shield wall curve is determined as the upper vertex of the tail gap.

[0110] S142, the laser light in the first laser line after distortion and not parallel, which is in the middlemost position, is taken as the second target laser light.

[0111] S143, the extension line of the connection line between the first intersection and the upper vertex is drawn.

[0112] S144, the intersection of the extension line and the second target laser light is determined as the lower vertex of the tail gap.

[0113] In one embodiment, referring to Figure 4 In S15, the tail gap is determined according to the second laser line, the upper vertex, the lower vertex, and the actual distance from the linear laser to the curved shield wall of the pipe segment, including:

[0114] S151, the coordinates of the lower vertex in the pipe segment end image are determined according to the first target laser light and the second target laser light.

[0115] S152, the coordinates of the first intersection in the pipe segment end image are determined according to the second laser line and the first target laser light.

[0116] S153, the coordinates of the upper vertex of the curved shield wall curve and the first target laser light in the pipe segment end image are determined.

[0117] S154, the tail gap is determined according to the coordinates of the lower vertex, the coordinates of the first intersection, the coordinates of the upper vertex, and the actual distance from the linear laser to the curved shield wall of the pipe segment.

[0118] In one embodiment, in S154, the tail gap is determined according to the coordinates of the lower vertex, the coordinates of the first intersection, the coordinates of the upper vertex, and the actual distance from the linear laser to the curved shield wall of the pipe segment, including:

[0119] A first pixel distance is determined according to the coordinates of the first intersection and the coordinates of the lower vertex.

[0120] According to the coordinates of the upper vertex and the coordinates of the lower vertex, a second pixel distance is determined.

[0121] According to the first pixel distance, the second pixel distance, and an actual distance of the linear laser to the arc-shaped shield wall of the shield segment, a shield tail end gap is determined.

[0122] In one embodiment, the determination of the shield tail end gap according to the first pixel distance, the second pixel distance, and an actual distance of the linear laser to the arc-shaped shield wall of the shield segment comprises:

[0123] A ratio of the first pixel distance to the second pixel distance is calculated.

[0124] A product of the ratio and the actual distance of the linear laser to the arc-shaped shield wall of the shield segment is calculated to obtain the shield tail end gap.

[0125] In one embodiment, referring to Figure 5 The mounting positions of the grating module laser, the linear laser, and the industrial camera on the partition plate satisfy the following conditions:

[0126] A circle is drawn with the mounting position of the grating module laser 3 on the partition plate 1 as the center, two intersection points of the circle and any arc-shaped shield wall of the shield segment are obtained, a perpendicular line is drawn through the center of the circle and the connecting line of the two intersection points, the mounting position of the linear laser 4 on the partition plate 1 is on the perpendicular line, and the mounting position of the industrial camera 5 on the partition plate is not on the straight line passing through the mounting position of the grating module laser 3 and the mounting position of the linear laser 4.

[0127] The grating module laser 3 is mounted on the partition plate 1 between the two propulsion oil cylinders 2.

[0128] Any arc-shaped shield wall can be an arc-shaped outer shield wall of the shield segment in the upper part, or an arc-shaped inner shield wall of the shield segment in the lower part.

[0129] In one embodiment, the acquisition of the segment end image by the industrial camera in the front view comprises:

[0130] The segment end image is acquired by the industrial camera in the front view, and the segment end image is preprocessed to obtain a standby end image.

[0131] The standby end image is converted to generate a gray-scale end image.

[0132] The gray-scale end image is filtered to obtain a filtered end image.

[0133] The filter end image is binarized to obtain a black-and-white tube sheet end image with only laser stripe.

[0134] Edge detection is performed on the black-and-white tube sheet end image to obtain the tube sheet end image.

[0135] The present disclosure is exemplarily described below through an embodiment, referring to Figure 6 As shown, the first target laser light L0 is a straight line obtained by performing linear fitting on the mutually parallel portions of each of the first laser lines, and the endpoint of the lower end is detected and recorded as M. The straight lines fitted on the two sides are recorded as L11, L12, L13, L14, L21, L22, L23, and L24, respectively. The lower endpoints of L11 to L24 are recorded as P1, P2, P3, P4, Q1, Q2, Q3, and Q4, respectively. The straight line fitted on the transverse laser, i.e., the second laser line, is recorded as L2. For the first laser lines that are not parallel after distortion, only the middle laser is taken and recorded as the second target laser light L1.

[0136] Further, the extension line of the straight line L0 intersects the straight line L1 at a point A, i.e., the lower vertex A. The coordinates of the lower vertex A in the image can be obtained by solving the equations of the two straight lines L0 and L1. Similarly, the coordinates of the first intersection point N can be solved by solving the equations of the straight line L0 and the straight line L2.

[0137] Further, due to uncontrollable factors such as shielding of part of the laser lines by shield tail grease and uneven illumination, the endpoints P1, P2, P3, P4, M, Q1, Q2, Q3, and Q4 do not completely fall on the lower edge of the tube sheet, but are scattered near the lower edge of the tube sheet. If the shield tail grease is spilled in the gap between the middle laser lines and the shield tail end, the distance from the M point to the A point obtained by processing is no longer the accurate pixel distance of the shield tail end gap. By performing curve fitting on a series of endpoints P1, P2, P3, P4, M, Q1, Q2, Q3, and Q4, an arc-shaped shield wall curve is obtained, and the intersection M' of the first target laser light L0 and the arc-shaped shield wall curve is determined, which can be regarded as the most accurate point of the middle laser line falling on the upper edge of the tube sheet end gap, i.e., the upper vertex M' (not shown).

[0138] Further, the pixel distance from the N point to the A point in the image is calculated and recorded as s1, which is the first pixel distance of the linear laser to the inner wall of the shield tail. The pixel distance s2 from the M' point to the A point in the image is calculated, which is the second pixel distance of the shield tail end gap to be measured. The actual installation distance of the linear laser to the inner wall of the shield tail is H, and the actual distance d of the shield tail end gap is (s1 / s2)·H.

[0139] The present disclosure also provides a shield tail end gap measuring device, referring to Figure 7As shown, the tail-end gap measuring device 700 comprises:

[0140] The projection module 710 is configured to project a plurality of first laser lines on the end of the shield segment and the tail-end gap by a grating module laser, and project a second laser line perpendicular to the first laser lines by a linear laser, wherein the grating module laser and the linear laser are both mounted on a partition plate between two propulsion oil cylinders of the shield tunneling machine.

[0141] The acquisition module 720 is configured to acquire a front view of the shield segment end image by an industrial camera to obtain a segment end image, wherein the shield segment end image comprises an end image of the shield segment, a laser image formed by the first laser lines and the second laser line on the end and the tail-end gap.

[0142] The construction module 730 is configured to construct an arc-shaped shield wall curve according to the second laser line and the laser lines of the mutually parallel portions of each of the first laser lines in the segment end image.

[0143] The first determination module 740 is configured to determine an upper vertex and a lower vertex of the tail-end gap according to the arc-shaped shield wall curve and the laser lines of the non-parallel portions after distortion of each of the first laser lines in the segment end image.

[0144] The second determination module 750 is configured to determine the tail-end gap according to the second laser line, the upper vertex, the lower vertex, and an actual distance from the linear laser to the arc-shaped shield wall of the shield segment.

[0145] In one embodiment, the construction module 730 is configured to:

[0146] In the segment end image, perform linear fitting according to the laser lines of the mutually parallel portions of each of the first laser lines to obtain a first target laser line at a middlemost position of each of the first laser lines.

[0147] Determine a first intersection point of the first target laser line and the second laser line.

[0148] In the segment end image, determine lower endpoints of the mutually parallel portions of each of the first laser lines.

[0149] Perform curve fitting according to the first intersection point and each of the lower endpoints to obtain the arc-shaped shield wall curve.

[0150] In one embodiment, the first determination module 740 is configured to:

[0151] determining an upper vertex of the tail-end gap of the shield tunneling machine as an intersection point of the first target laser light and the arc-shaped shield wall curve;

[0152] determining a laser light in a middle position of the distorted non-parallel first laser lines as a second target laser light;

[0153] drawing an extension line of a line connecting the first intersection point and the upper vertex;

[0154] determining a lower vertex of the tail-end gap of the shield tunneling machine as an intersection point of the extension line and the second target laser light.

[0155] In one embodiment, the second determining module 750 is configured to:

[0156] determining coordinates of the lower vertex in the shield segment end image according to the first target laser light and the second target laser light;

[0157] determining coordinates of the first intersection point in the shield segment end image according to the second laser line and the first target laser light;

[0158] determining coordinates of the upper vertex of the arc-shaped shield wall curve and the first target laser light in the shield segment end image;

[0159] determining the tail-end gap of the shield tunneling machine according to the coordinates of the lower vertex, the coordinates of the first intersection point, the coordinates of the upper vertex, and an actual distance of the linear laser to the arc-shaped shield wall of the shield segment.

[0160] In one embodiment, the second determining module 750 is configured to:

[0161] determining a first pixel distance according to the coordinates of the first intersection point and the coordinates of the lower vertex;

[0162] determining a second pixel distance according to the coordinates of the upper vertex and the coordinates of the lower vertex;

[0163] determining the tail-end gap of the shield tunneling machine according to the first pixel distance, the second pixel distance, and an actual distance of the linear laser to the arc-shaped shield wall of the shield segment.

[0164] In one embodiment, the second determining module 750 is configured to:

[0165] calculating a ratio of the first pixel distance and the second pixel distance;

[0166] calculating a product of the ratio and an actual distance of the linear laser to the arc-shaped shield wall of the shield segment to obtain the tail-end gap of the shield tunneling machine.

[0167] In one embodiment, the mounting positions of the grating module laser, the linear laser and the industrial camera on the partition plate satisfy the following conditions:

[0168] A circle is drawn with the mounting position of the grating module laser on the partition plate as the center, two intersection points of the circle and any arc-shaped shield wall of the shield segment are obtained, a perpendicular line of the connecting line of the two intersection points is drawn through the center of the circle, the mounting position of the linear laser on the partition plate is on the perpendicular line, and the mounting position of the industrial camera on the partition plate is not on a straight line passing through the mounting position of the grating module laser and the mounting position of the linear laser.

[0169] In one embodiment, the acquisition module 720 is configured to:

[0170] An image of the end of the shield segment is acquired by the industrial camera in a front view, and the image of the end of the shield segment is preprocessed to obtain a standby end image;

[0171] The standby end image is converted to generate a gray end image;

[0172] The gray end image is filtered to obtain a filtered end image;

[0173] The filtered end image is binarized to obtain a black-and-white segment end image with only laser stripes;

[0174] The black-and-white segment end image is edge detected to obtain the segment end image.

[0175] As to the device in the above embodiments, the specific manner in which each module performs operations has been described in detail in the embodiments of the method, and will not be described in detail here.

[0176] In the embodiments of the present disclosure, an electronic device is also provided, which comprises:

[0177] a processor;

[0178] a memory for storing processor-executable instructions;

[0179] The processor is configured to execute the executable instructions in the memory to implement the shield tail end gap measurement method in any one of the preceding embodiments.

[0180] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. It is intended that the disclosure be construed as including any paterns, uses, or adaptations of the disclosure following in general the principles of the disclosure and including such modifications or adaptations as come within the scope of the disclosure. The specification and examples are to be construed as illustrative only and not as limiting the true scope and spirit of the disclosure, which is limited solely by the claims.

[0181] It is to be understood that the disclosure is not limited to the precise construction described above and shown in the attached drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the disclosure is limited only by the claims that follow.

Claims

1. A method of measuring a gap at a tail end of a shield, characterized by, The method comprises the following steps: a plurality of first laser lines are projected by a grating module laser on the end of a shield segment and a shield tail end gap, and a second laser line is projected by a linear laser perpendicular to the first laser lines, wherein the grating module laser and the linear laser are both installed on a partition plate between two propulsion oil cylinders of a shield machine; an end image of a shield segment is collected by an industrial camera in an orthoview to obtain a segment end image, wherein the segment end image comprises an end image of a shield segment, a laser image formed by the first laser lines and the second laser line at the end and the shield tail end gap; in the segment end image, an arc-shaped shield wall curve is constructed according to the second laser line and the laser lines in the mutually parallel parts of each first laser line; in the segment end image, the upper vertex and the lower vertex of the shield tail end gap are determined according to the arc-shaped shield wall curve and the laser lines in the distorted non-parallel parts of each first laser line; the shield tail end gap is determined according to the second laser line, the upper vertex, the lower vertex and the actual distance from the linear laser to the arc-shaped shield wall of the shield segment.

2. The method of claim 1, wherein, The method of constructing the arc-shaped shield wall curve in the segment end image according to the second laser line and the laser lines in the mutually parallel parts of each first laser line comprises the following steps: in the segment end image, a straight line fitting is performed on the laser lines in the mutually parallel parts of each first laser line to obtain a first target laser line at the most middle position of each first laser line; a first intersection point of the first target laser line and the second laser line is determined; in the segment end image, the lower endpoints of the mutually parallel parts of each first laser line are determined; a curve fitting is performed on the first intersection point and the lower endpoints to obtain an arc-shaped shield wall curve.

3. The method of claim 2, wherein, The method of determining the upper vertex and the lower vertex of the shield tail end gap in the segment end image according to the arc-shaped shield wall curve and the laser lines in the distorted non-parallel parts of each first laser line comprises the following steps: the intersection point of the first target laser line and the arc-shaped shield wall curve is determined as the upper vertex of the shield tail end gap; the laser line at the most middle position in the first laser line after distortion and non-parallel is taken as a second target laser line; an extension line of the line connecting the first intersection point and the upper vertex is drawn; the intersection point of the extension line and the second target laser line is determined as the lower vertex of the shield tail end gap.

4. The method of claim 3, wherein, The method of determining the shield tail end gap according to the second laser line, the upper vertex, the lower vertex and the actual distance from the linear laser to the arc-shaped shield wall of the shield segment comprises the following steps: the coordinates of the lower vertex in the segment end image are determined according to the first target laser line and the second target laser line; the coordinates of the first intersection point in the segment end image are determined according to the second laser line and the first target laser line; the coordinates of the upper vertex of the arc-shaped shield wall curve and the first target laser line in the segment end image are determined; the coordinates of the lower vertex in the segment end image are determined according to the first target laser line and the second target laser line; the coordinates of the first intersection point in the segment end image are determined according to the second laser line and the first target laser line; the coordinates of the upper vertex of the arc-shaped shield wall curve and the first target laser line in the segment end image are determined. According to the coordinates of the lower vertex, the coordinates of the first intersection point, the coordinates of the upper vertex, and the actual distance of the linear laser to the arc-shaped shield wall of the shield segment, the shield tail end gap is determined.

5. The method of claim 4, wherein, The determination of the shield tail end gap according to the coordinates of the lower vertex, the coordinates of the first intersection point, the coordinates of the upper vertex, and the actual distance of the linear laser to the arc-shaped shield wall of the shield segment comprises: According to the coordinates of the first intersection point and the coordinates of the lower vertex, a first pixel distance is determined; According to the coordinates of the upper vertex and the coordinates of the lower vertex, a second pixel distance is determined; According to the first pixel distance, the second pixel distance, and the actual distance of the linear laser to the arc-shaped shield wall of the shield segment, the shield tail end gap is determined.

6. The method of claim 5, wherein, The determination of the shield tail end gap according to the first pixel distance, the second pixel distance, and the actual distance of the linear laser to the arc-shaped shield wall of the shield segment comprises: The ratio of the first pixel distance to the second pixel distance is calculated; The product of the ratio and the actual distance of the linear laser to the arc-shaped shield wall of the shield segment is calculated to obtain the shield tail end gap.

7. The method of claim 1, wherein, The mounting positions of the grating module laser, the linear laser, and the industrial camera on the partition plate satisfy the following conditions: A circle is made with the mounting position of the grating module laser on the partition plate as the center, two intersection points of the circle and any arc-shaped shield wall of the shield segment are obtained, a vertical line is drawn through the center of the circle and the line connecting the two intersection points, the mounting position of the linear laser on the partition plate is on the vertical line, and the mounting position of the industrial camera on the partition plate is not on the straight line connecting the mounting positions of the grating module laser and the linear laser.

8. The method according to any one of claims 1 to 7, characterized in that, The method for acquiring the shield segment end image by the industrial camera comprises: The shield segment end image is acquired by the industrial camera in the front view, and the shield segment end image is preprocessed to obtain a standby end image; The standby end image is converted to generate a gray end image; The gray end image is filtered to obtain a filtered end image; The filtered end image is binarized to obtain a black-and-white shield segment end image with only laser stripes; The black-and-white shield segment end image is edge detected to obtain the shield segment end image.

9. A shield tail end gap measuring device characterized by, The method comprises: A projection module is configured to project a plurality of first laser lines on the end of the shield segment and the shield tail end gap by a grating module laser, and to project a second laser line perpendicular to the first laser lines by a linear laser, wherein the grating module laser and the linear laser are both mounted on a partition plate between two propulsion oil cylinders of a shield machine; An acquisition module is configured to acquire a shield segment end image by an industrial camera in the front view to obtain a shield segment end image, wherein the shield segment end image comprises an end image of the shield segment, a laser image formed by the first laser lines and the second laser lines on the end and the shield tail end gap. The constructing module is configured to construct an arc-shaped shield wall curve according to the second laser line and the mutually parallel portions of the first laser lines in the segment end image; The first determining module is configured to determine the upper vertex and the lower vertex of the tail end gap according to the arc-shaped shield wall curve and the laser lines of the non-parallel portions after distortion in the first laser lines in the segment end image; The second determining module is configured to determine the tail end gap according to the second laser line, the upper vertex, the lower vertex and the actual distance from the line laser to the arc-shaped shield wall of the shield segment.

10. An electronic device, comprising: Comprise: A processor; A memory for storing processor-executable instructions; Wherein the processor is configured to execute the executable instructions in the memory to implement the method of any one of claims 1-8.

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