Segment Roundness Measurement System for Shield Tunneling and Shield Machine

Abstract

The present invention relates to a shield segment roundness measurement system and a shield machine, comprising: a plurality of measurement modules installed around the cylinder base surface of the shield machine, wherein a plurality of types of optical elements are configured in the measurement modules, and the centers of the circles formed by the optical instruments of each type in the plurality of measurement modules coincide, and the center of the circle of each type of optical instrument is formed by the optical instruments of the same type in different measurement modules; a data collection gateway communicatively connected to the plurality of measurement modules; and a host computer system communicatively connected to the data collection gateway; wherein the measurement module is used to measure the splicing information at the splicing gap of the shield segment; and the host computer system is used to determine the roundness of the shield segment according to the splicing information measured by any measurement module. The above system can automatically measure the splicing information at the splicing gap of the shield segment during the installation of the shield segment, and then can determine the roundness of the shield segment according to the splicing information.

Description

Technical Field

[0001] The present disclosure relates to the technical field of tunnel construction inspection, and in particular, to a shield segment roundness measurement system and a shield machine. Background Art

[0002] During the shield construction process of a tunnel, the assembly quality of shield segments is an important factor affecting the tunnel quality. If the shield segments are misaligned, resulting in insufficient roundness, there may be gaps between the shield segments, thereby increasing the risk of tunnel water seepage.

[0003] In related scenarios, the offset and true roundness of segments are calculated by manually using a total station to measure one or two points of each segment. Manual measurement requires changing stations to measure the points of all segments in one ring, which cannot guarantee the accuracy of the data, and the convenience and measurement efficiency are relatively low, delaying the on-site construction progress. Summary of the Invention

[0004] The object of the present invention is to provide a shield segment roundness measurement system and a shield machine, aiming to solve the technical problems that in related scenarios, the splicing information at the splicing gap of shield segments is measured manually, with low convenience and measurement efficiency, and delaying the on-site construction progress.

[0005] To achieve the above object, in the first aspect of the embodiments of the present disclosure, a shield segment roundness measurement system is provided, which is applied to a shield machine. The system includes:

[0006] A plurality of measurement modules, which are installed around the cylinder base surface of the shield machine. A plurality of types of optical instruments are configured in the measurement modules. Among them, the centers of the circles formed by the optical instruments of each type in the plurality of measurement modules coincide. The center of the circle of each type of optical instrument is formed by the optical instruments of the same type in different measurement modules;

[0007] A data collection gateway that is communicatively connected to all the plurality of measurement modules; and,

[0008] A host computer system that is communicatively connected to the data collection gateway;

[0009] Wherein, the measurement module is used to measure the splicing information at the splicing gap of the shield segment;

[0010] The host computer system is used to determine the roundness of the shield segment according to the splicing information measured by any of the measurement modules.

[0011] In a preferred embodiment, the number of the measurement modules is determined according to the number of cylinders of the shield machine occupied by the K-piece segment when assembling different types of shield segments, and the number of the measurement modules is such that, in any splicing position, when splicing the K-piece segments of the type, at least two of the measurement modules can simultaneously collect the splicing information at the splicing gap between two shield segments.

[0012] In a preferred embodiment, the multiple types of optical instruments configured in the measurement module include cameras, laser range sensors, infrared light sources, and prisms.

[0013] In a preferred embodiment, the multiple types of optical instruments configured in the measurement module are sequentially installed in the order of cameras, infrared light sources, laser range sensors, and prisms;

[0014] Wherein, the cameras are installed around the bottom surface of the cylinder, and the central axes of the cameras, the infrared light sources, the laser range sensors, and the prisms in the measurement module are on the same straight line, and the central line of the cylinder formed by the straight lines corresponding to the multiple measurement modules coincides with the central axis of the shield machine.

[0015] In a preferred embodiment, the infrared light source is used to emit infrared light to the splicing gap of the cross-section of the shield segment;

[0016] The camera is used to collect the first image information of the profile of the shield segment at the splicing gap of the cross-section of the shield segment, and the second image information of the infrared light irradiated at the splicing gap of the cross-section;

[0017] The laser range sensor is used to determine the pose information of the present measurement module relative to the splicing gap of the cross-section;

[0018] The coordinates of the prism are used to determine the position conversion relationship of the present measurement module relative to the shield machine.

[0019] In a preferred embodiment, the coordinates of the prism are measured by a total station in the guiding system configured on the shield machine.

[0020] In a preferred embodiment, the infrared light source is a symmetric type of infrared light source.

[0021] In a preferred embodiment, the symmetric type includes at least one of a cross type and a plus type.

[0022] In a preferred embodiment, the multiple measurement modules are evenly distributed and installed on the bottom surface of the cylinder of the shield machine.

[0023] In a second aspect of the embodiments of the present disclosure, a shield machine is provided, including: the shield segment roundness measurement system described in any one of the first aspects. Beneficial effects

[0024] The present invention provides a shield segment roundness measurement system and a shield machine. Compared with the prior art, the following beneficial effects are achieved:

[0025] By installing multiple measurement modules on the cylinder base surface of the shield machine, multiple types of optical instruments are configured in the measurement modules. Among them, the centers of the circles formed by the optical instruments of each type in the multiple measurement modules coincide, and the center of the circle of each type of optical instrument is formed by the optical instruments of the same type in different measurement modules; a data collection gateway communicatively connected to the multiple measurement modules; a host computer system communicatively connected to the data collection gateway; wherein, the measurement module is used to measure the splicing information at the splicing gap of the shield segment; the host computer system is used to determine the roundness of the shield segment according to the splicing information measured by any measurement module. The above system can automatically measure the splicing information at the splicing gap of the shield segment during the installation of the shield segment, and then can determine the roundness of the shield segment according to the splicing information. It improves the convenience and accuracy during the splicing and installation of the shield segment, and improves the on-site construction progress.

[0026] Other features and advantages of the present disclosure will be described in detail in the subsequent specific implementation part. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification. Together with the following specific implementation manners, they are used to explain the present disclosure, but do not constitute a limitation to the present disclosure. In the drawings:

[0028] Figure 1 is a block diagram of the architecture of a shield segment roundness measurement system shown according to an embodiment of the specification.

[0029] Figure 2 is a schematic layout diagram of multiple optical instruments in a measurement module shown according to an embodiment of the specification.

[0030] Figure 3 is a schematic layout diagram of multiple measurement modules shown according to an embodiment of the specification. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] The following describes in detail the specific embodiments of the present disclosure in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining and understanding the present disclosure, and are not used to limit the present disclosure.

[0033] To achieve the above object, the present disclosure provides a shield segment roundness measurement system. Figure 1 It is a block diagram of the architecture of a shield segment roundness measurement system shown according to an embodiment. The shield segment roundness measurement system is applied to a shield machine. Referring to Figure 1 as shown, the shield segment roundness measurement system includes:

[0034] A plurality of measurement modules, the plurality of measurement modules are installed around the cylinder base surface of the shield machine, and a plurality of types of optical instruments are configured in the measurement modules. Among them, the centers of the circles formed by the optical instruments of each type in the plurality of measurement modules coincide, and the center of the circle of each type of optical instrument is formed by the optical instruments of the same type in different measurement modules;

[0035] In the embodiment of the present disclosure, the plurality of measurement modules are installed around the cylinder base surface of the shield machine, and the horizontal base on which the measurement modules are installed is parallel to the tangent line of a circle on the cylinder base surface and the measurement modules can be installed close to one of the cylinders of the shield machine. Among them, a circle on the cylinder base surface refers to a circle with the point on the central axis of the shield machine as the center and a preset value as the radius and parallel to the cylinder base surface.

[0036] A data collection gateway communicatively connected to all the plurality of measurement modules; and,

[0037] In the embodiment of the present disclosure, the plurality of measurement modules can all communicate with the data collection gateway through a bus. For example, the plurality of measurement modules can all communicate with the data collection gateway through a CAN bus.

[0038] An upper computer system communicatively connected to the data collection gateway;

[0039] In the embodiment of the present disclosure, the upper computer system can be the operation computer of the shield machine.

[0040] Among them, the measurement module is used to measure the splicing information at the splicing gap of the shield segment;

[0041] The upper computer system is used to determine the roundness of the shield segment according to the splicing information measured by any of the measurement modules.

[0042] Among them, the data collection gateway transmits the splicing information reported by the measurement module to the upper computer system. The upper computer system processes and stores the splicing information corresponding to multiple measurement modules, and displays the corresponding image information on the user interface, and determines the roundness of the shield segment according to the splicing information measured by any of the measurement modules.

[0043] In a preferred embodiment, the number of the measurement modules is determined according to the number of cylinders of the shield machine occupied by K shield segments when assembling different types of shield segments. The number of the measurement modules is such that in any splicing position, when splicing K shield segments of the type, at least two of the measurement modules can simultaneously collect the splicing information at the splicing gap of two shield segments.

[0044] It can be understood that usually multiple cylinders of the shield machine are required to push and splice a shield segment. Then, regardless of how the type and splicing position of the shield segment change, it is necessary to ensure that when splicing any number of shield segments simultaneously, at least two of the measurement modules can simultaneously collect the splicing information at the splicing gap of two adjacent spliced shield segments.

[0045] In a preferred embodiment, the multiple types of optical instruments configured in the measurement module include cameras, laser distance sensors, infrared light sources, and prisms.

[0046] In a preferred embodiment, the multiple types of optical instruments configured in the measurement module are sequentially installed in the order of camera, infrared light source, laser distance sensor, and prism;

[0047] Among them, as shown in Figure 2 the camera is installed around the bottom surface of the cylinder. The central axes of the camera, the infrared light source, the laser distance sensor, and the prism in the measurement module are on the same straight line, and the central line of the cylinder formed by the straight lines corresponding to multiple measurement modules coincides with the central axis of the shield machine.

[0048] In the embodiment of the present disclosure, the camera in the measurement module is at the lower part of the whole module and is installed on the bottom surface of the cylinder. The upper part of the camera is the infrared light source, that is, the infrared light source is installed on the camera. The upper part of the infrared light source is the laser distance sensor, that is, the laser distance sensor is installed on the infrared light source. The upper part of the laser distance sensor is the prism, that is, the prism is installed on the laser distance sensor.

[0049] Furthermore, the centers of the camera, the cross laser light source, the laser distance sensor, and the prism are all on the median line of the measurement module; the circles formed by connecting the centers of the cameras on multiple measurement modules, the circles formed by connecting the centers of the infrared light sources, the circles formed by connecting the centers of the laser distance sensors, and the circles formed by connecting the centers of the prisms are concentric circles with respect to the central axis of the shield machine.

[0050] Furthermore, during installation, calibrate the coordinates of the prism, calculate the conversion relationship of the prism relative to the shield machine using the total station of the guiding system on the shield machine, and at the same time make the axes of the system laser distance sensor and the infrared light source parallel to the axis of the shield machine, ensuring that the axes of each laser distance sensor and the infrared light source are parallel to the central axis of the shield machine or the shield shell.

[0051] In a preferred embodiment, the infrared light source is used to emit infrared light to the splicing gap of the cross-section of the shield segment;

[0052] The camera is used to collect the first image information of the shield segment contour at the splicing gap of the cross-section of the shield segment, and the second image information of the infrared light irradiated at the splicing gap of the cross-section;

[0053] The laser distance sensor is used to determine the pose information of this measurement module relative to the splicing gap of the cross-section;

[0054] The coordinates of the prism are used to determine the position conversion relationship of this measurement module relative to the shield machine.

[0055] In the embodiment of the present disclosure, during the propulsion of the shield machine, infrared light is emitted to the splicing gap of the cross-section of the shield segment through the infrared light source in real time; and at the same time, the first image information of the shield segment contour at the splicing gap of the cross-section of the shield segment and the second image information of the infrared light irradiated at the splicing gap of the cross-section are collected through the camera; wherein, the shield segment contour includes the external contour and the internal contour of the shield segment, the external contour refers to the shield segment contour on the side close to the tunnel, and the internal contour refers to the shield segment contour on the side far from the tunnel and close to the center of the tunnel space.

[0056] The laser distance sensor is used to determine the pose information of this measurement module relative to the splicing gap of the cross-section.

[0057] In a preferred embodiment, the coordinates of the prism are measured by the total station in the guiding system configured on the shield machine.

[0058] In a preferred embodiment, the infrared light source is a symmetric type of infrared light source.

[0059] In a preferred embodiment, the symmetric type includes at least one of the cross type and the plus type.

[0060] In a preferred embodiment, a plurality of the measuring modules are evenly distributed and installed around the cylinder base surface of the shield machine.

[0061] The above system is installed around the cylinder base surface of the shield machine through multiple measuring modules. The measuring modules are equipped with multiple types of optical instruments, wherein the centers of the circles formed by the optical instruments of each type in the multiple measuring modules coincide, and the center of each type of optical instrument is formed by the same type of optical instruments in different measuring modules; a data collection gateway that is communicatively connected to the multiple measuring modules; a host computer system that is communicatively connected to the data collection gateway; wherein the measuring module is used to measure the splicing information at the splicing gap of the shield segment; the host computer system is used to determine the roundness of the shield segment according to the splicing information measured by any measuring module. The above system can automatically measure the splicing information at the splicing gap of the shield segment when the shield segment is installed, and then determine the roundness of the shield segment according to the splicing information. The convenience and accuracy of the splicing and installation of the shield segment are improved, and the progress of on-site construction is improved.

[0062] The disclosed embodiments also provide a shield machine, including: a shield segment roundness measurement system as described in any one of the aforementioned embodiments.

[0063] The preferred embodiments of the present disclosure are described in detail above in conjunction with the accompanying drawings; however, the present disclosure is not limited to the specific details in the above embodiments; within the technical concept of the present disclosure, various changes, modifications, substitutions and variations may be made to these embodiments, and these changes, modifications, substitutions and variations all fall within the protection scope of the present disclosure.

[0064] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction, and they should also be regarded as the contents disclosed in this disclosure. In order to avoid unnecessary repetition, this disclosure will not further describe various possible combinations. The technical scope of this application is not limited to the contents in the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A measurement system for the roundness of shield segments, characterized in that, Applied to a shield machine, the system includes: A plurality of measurement modules, which are installed around the cylinder base surface of the shield machine. Each of the measurement modules is configured with multiple types of optical instruments. Among them, the centers of the circles formed by the optical instruments of each type in the plurality of measurement modules coincide. The center of the circle of each type of optical instrument is formed by the optical instruments of the same type in different measurement modules; A data collection gateway communicatively connected to the plurality of measurement modules; and, A host computer system communicatively connected to the data collection gateway; Among them, the measurement module is used to measure the splicing information at the splicing gap of the shield segment; The host computer system is used to determine the roundness of the shield segment according to the splicing information measured by any of the measurement modules; The multiple types of optical instruments configured in the measurement module include cameras, laser range sensors, infrared light sources, and prisms; The multiple types of optical instruments configured in the measurement module are sequentially installed in the order of cameras, infrared light sources, laser range sensors, and prisms; Among them, the measurement module is installed around the cylinder base surface. The central axes of the camera, the infrared light source, the laser range sensor, and the prism in the same measurement module are on the same straight line, and the central line of the cylinder formed by the corresponding straight lines of the multiple measurement modules coincides with the central axis of the shield machine; The infrared light source is used to emit infrared light to the splicing gap of the cross-section of the shield segment; The camera is used to collect the first image information of the contour of the shield segment at the splicing gap of the cross-section of the shield segment and the second image information of the infrared light irradiated at the splicing gap of the cross-section; The laser range sensor is used to determine the pose information of the measurement module relative to the splicing gap of the cross-section; The coordinates of the prism are used to determine the position conversion relationship of the measurement module relative to the shield machine.

2. The segment roundness measurement system for shield tunneling according to claim 1, characterized in that The number of the measurement modules is determined according to the number of cylinders of the shield machine occupied by K segments of shield segments of different types during the assembly of the shield machine. The number of the measurement modules enables at least two of the measurement modules to collect the splicing information at the splicing gap of two shield segments simultaneously in any splicing point position when the K segments of shield segments of the type are spliced.

3. The segment roundness measurement system according to claim 1, wherein The coordinates of the prism are measured by a total station in the guidance system configured on the shield machine.

4. The segment roundness measurement system according to claim 1, wherein The infrared light source is a symmetric type of infrared light source.

5. The segment roundness measurement system according to claim 4, characterized in that, The symmetric type includes at least one of a cross type and a plus type.

6. The segment roundness measurement system for shield tunneling according to any one of claims 1-5, characterized in that, The plurality of measurement modules are evenly distributed and installed around the cylinder base surface of the shield machine.

7. A shield machine, characterized in that, Including: The shield segment roundness measurement system according to any one of claims 1-6.

Images