Shield segment roundness measurement method, device and electronic equipment

Abstract

The present application relates to a kind of shield segment roundness measurement method, device and electronic equipment, comprising: for all adjacent shield segments in segment ring, determine corresponding multiple target measurement modules from multiple measurement modules, multiple target measurement modules are the measurement module that can simultaneously collect the joint gap at corresponding adjacent shield segment;Cross infrared light source of target measurement module is irradiated cross infrared light on the face of shield segment, and the profile image and cross infrared light image of adjacent shield segment are collected by camera of target measurement module;According to profile image and cross infrared light image, the shield segment profile of a ring shield segment is sequentially plotted in the preset area of system software interface, and segment ring profile image is obtained;According to the vertex coordinates of the inner diameter ring of a ring shield segment in segment ring profile image, fitting circle calculation is carried out, the position relationship of the vertex of inner diameter ring and fitting circle is compared, and the roundness of the ring shield segment is determined.

Description

[0001] Shield segment roundness measurement method, device and electronic equipment TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of tunnel construction detection, in particular to a shield segment roundness measurement method, device and electronic equipment. BACKGROUND

[0003] In the process of shield construction of a tunnel, the shield segment assembly quality is an important factor affecting the quality of the tunnel. If the roundness of the shield segment is insufficient, gaps may exist between the shield segments, thereby increasing the risk of water seepage in the tunnel.

[0004] In related scenarios, three-dimensional laser is used to scan the shield segment, so as to automatically measure the misalignment and ellipticity of the shield segment during and after the assembly of the shield segment. However, three-dimensional laser scanning has a scanning blind area, specifically, the lower 100° area of the three-dimensional scanner is a scanning blind area, so that the data of one ring of shield segments is missing, thereby resulting in inaccurate roundness of the shield segment. SUMMARY

[0005] The purpose of the present application is to provide a shield segment roundness measurement method, device and electronic equipment, which aims to solve the technical problem of low accuracy of determining the roundness of the shield segment due to the scanning blind area in three-dimensional laser scanning and the missing data of one ring of shield segments in related scenarios.

[0006] To achieve the above-mentioned purpose, the first aspect of the embodiments of the present disclosure provides a shield segment roundness measurement method applied to a shield machine, wherein a plurality of measurement modules are configured on the shield machine, the plurality of measurement modules are installed around the oil cylinder base surface of the shield machine, and the method comprises the following steps:

[0007] After the assembly of one ring of segment rings is completed, a plurality of target measurement modules corresponding to all adjacent shield segments in the segment ring are determined from the plurality of measurement modules, wherein the plurality of target measurement modules are measurement modules that can simultaneously collect the measurement data at the joint gaps of the adjacent shield segments;

[0008] For all adjacent shield segments, the cross infrared light source of the target measurement module irradiates cross infrared light on the front surface of the shield segment, and the camera of the target measurement module collects the contour image and the cross infrared light image of the adjacent shield segment;

[0009] According to the contour image and the cross infrared light image, the shield segment contour of one ring of shield segments is sequentially drawn in the preset area of the system software interface to obtain a segment ring contour image;

[0010] According to the vertex coordinates of the inner diameter ring of the shield segment of the segment ring contour image, a fitting circle calculation is performed, and by comparing the position relationship between the vertex of the inner diameter ring and the fitting circle, the roundness of the segment ring of the shield segment is determined.

[0011] In a preferred embodiment, according to the contour image and the cross infrared light image, a shield segment contour of a segment ring is sequentially drawn in a preset area of a system software interface to obtain a segment ring contour image, including:

[0012] For all the adjacent shield segments, according to the cross infrared light image, corresponding cross infrared center point coordinates irradiated on the faces of two shield segments in the adjacent shield segments are determined;

[0013] For all the adjacent shield segments, according to the contour image, contour coordinates of two shield segments in the adjacent shield segments are determined, the contour coordinates including the coordinates of the vertex of the shield segment and the coordinates of the inner and outer diameter rings;

[0014] For any shield segment, according to the contour coordinates and the cross infrared center point coordinates of the shield segment, a reference shield segment contour is drawn in a preset area of a system software interface;

[0015] According to the system coordinate system of the system software interface and the construction coordinate system in which the shield machine is located, a conversion relationship between the construction coordinate system and the system coordinate system is determined;

[0016] Based on the reference shield segment contour, according to the conversion relationship, the corresponding cross infrared center point coordinates and the contour coordinates of the adjacent shield segments, shield segment contours of the remaining shield segments are sequentially drawn in the preset area to obtain a segment ring contour image.

[0017] In a preferred embodiment, for any shield segment, according to the contour coordinates and the cross infrared center point coordinates of the shield segment, a reference shield segment contour is drawn in a preset area of a system software interface, including:

[0018] According to the actual segment thickness of the shield segment and the preset drawing segment thickness, a segment thickness ratio is determined;

[0019] The angle relationship of the installation coordinates of the corresponding target measurement module relative to the center coordinate of the oil cylinder base surface of the shield machine is determined;

[0020] According to the angle relationship, the center coordinate of the preset area of the system software interface, and the cross infrared center point coordinate of the shield segment, the cross infrared center point of the shield segment is drawn in the preset area of the system software interface, wherein the angle of the cross infrared center point relative to the center of the preset area is the same as the angle of the installation coordinate of the target measurement module relative to the cylinder base surface center coordinate.

[0021] According to the segment thickness ratio, the contour coordinate of the shield segment, and the block information of the shield segment, a reference shield segment contour is drawn in the preset area of the system software interface based on the cross infrared center point.

[0022] In a preferred embodiment, according to the conversion relationship, the cross infrared center point coordinate and the contour coordinate of the adjacent shield segment, the shield segment contours of the remaining shield segments are drawn in the preset area based on the reference shield segment contour, and a segment ring contour image is obtained, including:

[0023] According to the conversion relationship, the cross infrared center point coordinate and the contour coordinate of the adjacent shield segment, the cross infrared center point and the two vertices of the shield segment are drawn in the preset area based on the reference shield segment contour.

[0024] According to the block information and the contour coordinate, the corresponding inner diameter ring and outer diameter ring are drawn in the preset area.

[0025] The vertices on the inner diameter ring and the vertices on the outer diameter ring are connected to draw the shield segment contour of the shield segment.

[0026] The shield segment contour obtained each time is taken as the reference shield segment contour, and the shield segment contours of the remaining shield segments are drawn to obtain a segment ring contour image.

[0027] In a preferred embodiment, the block information includes the segment size, the assembly point, and the block type of the shield segment, wherein the block type is one of a standard block, an adjacent block, and a top sealing block.

[0028] In a preferred embodiment, for all the adjacent shield segments, the corresponding cross infrared center point coordinates irradiated on the faces of two shield segments in the adjacent shield segments are determined according to the cross infrared light image, including:

[0029] For all the adjacent shield segments, the corresponding cross infrared center point coordinates irradiated on the faces of two shield segments in the adjacent shield segments are determined according to the construction coordinate corresponding to the target measurement module and the cross infrared light image.

[0030] In a second aspect, the present disclosure provides a shield segment roundness measuring device applied to a shield machine, wherein the shield machine is provided with a plurality of measuring modules installed around the oil cylinder base surface of the shield machine, and the device comprises:

[0031] A first determining module is configured to determine, after a ring of segments is spliced, a plurality of target measuring modules corresponding to all adjacent shield segments in the ring of segments from the plurality of measuring modules, wherein the plurality of target measuring modules are measuring modules that can simultaneously collect the measurement of the joint gap of the adjacent shield segments;

[0032] A control module is configured to, for all the adjacent shield segments, irradiate cross infrared light on the front surface of the shield segment through the cross infrared light source of the target measuring module, and collect the profile image and the cross infrared light image of the adjacent shield segment through the camera of the target measuring module;

[0033] A drawing module is configured to draw the shield segment profile of a ring of shield segments in the preset area of the system software interface according to the profile image and the cross infrared light image, to obtain a ring profile image.

[0034] A second determining module is configured to perform fitting circle calculation according to the vertex coordinates of the inner diameter ring of the shield segments in the ring profile image, and determine the roundness of the ring of shield segments by comparing the position relationship between the vertex of the inner diameter ring and the fitting circle.

[0035] In a preferred embodiment, the drawing module is configured to:

[0036] For all the adjacent shield segments, determine the corresponding cross infrared center point coordinates irradiated on the front surface of two shield segments in the adjacent shield segments according to the cross infrared light image;

[0037] For all the adjacent shield segments, determine the profile coordinates of two shield segments in the adjacent shield segments according to the profile image, wherein the profile coordinates include the coordinates of the vertex of the shield segment and the coordinates of the inner and outer diameter rings;

[0038] For any shield segment, draw the reference shield segment profile in the preset area of the system software interface according to the profile coordinates of the shield segment and the cross infrared center point coordinates;

[0039] Determine the conversion relationship between the construction coordinate system in which the shield machine is located and the system coordinate system of the system software interface;

[0040] According to the conversion relationship, the cross infrared center point coordinates corresponding to the adjacent shield segment, and the profile coordinates, a profile of a remaining shield segment is drawn in the preset area based on the reference shield segment profile, and a segment ring profile image is obtained.

[0041] In a preferred embodiment, the drawing module is configured to:

[0042] According to the actual segment thickness of the shield segment and a preset drawing segment thickness, a segment thickness ratio is determined.

[0043] According to the angle relationship, the center coordinates of the preset area of the system software interface, and the cross infrared center point coordinates of the shield segment, a cross infrared center point of the shield segment is drawn in the preset area of the system software interface, wherein the angle of the cross infrared center point relative to the center of the preset area is the same as the angle of the installation coordinates of the target measurement module relative to the cylinder base surface center coordinates.

[0044] According to the angle relationship, the center coordinates of the preset area of the system software interface, and the cross infrared center point coordinates of the shield segment, a cross infrared center point of the shield segment is drawn in the preset area of the system software interface, wherein the angle of the cross infrared center point relative to the center of the preset area is the same as the angle of the installation coordinates of the target measurement module relative to the cylinder base surface center coordinates.

[0045] According to the segment thickness ratio, the profile coordinates of the shield segment, and the block information of the shield segment, a reference shield segment profile is drawn in the preset area of the system software interface based on the cross infrared center point.

[0046] In a preferred embodiment, the drawing module is configured to:

[0047] According to the conversion relationship, the cross infrared center point coordinates corresponding to the adjacent shield segment, and the profile coordinates, a profile of a remaining shield segment is drawn in the preset area based on the reference shield segment profile, and a segment ring profile image is obtained.

[0048] According to the block information and the profile coordinates, a corresponding inner diameter ring and an outer diameter ring are drawn in the preset area.

[0049] The vertices on the inner diameter ring and the vertices on the outer diameter ring are connected to draw a shield segment profile of the shield segment.

[0050] The shield segment profile obtained each time is taken as a reference shield segment profile, and a shield segment profile of a remaining shield segment is drawn to obtain a segment ring profile image.

[0051] In a preferred embodiment, the block information includes a segment size, a splicing point, and a block type of the shield segment, and the block type is one of a standard block, an adjacent block, and a top sealing block.

[0052] In a preferred embodiment, the drawing module is configured to:

[0053] For all the adjacent shield segments, the corresponding cross infrared center point coordinates irradiated on the faces of two shield segments in the adjacent shield segments are determined according to the construction coordinates of the corresponding target measurement module and the cross infrared light image.

[0054] In a third aspect, the present disclosure provides an electronic device, comprising:

[0055] a memory having a computer program stored thereon;

[0056] a processor configured to execute the computer program in the memory to implement the shield segment roundness measurement method of any one of the first aspect.

[0057] Advantages:

[0058] The present disclosure provides a shield segment roundness measurement method, device and electronic device. Compared with the prior art, the present disclosure has the following advantages:

[0059] For all the adjacent shield segments in the segment ring, a plurality of target measurement modules corresponding to the adjacent shield segments can be determined from a plurality of measurement modules, so that each joint gap has a corresponding target measurement module for cross infrared irradiation and contour image acquisition, thereby avoiding the existence of scanning or acquisition blind area, preventing data loss, and improving the accuracy of determining the roundness of the shield segment. Moreover, for all the adjacent shield segments, the cross infrared light source of the target measurement module irradiates cross infrared light on the face of the shield segment, and the camera of the target measurement module acquires the contour image and the cross infrared light image of the adjacent shield segment; according to the contour image and the cross infrared light image, the shield segment contour of a ring shield segment is sequentially drawn in a preset area of a system software interface to obtain a segment ring contour image; according to the vertex coordinates of the inner diameter ring of the shield segment in the segment ring contour image, a fitting circle calculation is performed, and by comparing the position relationship between the vertex of the inner diameter ring and the fitting circle, the roundness is accurately determined.

[0060] Other features and advantages of the present disclosure will be described in detail in the following detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0061] The accompanying drawings are included to provide a further understanding of the present disclosure, and constitute a part of the specification, and are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation of the present disclosure. In the drawings:

[0062] Figure 1is a flow chart of a shield segment roundness measurement method according to an embodiment of the specification.

[0063] Figure 2 is a flow chart of a shield segment roundness measurement method according to an embodiment of the specification. Figure 1 is a flow chart of step S13 in the method.

[0064] Figure 3 is a flow chart of step S133 in the method. Figure 2 is a flow chart of step S133 in the method.

[0065] Figure 4 is a flow chart of step S135 in the method. Figure 2 is a flow chart of step S135 in the method.

[0066] Figure 5 is a block diagram of a shield segment roundness measurement device according to an embodiment of the specification. DETAILED DESCRIPTION

[0067] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0068] The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0069] In order to achieve the above-mentioned purpose, the present disclosure provides a shield segment roundness measurement method, Figure 1 is a flow chart of a shield segment roundness measurement method according to an embodiment. The shield segment roundness measurement method is applied to a shield machine, and a plurality of measurement modules are configured on the shield machine. The plurality of measurement modules are installed around the oil cylinder base surface of the shield machine, as shown in Figure 1 The shield segment roundness measurement method comprises the following steps.

[0070] In step S11, after a ring segment ring is spliced, a plurality of target measurement modules corresponding to the adjacent segments in the segment ring are determined from the plurality of measurement modules, wherein the plurality of target measurement modules are measurement modules that can simultaneously collect the splicing gap of the adjacent segments.

[0071] It can be explained that the ring pipe piece ring refers to the installation of the standard block, the adjacent block and the capping block of the ring shield pipe piece. Each two adjacent shield pipe pieces can determine a corresponding target measurement module for simultaneously collecting the splicing information at the splicing gap of the two adjacent shield pipe pieces.

[0072] Each measurement module is configured with multiple types of optical instruments, wherein the centers of the circles formed by the optical instruments of each type in the multiple measurement modules coincide, and the center of each type of optical instrument is formed by the optical instruments of the same type in different measurement modules.

[0073] The measurement module is used to measure the splicing information at the splicing gap of the shield pipe piece.

[0074] The number of measurement modules is determined according to the number of oil cylinders occupied by the capping block shield pipe piece when the shield machine assembles different types of shield pipe pieces. The number of measurement modules ensures that at least two measurement modules can collect the splicing information at the splicing gap of two shield pipe pieces when the capping block shield pipe piece of the type is spliced at any splicing point.

[0075] In step S12, for all adjacent shield pipe pieces, the cross infrared light source of the target measurement module irradiates cross infrared light on the front of the shield pipe piece, and the camera of the target measurement module collects the contour image and the cross infrared light image of the adjacent shield pipe piece.

[0076] In the embodiment of the present disclosure, the same measurement module can be the target measurement module of different adjacent shield pipe pieces, that is, the cross infrared light source in the same measurement module can emit infrared light to different splicing gaps, and the camera on the measurement module can collect the contour image and the cross infrared light image of the shield pipe piece at different splicing gaps.

[0077] In the embodiment of the present disclosure, the front refers to the end face of the shield tunnel face looking at the formed tunnel. The contour image includes an inner diameter ring image, an outer diameter ring image and an image of the side connecting the inner diameter ring and the outer diameter ring. The inner diameter ring can be understood as an inner arc, and the outer diameter ring can be understood as an outer arc.

[0078] In step S13, according to the contour image and the cross infrared light image, the shield pipe piece contour of the ring shield pipe piece is sequentially drawn in the preset area of the system software interface to obtain a pipe piece ring contour image.

[0079] It can be understood that a shield segment is first selected as a reference to start drawing, and then the contour of an adjacent shield segment is drawn according to the drawn shield segment contour, and so on, and the contours of the shield segments of a ring of shield segments are sequentially drawn.

[0080] In step S14, according to the vertex coordinates of the inner diameter ring of the shield segment in the segment ring contour image, a fitting circle calculation is performed, and the roundness of the ring of shield segments is determined by comparing the position relationship between the vertex of the inner diameter ring and the fitting circle.

[0081] In the embodiments of the present disclosure, according to the vertex coordinates of the inner diameter ring of the shield segment in the segment ring contour image, a fitting circle calculation is performed, and the position relationship between the vertex of the inner diameter ring and the fitting circle is the roundness of the ring of shield segments.

[0082] The above technical solution can determine a plurality of target measurement modules corresponding to the adjacent shield segments from a plurality of measurement modules for all adjacent shield segments in the segment ring, so that there is a corresponding target measurement module for each splicing gap to perform cross infrared irradiation and contour image acquisition, thereby avoiding the existence of a scanning or acquisition blind area, preventing data loss, and improving the accuracy of determining the roundness of the shield segment. Moreover, for all the adjacent shield segments, the cross infrared light source of the target measurement module irradiates cross infrared light on the face of the shield segment, and the camera of the target measurement module acquires the contour image and the cross infrared light image of the adjacent shield segment; according to the contour image and the cross infrared light image, the shield segment contour of a ring of shield segments is sequentially drawn in a preset area of a system software interface, and a segment ring contour image is obtained; according to the vertex coordinates of the inner diameter ring of the shield segment in the segment ring contour image, a fitting circle calculation is performed, and the roundness is accurately determined by comparing the position relationship between the vertex of the inner diameter ring and the fitting circle.

[0083] In a preferred embodiment, referring to Figure 2 As shown in step S13, the shield segment contour of a ring of shield segments is sequentially drawn in a preset area of a system software interface according to the contour image and the cross infrared light image, and a segment ring contour image is obtained, including:

[0084] In step S131, for all the adjacent shield segments, the corresponding cross infrared center point coordinates irradiated on the faces of two shield segments in the adjacent shield segments are determined according to the cross infrared light image.

[0085] In the embodiment of the present disclosure, the cross infrared light image can be subjected to image recognition to recognize the cross infrared light in the cross infrared light image, and the corresponding cross infrared center point coordinates irradiated on the faces of two adjacent shield segments can be determined according to the construction coordinates of the prism in the target measurement module and the distance measured by the laser ranging sensor in the target measurement module.

[0086] In step S132, the contour coordinates of two adjacent shield segments are determined according to the contour image, including the coordinates of the shield segment vertex and the inner and outer diameter ring coordinates.

[0087] Similarly, the contour image can be subjected to image recognition to recognize the contour of two shield segments, and the coordinates of the shield segment vertex and the inner and outer diameter ring coordinates can be determined according to the construction coordinates of the prism in the target measurement module and the distance measured by the laser ranging sensor in the target measurement module.

[0088] In step S133, the reference shield segment contour is drawn in the preset area of the system software interface according to the contour coordinates of the shield segment and the cross infrared center point coordinates.

[0089] In the embodiment of the present disclosure, the contour of the shield segment can be scaled, and the reference shield segment contour is drawn in the square preset area of the system software interface on the basis that the ratio of the circular arc edge of the reference shield segment to the cross infrared center point coordinates in the drawing is equal to the ratio of the center of the cross infrared light on the face to the actual contour edge of the shield segment. In this way, the relative position of the center of the shield segment obtained by fitting can not change, and only the scale can change.

[0090] In step S134, the conversion relationship between the construction coordinate system and the system coordinate system is determined according to the system coordinate system of the system software interface and the construction coordinate system in which the shield machine is located.

[0091] In step S135, the shield segment contours of the remaining shield segments are drawn in the preset area according to the conversion relationship, the contour coordinates and the cross infrared center point coordinates corresponding to the adjacent shield segments based on the reference shield segment contour, and the segment ring contour image is obtained.

[0092] In a preferred embodiment, referring to FIG. 1, Figure 3 In step S133, the reference shield segment contour is drawn in the preset area of the system software interface according to the contour coordinates of the shield segment and the cross infrared center point coordinates.

[0093] In step S1331, a segment thickness ratio is determined according to the actual segment thickness of the shield segment and the preset drawing segment thickness.

[0094] In this step, the ratio of the actual segment thickness of the shield segment to the preset drawing segment thickness is taken as the segment thickness ratio.

[0095] In step S1332, an angle relationship of the installation coordinates of the corresponding target measurement module relative to the cylinder base surface center coordinates of the shield machine is determined.

[0096] In this step, the angle relationship not only represents the orientation of the installation coordinates of the target measurement module relative to the cylinder base surface center coordinates of the shield machine, but also calculates the distance of the installation coordinates of the target measurement module relative to the cylinder base surface center coordinates of the shield machine.

[0097] In step S1333, the cross infrared center point of the shield segment is drawn in the preset area of the system software interface according to the angle relationship, the center coordinates of the preset area of the system software interface, and the cross infrared center point coordinates of the shield segment.

[0098] In this step, the angle of the cross infrared center point relative to the center of the preset area is the same as the angle of the installation coordinates of the target measurement module relative to the cylinder base surface center coordinates.

[0099] In step S1334, based on the cross infrared center point, the reference shield segment contour is drawn in the preset area of the system software interface according to the segment thickness ratio, the contour coordinates of the shield segment, and the block information of the shield segment.

[0100] In a preferred embodiment, referring to Figure 4 As shown in step S135, the shield segment contours of the remaining shield segments are sequentially drawn in the preset area according to the conversion relationship, the cross infrared center point coordinates and contour coordinates of the adjacent shield segments based on the reference shield segment contour, to obtain a segment ring contour image, including:

[0101] In step S1351, the corresponding cross infrared center point and the two vertices of the shield segment are drawn in the preset area according to the conversion relationship, the cross infrared center point coordinates and contour coordinates of the adjacent shield segments based on the reference shield segment contour.

[0102] It can be understood that each shield segment has four vertices and two circular arcs, and based on the reference shield segment contour, the two vertices of the adjacent shield segment at the splicing gap can be drawn at the two vertices of the two wide edges of the reference shield segment.

[0103] In step S1352, according to the block information and the contour coordinates, corresponding inner diameter rings and outer diameter rings are drawn in the preset area;

[0104] In this step, according to the block information and the contour coordinates of the shield segment, the inner diameter rings and the outer diameter rings corresponding to the vertex coordinates of the adjacent shield segments at the joint gap are drawn in the preset area. It can be understood that the block information can determine the arc length of the circular arc of the shield segment, and then the coordinates of the other two vertices can be determined.

[0105] In step S1353, the vertices on the inner diameter ring are connected with the vertices on the outer diameter ring to draw the shield segment contour of the shield segment.

[0106] In the above step, the four vertex coordinates and the inner and outer diameter arcs are connected to obtain the shield segment contour of a shield segment.

[0107] In step S1354, the shield segment contour obtained by each drawing is taken as a reference shield segment contour, and the shield segment contours of the remaining shield segments are drawn to obtain a segment ring contour image.

[0108] Similarly, the remaining shield segments are sequentially drawn to obtain a segment ring contour image.

[0109] In a preferred embodiment, the block information includes the segment size, the assembly point, and the block type of the shield segment, wherein the block type is one of a standard block, an adjacent block, and a top block.

[0110] In a preferred embodiment, in step S131, for all the adjacent shield segments, the corresponding cross infrared center point coordinates irradiated on the faces of two shield segments among the adjacent shield segments are determined according to the cross infrared light image, including:

[0111] For all the adjacent shield segments, the corresponding cross infrared center point coordinates irradiated on the faces of two shield segments among the adjacent shield segments are determined according to the construction coordinates of the target measurement module and the cross infrared light image.

[0112] The technical solutions of the present disclosure are exemplarily described below through an embodiment. First, a square area is preset on a system software interface, and the area mainly displays and draws the three-dimensional contour of the ring segment assembly. The three-dimensional contour displayed on the system software interface is mainly the contour of the segment contact oil cylinder shoe surface. The actual segment thickness and the drawing segment thickness in the square area of the system software are set in the system, and the ratio ε of the actual segment thickness to the corresponding drawing segment thickness in the square area of the system software is calculated PThe thickness ratio of the tunnel segment is obtained; based on the installation coordinates of the corresponding target measurement module and the image acquired by the target measurement module, the Ath segment is identified. i The center point coordinates of the cross infrared laser of the block shield segment are A′ i Based on the angular relationship between the installation coordinates of the target measurement module and the center coordinates of the cylinder base surface of the tunnel boring machine, as well as the center coordinates of the preset area and the coordinates of the cross infrared center point of the tunnel segment, the cross infrared center point is drawn in a square area on the system software. The angle relationship between the drawn position and the center of the square area is consistent with the angle between the installation coordinates of the target measurement module and the center coordinates of the cylinder base surface.

[0113] Furthermore, based on the identified A... i Coordinates of the first vertex of the shield tunnel segment Second vertex coordinates The coordinates of the inner and outer arcs, combined with the segment thickness ratio ε P The segment type, segment size, and segment capping block assembly points are drawn in a square area on the system software as A. i The three-dimensional outline of the tunnel segment.

[0114] Furthermore, the transformation relationship between the two coordinate systems is calculated based on the coordinate system used in the square area of ​​the system software and the actual construction coordinate system. Calculate A i adjacent segment A i+1 On the facing surface of the tube segment, the cross-shaped infrared laser center A′ is formed by the cross-shaped infrared light source of the target measurement module. i+1 Construction coordinates, coordinates of the first vertex at the segment connection Second vertex coordinates The coordinates of the inner and outer arcs are determined according to the transformation relationship. Draw within a square area on the system software. and Then, based on the segment type, segment size, and segment assembly location, A is drawn within a square area on the system software. i+1 The outline of the entire tunnel segment.

[0115] Similarly, calculate A i+2 Construction coordinates A′ of the cross infrared laser center on the segment i+2 And the construction coordinates of other locations of the segment outline within the image area, based on the transformation relationship. Draw the camera area within a square area on the system software. Using the coordinates of other elements within the image area, and combining the known segment type, size, and assembly points from the segment selection system, plot A within a square area on the system software.i+2 The outline of the entire tunnel segment; based on area A within the square region on the system software. i Segment and A i+1 The deviation at the connection of the segments is used to calculate the longitudinal misalignment between the two segments;

[0116] And so on, draw A i+3 A i+4 …A i+n Segment outline; based on the placement of the target measurement module, another target measurement module acquires A. i+n and A i+n+1 The gap at the segment connection; calculate A i+n and A i+n+1 The coordinates of the vertices of the two pipe segments are G′ i+n S′ i+n 、J′ i+n+1 and I′ i+n+1 According to the transformation relationship Draw a square area on the system software and Coordinates, and plotting the new A i+n Segment outline, using newly drawn A i+n The data verification is based on A calculated from the previous gap. i+n The outline data of the tunnel segments; if the data are basically consistent, A i+n+1 The tunnel lining segments will be and Draw the tunnel segment outline using isotropic coordinates, and draw A following the steps described above. i+n+2 Continue drawing the segments until the outline of the ring segment is completed.

[0117] Finally, based on the vertex coordinates of the inner diameter ring of one of the shield tunnel segments in the segment ring contour image, a fitting circle is calculated. By comparing the positional relationship between the vertex of the inner diameter ring and the fitting circle, the positional relationship between the vertex of the inner diameter ring and the fitting circle is taken as the roundness of the shield tunnel segment.

[0118] Based on the same concept, this disclosure also provides a shield tunnel segment roundness measuring device, applied to a shield machine. The shield machine is equipped with multiple measuring modules, which are installed around the base of the shield machine's hydraulic cylinders. (See reference...) Figure 5 As shown, the device 500 includes:

[0119] The first determining module 510 is configured to, after the segment ring is spliced, determine multiple target measuring modules corresponding to the adjacent shield segments from multiple measuring modules for all adjacent shield segments in the segment ring. The multiple target measuring modules are measuring modules that can simultaneously collect measurements at the splicing gaps of the adjacent shield segments.

[0120] The control module 520 is configured to, for all the adjacent shield segments, irradiate cross infrared light on the front surface of the shield segments by the cross infrared light source of the target measurement module, and collect profile images and cross infrared light images of the adjacent shield segments by the camera of the target measurement module.

[0121] The drawing module 530 is configured to draw shield segment profiles of a ring of shield segments in the preset area of the system software interface according to the profile images and the cross infrared light images, to obtain a segment ring profile image.

[0122] The second determination module 540 is configured to perform fitting circle calculation according to the vertex coordinates of the inner diameter ring of the shield segments in the segment ring profile image, and determine the roundness of the ring of shield segments by comparing the position relationship between the vertex of the inner diameter ring and the fitting circle.

[0123] In a preferred embodiment, the drawing module 530 is configured to:

[0124] For all the adjacent shield segments, determine corresponding cross infrared center point coordinates irradiated on the front surfaces of two shield segments in the adjacent shield segments according to the cross infrared light images.

[0125] For all the adjacent shield segments, determine profile coordinates of two shield segments in the adjacent shield segments according to the profile images, the profile coordinates including the coordinates of the vertices of the shield segments and the coordinates of the inner and outer diameter rings.

[0126] For any shield segment, draw a reference shield segment profile in the preset area of the system software interface according to the profile coordinates and the cross infrared center point coordinates of the shield segment.

[0127] Determine the conversion relationship between the construction coordinate system in which the shield machine is located and the system coordinate system of the system software interface.

[0128] Based on the reference shield segment profile, the conversion relationship, the corresponding cross infrared center point coordinates and the profile coordinates of the adjacent shield segments, draw shield segment profiles of the remaining shield segments in the preset area to obtain a segment ring profile image.

[0129] In a preferred embodiment, the drawing module 530 is configured to:

[0130] Determine a segment thickness ratio according to the actual segment thickness of the shield segment and a preset drawing segment thickness.

[0131] determine an angle relationship between the installation coordinate of the target measurement module and a center coordinate of a cylinder base surface of the shield tunneling machine;

[0132] draw the cross infrared center point of the shield segment in a preset area of the system software interface according to the angle relationship, a center coordinate of the preset area of the system software interface, and the cross infrared center point coordinate of the shield segment, wherein an angle between the cross infrared center point and the center of the preset area is the same as the angle between the installation coordinate of the target measurement module and the center coordinate of the cylinder base surface;

[0133] draw a reference shield segment contour in the preset area of the system software interface according to the segment thickness ratio, the contour coordinate of the shield segment, and the block information of the shield segment based on the cross infrared center point.

[0134] In a preferred embodiment, the drawing module 530 is configured to:

[0135] draw the cross infrared center point and two vertices of the shield segment in the preset area according to the conversion relationship, the cross infrared center point coordinate, and the contour coordinate of the adjacent shield segment based on the reference shield segment contour;

[0136] draw an inner diameter ring and an outer diameter ring in the preset area according to the block information and the contour coordinate;

[0137] connect the vertices on the inner diameter ring and the vertices on the outer diameter ring to draw the shield segment contour of the shield segment;

[0138] draw the shield segment contours of the remaining shield segments by taking the shield segment contour obtained each time as the reference shield segment contour, to obtain a segment ring contour image.

[0139] In a preferred embodiment, the block information includes a segment size, a splicing point, and a block type of the shield segment, wherein the block type is one of a standard block, an adjacent block, and a top sealing block.

[0140] In a preferred embodiment, the drawing module 530 is configured to:

[0141] For all the adjacent shield segments, determine the cross infrared center point coordinate irradiated on the front surface of two shield segments in the adjacent shield segments according to the construction coordinate corresponding to the target measurement module and the cross infrared light image.

Claims

1. A method of measuring roundness of a shield segment, characterized by, The application is applied to a shield machine, a plurality of measuring modules are arranged on the shield machine, the plurality of measuring modules are installed around the oil cylinder base surface of the shield machine, and the method comprises the following steps: After a segment of pipe rings is spliced, a plurality of target measuring modules corresponding to the adjacent shield segments of the segment of pipe rings are determined from the plurality of measuring modules, wherein the plurality of target measuring modules can simultaneously collect the measuring data of the joint gaps of the adjacent shield segments; For all the adjacent shield segments, the cross infrared light source of the target measuring module irradiates the cross infrared light on the front surface of the shield segment, and the camera of the target measuring module collects the profile image and the cross infrared light image of the adjacent shield segments; According to the profile image and the cross infrared light image, the shield segment profiles of a segment of shield segments are sequentially drawn in the preset area of the system software interface to obtain the profile image of the segment of pipe rings, which comprises the following steps: For all the adjacent shield segments, the corresponding cross infrared center point coordinates irradiated on the front surfaces of two shield segments in the adjacent shield segments are determined according to the cross infrared light image; For all the adjacent shield segments, the profile coordinates of the two shield segments in the adjacent shield segments are determined according to the profile image, wherein the profile coordinates comprise the coordinates of the top points of the shield segments and the inner and outer diameter ring coordinates; For any shield segment, the reference shield segment profile is drawn in the preset area of the system software interface according to the profile coordinates and the cross infrared center point coordinates of the shield segment; According to the system coordinate system of the system software interface and the construction coordinate system in which the shield machine is located, the conversion relationship between the construction coordinate system and the system coordinate system is determined; Based on the reference shield segment profile, the conversion relationship, the cross infrared center point coordinates and the profile coordinates corresponding to the adjacent shield segments, the shield segment profiles of the remaining shield segments are sequentially drawn in the preset area to obtain the profile image of the segment of pipe rings; According to the top point coordinates of the inner diameter ring of the segment of shield segments in the profile image of the segment of pipe rings, the fitting circle calculation is performed, and the roundness of the segment of shield segments is determined by comparing the position relationship between the top points of the inner diameter ring and the fitting circle. The front surface is the end surface of the shield segment facing the formed tunnel in the direction of the tunnel face, and the profile image comprises the inner diameter ring image, the outer diameter ring image and the image of the side connecting the inner diameter ring and the outer diameter ring.

2. The method of claim 1, wherein, The method for drawing the reference shield segment profile in the preset area of the system software interface according to the profile coordinates and the cross infrared center point coordinates of the shield segment comprises the following steps: The pipe thickness ratio is determined according to the actual pipe thickness of the shield segment and the preset drawing pipe thickness; The angle relationship between the installation coordinates of the corresponding target measuring module and the center coordinate of the oil cylinder base surface of the shield machine is determined. According to the angle relationship, the center coordinate of the preset area of the system software interface, and the cross infrared center point coordinate of the shield segment, the cross infrared center point of the shield segment is drawn in the preset area of the system software interface, and an angle of the cross infrared center point relative to the center of the preset area is the same as an angle of the installation coordinate of the target measurement module relative to the cylinder base surface center coordinate. According to the segment thickness ratio, the profile coordinate of the shield segment, and the block information of the shield segment, a reference shield segment profile is drawn in the preset area of the system software interface based on the cross infrared center point.

3. The method of claim 2, wherein, According to the conversion relationship, the cross infrared center point coordinate and the profile coordinate of the adjacent shield segment, the shield segment profiles of the remaining shield segments are sequentially drawn in the preset area based on the reference shield segment profile, and a segment ring profile image is obtained, including: According to the conversion relationship, the cross infrared center point coordinate and the profile coordinate of the adjacent shield segment, the cross infrared center point and two vertices of the shield segment are drawn in the preset area based on the reference shield segment profile. According to the block information and the profile coordinate, the corresponding inner diameter ring and outer diameter ring are drawn in the preset area. The vertices on the inner diameter ring and the vertices on the outer diameter ring are connected to draw the shield segment profile of the shield segment. The shield segment profile obtained each time is taken as the reference shield segment profile, and the shield segment profiles of the remaining shield segments are drawn to obtain the segment ring profile image.

4. The method of claim 2, wherein, The block information includes the segment size, the assembly point, and the block type of the shield segment, and the block type is one of a standard block, an adjacent block, and a top sealing block.

5. The shield segment roundness measurement method according to any one of claims 2-4, wherein, According to the cross infrared light image, the cross infrared center point coordinate irradiated on the front surface of two shield segments in the adjacent shield segments is determined for all the adjacent shield segments, including: According to the construction coordinate corresponding to the target measurement module and the cross infrared light image, the cross infrared center point coordinate irradiated on the front surface of two shield segments in the adjacent shield segments is determined for all the adjacent shield segments.

6. A shield segment roundness measuring device, characterized by, The device is applied to a shield machine, and the shield machine is provided with a plurality of measurement modules. A first determination module is configured to, after a segment ring is completed, determine a plurality of target measurement modules corresponding to all adjacent shield segments in the segment ring from a plurality of measurement modules, wherein the plurality of target measurement modules are measurement modules that can simultaneously collect measurements at the joint gaps corresponding to the adjacent shield segments. A control module is configured to, for all the adjacent shield segments, irradiate cross infrared light on the front surface of the shield segment through the cross infrared light source of the target measurement module, and collect the profile image and the cross infrared light image of the adjacent shield segment through the camera of the target measurement module. The drawing module is configured to draw, in a preset area of a system software interface, a shield tunnel segment contour of a ring of shield tunnel segments in sequence according to the contour image and the cross infrared light line image, to obtain a segment ring contour image; The second determination module is configured to perform fitting circle calculation according to vertex coordinates of an inner diameter ring of the ring of shield tunnel segments in the segment ring contour image, and to determine roundness of the ring of shield tunnel segments by comparing a position relationship between the vertex of the inner diameter ring and the fitting circle; The drawing module is configured to: For all the adjacent shield tunnel segments, determine corresponding cross infrared center point coordinates irradiated on the faces of two of the adjacent shield tunnel segments according to the cross infrared light line image; For all the adjacent shield tunnel segments, determine contour coordinates of two of the adjacent shield tunnel segments according to the contour image, the contour coordinates including coordinates of vertices of the shield tunnel segments and coordinates of inner and outer diameter rings; For any of the shield tunnel segments, draw a reference shield tunnel segment contour in a preset area of a system software interface according to contour coordinates and cross infrared center point coordinates of the shield tunnel segment; Determine a conversion relationship between a construction coordinate system in which the shield tunneling machine is located and a system coordinate system of the system software interface; Based on the reference shield tunnel segment contour, the conversion relationship, the contour coordinates and the cross infrared center point coordinates corresponding to the adjacent shield tunnel segments, draw shield tunnel segment contours of the remaining shield tunnel segments in the preset area in sequence to obtain a segment ring contour image; The face is a segment end face in a direction in which a tunnel face of the shield tunnel faces a formed tunnel, and the contour image includes an inner diameter ring image, an outer diameter ring image and an image of a side connecting the inner diameter ring and the outer diameter ring.

7. The shield segment roundness measuring device of claim 6, wherein, The drawing module is configured to: Determine a segment thickness ratio according to an actual segment thickness of the shield tunnel segment and a preset drawing segment thickness; Determine an angle relationship of an installation coordinate of the target measurement module relative to a center coordinate of a cylinder base surface of the shield tunneling machine; Draw a cross infrared center point of the shield tunnel segment in a preset area of the system software interface according to the angle relationship, a center coordinate of the preset area and the cross infrared center point coordinate of the shield tunnel segment, wherein an angle of the cross infrared center point relative to a center of the preset area is the same as an angle of the installation coordinate of the target measurement module relative to the center coordinate of the cylinder base surface; Draw a reference shield tunnel segment contour in the preset area of the system software interface based on the cross infrared center point, the segment thickness ratio, contour coordinates of the shield tunnel segment and block information of the shield tunnel segment.

8. An electronic device, comprising: The system comprises: a memory having a computer program stored thereon; a processor configured to execute the computer program in the memory to implement the shield tunnel segment roundness measurement method in any of claims 1-5.

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