Method and device for processing the posture of the front shield of a roadheader based on an eight-shaped oil cylinder

Abstract

The present application provides a method and device for processing the posture of the front shield of a tunnel boring machine based on an eight-shaped oil cylinder, and relates to the field of communication technology. The method includes: obtaining the initial data of the support shield posture and the oil cylinder; constructing a dynamic and static coordinate system according to the distribution angles of the oil cylinder's hinge points on the support shield and the front shield, and obtaining the theoretical rod length of the oil cylinder according to the constructed dynamic and static coordinate system; determining the posture of the front shield relative to the support shield according to the actual rod length of the oil cylinder and the theoretical rod length of the oil cylinder; obtaining the posture of the front shield according to the posture of the support shield and the posture of the front shield relative to the support shield. The method of the present application realizes the indirect acquisition of the front shield posture data, thereby avoiding the influence of the external environment on the camera or optical signal sensing type measuring device, and combines the actual length and theoretical length of the oil cylinder to improve the accuracy and reliability of the front shield data acquisition.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a method and device for processing the posture of a front shield of a tunnel boring machine based on an eight-shaped oil cylinder. Background Art

[0002] During tunnel construction, it is very important to measure the relative positions of the tunnel boring machine shields.

[0003] Currently, there are two main methods for measuring the position of the shields of a tunnel boring machine: one is composed of components such as LED standard feature points installed on the front shield, a CCD measuring camera installed on the support shield, a total station and rearview prism installed on the tunnel segment wall, and a laser target installed on the support shield. During tunnel excavation, the CCD measuring camera extracts the changes in the position of the LED standard feature points' light spots and compares them with the positions initially calibrated in the CCD measuring camera to derive the precise positional relationship between the support shield and the front shield. The other is composed of components such as a photosensitive target installed on the front shield, a laser transmitter installed on the support shield, a total station and rearview prism installed on the tunnel segment wall, and a laser target installed on the support shield. During tunnel excavation, the built-in camera in the photosensitive target captures and processes the light spot image to obtain the light spot offset, thereby determining the horizontal and vertical movement of the front shield and the precise positional relationship between the support shield and the front shield, thereby improving data accuracy.

[0004] However, in actual applications, the above-mentioned posture measurement method still has some problems: First, during the excavation process, there is a lot of dust in the front shield space, and the camera cannot capture clear images, and then the coordinates of the front shield cannot be calculated; second, due to the tilted layout of the main push cylinder of the tunnel boring machine, the space is further compressed. Especially for small-diameter tunnel boring machines, the internal space is already limited. If the turning radius of the line is also very small, when turning, measuring instruments such as photosensitive targets can easily interfere with the cylinder, shield, etc., making it impossible to obtain the coordinates of the light spot, and thus making it impossible to measure the posture of the front shield. In summary, for the posture measurement of the front shield between the two shield sections of the tunnel boring machine with an eight-shaped cylinder, it is necessary to overcome the defect of the limited field of view of the current measurement method. Summary of the Invention

[0005] The present application provides a method and device for processing the posture of the front shield of a tunnel boring machine based on an eight-shaped oil cylinder, which is used to solve the posture measurement of the front shield between the two shield sections of the tunnel boring machine with an eight-shaped oil cylinder, and needs to overcome the defect of the limited field of view of the current measurement method.

[0006] In a first aspect, the present application provides a method for processing the posture of a front shield of a roadheader based on an eight-shaped oil cylinder, which is applied to a roadheader comprising a support shield and a front shield, wherein a plurality of oil cylinders arranged in an inclined and non-parallel manner are hingedly connected between the support shield and the front shield; the method comprises:

[0007] Obtaining initial data of the support shield posture and the cylinder; wherein the initial data of the cylinder includes the distribution angle of the cylinder hinge points on the support shield and the front shield, and the actual rod length of the cylinder;

[0008] According to the distribution angles of the hinge points of the cylinder on the support shield and the front shield, a dynamic and static coordinate system is constructed, and the theoretical rod length of the cylinder is obtained based on the constructed dynamic and static coordinate system;

[0009] Determine the position of the front shield relative to the support shield based on the actual rod length of the cylinder and the theoretical rod length of the cylinder;

[0010] The front shield posture is obtained according to the support shield posture and the posture of the front shield relative to the support shield.

[0011] In one possible design, the dynamic and static coordinate systems are constructed based on the distribution angles of the hinge points of the oil cylinders on the support shield and the front shield, including:

[0012] The intersection of the front face of the front shield and the central axis is taken as the coordinate origin of the moving platform. According to the distance M from the hinge point of the oil cylinder on the front shield to the corresponding central axis of the front shield and the distribution angle α of the hinge point of the oil cylinder on the front shield, i , determine the center coordinate B of the spherical joint of the moving platform i :

[0013] B i (x Bi ,y Bi ,z Bi )=B i (M cosα i ,Msinα i ,0);

[0014] The intersection of the front face of the support shield and the central axis is taken as the coordinate origin of the static platform. According to the distance N from the hinge point of the support shield to the corresponding central axis of the support shield and the distribution angle β of the hinge point on the cylinder support shield, i , determine the center coordinates P of the spherical joint of the static platform i :

[0015] P i (x Pi ,y Pi ,z Pi )=P i (N cosβ i ,N sinβ i ,0);

[0016] The oil cylinder number i=1, 2...n, where n is the total number of oil cylinders.

[0017] In one possible design, the theoretical rod length of the cylinder is obtained based on the constructed dynamic and static coordinate system, including:

[0018] According to the coordinates B of the hinge point of the moving platform i The product of the preset coordinate transformation matrix T is to obtain the coordinate B′ of the hinge point of the moving platform corresponding to the static platform i ; Wherein, the preset coordinate transformation matrix includes the posture function of the front shield relative to the support shield;

[0019] According to the coordinate B' of the hinge point of the moving platform corresponding to the static platform i The coordinates of the hinge point of the static platform P i , use the following formula to calculate the theoretical rod length l of each cylinder i :

[0020]

[0021] In one possible design, the preset coordinate transformation matrix T satisfies the following relationship:

[0022]

[0023] in,

[0024] a is the azimuth angle of the front shield relative to the support shield, p is the pitch angle of the front shield relative to the support shield, r is the roll angle of the front shield relative to the support shield, and x, y, and z are the center coordinates of the front end of the support shield, respectively.

[0025] In a possible design, determining the position of the front shield relative to the support shield based on the actual rod length and theoretical rod length of the cylinder includes:

[0026] According to the actual rod length L of the cylinder i And the theoretical rod length of the cylinder l i The difference between , construct the approximation function f:

[0027] f=L i 2 -l i 2 ;

[0028] According to the minimum value of the approach function f, the theoretical rod length l of the cylinder is obtained. i The corresponding position of the front shield relative to the supporting shield.

[0029] In one possible design, obtaining the front shield posture according to the support shield posture and the posture of the front shield relative to the support shield includes:

[0030] According to the support shield posture The center coordinates (X, Y, Z) of the rear end of the front shield are calculated using the following formula:

[0031]

[0032] Where L is the length of the support shield, γ is the azimuth angle of the support shield, is the pitch angle of the support shield, μ is the roll angle of the support shield;

[0033] According to the center coordinates (X, Y, Z) of the rear end of the front shield, the center coordinates (X ′ ,Y ′ ,Z ′ ):

[0034]

[0035] Among them, L ′ is the length of the front shield.

[0036] In a possible design, at least six oil cylinders that are arranged obliquely and are not parallel to each other are hinged between the support shield and the front shield.

[0037] In a second aspect, the present application provides a front shield posture processing device for a tunnel boring machine based on an eight-shaped oil cylinder, which is applied to a tunnel boring machine including a support shield and a front shield, wherein a plurality of oil cylinders arranged in an inclined and non-parallel manner are hingedly connected between the support shield and the front shield; the device comprises:

[0038] An acquisition module is used to acquire the initial data of the support shield posture and the cylinder; wherein the initial data of the cylinder includes the distribution angle of the cylinder hinge points on the support shield and the front shield, and the actual rod length of the cylinder;

[0039] A processing module is used to construct a dynamic and static coordinate system based on the distribution angles of the hinge points of the oil cylinder on the support shield and the front shield, and obtain the theoretical rod length of the oil cylinder based on the constructed dynamic and static coordinate system;

[0040] The processing module is further used to determine the position of the front shield relative to the support shield based on the actual rod length of the cylinder and the theoretical rod length of the cylinder;

[0041] The processing module is further configured to obtain a front shield posture according to the support shield posture and the posture of the front shield relative to the support shield.

[0042] Furthermore, the processing module is specifically used to construct a dynamic and static coordinate system according to the distribution angles of the hinge points of the oil cylinder on the support shield and the front shield, including:

[0043] The intersection of the front face of the front shield and the central axis is taken as the coordinate origin of the moving platform. According to the distance M from the hinge point of the oil cylinder on the front shield to the corresponding central axis of the front shield and the distribution angle α of the hinge point of the oil cylinder on the front shield, i , determine the center coordinate B of the spherical joint of the moving platform i :

[0044] B i (x Bi ,y Bi ,z Bi )=B i (M cosα i ,Msinα i ,0);

[0045] The intersection of the front face of the support shield and the central axis is taken as the coordinate origin of the static platform. According to the distance N from the hinge point of the support shield to the corresponding central axis of the support shield and the distribution angle β of the hinge point on the cylinder support shield, i , determine the center coordinates P of the spherical joint of the static platform i :

[0046] P i (x Pi ,y Pi ,z Pi )=P i (N cosβ i ,N sinβ i ,0);

[0047] The oil cylinder number i=1, 2...n, where n is the total number of oil cylinders.

[0048] Furthermore, the processing module is specifically used to obtain the theoretical rod length of the cylinder according to the constructed dynamic and static coordinate system, including:

[0049] According to the coordinates B of the hinge point of the moving platform i The product of the preset coordinate transformation matrix T is to obtain the coordinate B′ of the hinge point of the moving platform corresponding to the static platform i ; Wherein, the preset coordinate transformation matrix includes the posture function of the front shield relative to the support shield;

[0050] According to the coordinate B' of the hinge point of the moving platform corresponding to the static platform i The coordinates of the hinge point of the static platform P i , use the following formula to calculate the theoretical rod length l of each cylinder i :

[0051]

[0052] Furthermore, the preset coordinate transformation matrix T satisfies the following relationship:

[0053]

[0054] in, a is the azimuth angle of the front shield relative to the support shield, p is the pitch angle of the front shield relative to the support shield, r is the roll angle of the front shield relative to the support shield, and x, y, and z are the center coordinates of the front end of the support shield, respectively.

[0055] Furthermore, the processing module is specifically used to determine the position of the front shield relative to the support shield according to the actual rod length of the cylinder and the theoretical rod length of the cylinder, including:

[0056] According to the actual rod length L of the cylinder i And the theoretical rod length of the cylinder l i The difference between , construct the approximation function f:

[0057] f=L i 2 -l i 2 ;

[0058] According to the minimum value of the approach function f, the theoretical rod length l of the cylinder is obtained. i The corresponding position of the front shield relative to the supporting shield.

[0059] Furthermore, the processing module is specifically configured to obtain the front shield posture according to the support shield posture and the posture of the front shield relative to the support shield, including:

[0060] According to the support shield posture The center coordinates (X, Y, Z) of the rear end of the front shield are calculated using the following formula:

[0061]

[0062] Where L is the length of the support shield, γ is the azimuth angle of the support shield, is the pitch angle of the support shield, μ is the roll angle of the support shield;

[0063] According to the center coordinates (X, Y, Z) of the rear end of the front shield, the center coordinates (X ′ ,Y ′ ,Z ′ ):

[0064]

[0065] Among them, L ′ is the length of the front shield.

[0066] In a possible design, at least six oil cylinders that are arranged obliquely and are not parallel to each other are hinged between the support shield and the front shield.

[0067] In a third aspect, the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed by a processor, they are used to implement a method for processing the posture of a front shield of a tunnel boring machine based on a figure-eight cylinder.

[0068] In a fourth aspect, the present application provides a roadheader, comprising: a support shield and a front shield, wherein a plurality of oil cylinders arranged obliquely and not parallel to each other are hingedly connected between the support shield and the front shield;

[0069] Total station, used to emit laser to obtain the roll angle, pitch angle and azimuth angle of the support shield;

[0070] Laser target, used to receive laser signals and reflect them to measure the support shield posture;

[0071] Rearview prism, used to obtain the distance between the laser target and the total station to obtain the center coordinates of the support shield;

[0072] A front shield posture processing device for a roadheader based on an eight-shaped oil cylinder is used to obtain the front shield posture according to a front shield posture processing method for a roadheader based on an eight-shaped oil cylinder;

[0073] The laser target is arranged on the rear end surface of the support shield, the total station and the rearview prism are both arranged on the tunnel segment wall, the total station is arranged between the laser target and the rearview prism, and the total station is communicatively connected with the front shield posture processing device of the tunnel boring machine based on the figure eight oil cylinder.

[0074] The present application provides a method and device for processing the posture of a front shield of a tunnel boring machine based on an eight-shaped cylinder, which obtains initial data of the posture of the support shield and the cylinder; wherein the initial data of the cylinder include the distribution angles of the hinge points of the cylinder on the support shield and the front shield, and the actual rod length of the cylinder; according to the distribution angles of the hinge points of the cylinder on the support shield and the front shield, a dynamic and static coordinate system is constructed, and based on the constructed dynamic and static coordinate system, the theoretical rod length of the cylinder is obtained; according to the actual rod length of the cylinder and the theoretical rod length of the cylinder, the posture of the front shield relative to the support shield is determined; according to the posture of the support shield and the posture of the front shield relative to the support shield, the posture of the front shield is obtained. Compared with the defect of limited field of view of the posture measurement method of the front shield between two shield sections in the prior art, the present application uses the prior art to obtain the absolute posture of the support shield, and then uses the length change of the cylinder to obtain the relative posture between the support shield and the front shield, and finally uses the absolute posture of the support shield and the relative posture between the two shields to obtain the absolute posture of the front shield, thereby realizing the indirect acquisition of the front shield posture data, thereby avoiding the influence of the external environment on the camera or optical signal sensing measurement device, and combining the actual length and theoretical length of the cylinder to improve the accuracy and reliability of the front shield data acquisition. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0076] Figure 1 Schematic diagram of an application scenario of the posture processing of the front shield of a tunnel boring machine based on an eight-shaped oil cylinder provided in an embodiment of the present application;

[0077] Figure 2 Schematic diagram of the process of the front shield posture processing method of the tunnel boring machine based on the figure eight oil cylinder provided in the embodiment of the application Figure 1 ;

[0078] Figure 3 Schematic diagram of the process of the front shield posture processing method of the tunnel boring machine based on the figure eight oil cylinder provided in the embodiment of the application Figure 2 ;

[0079] Figure 4 A schematic structural diagram of a front shield posture processing device for a tunnel boring machine based on an 8-shaped oil cylinder provided in an embodiment of the present application;

[0080] Figure 5 Schematic diagram of the dynamic and static coordinate system of the front shield and support shield of the tunnel boring machine based on the figure eight oil cylinder provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] The exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0082] The position measurement of the front shield of existing tunnel boring machines with two shield sections and an X-shaped cylinder mostly relies on cameras or photosensitive targets. However, cameras or photosensitive targets may be affected by the external environment, resulting in large errors in the measurement data. For example, when turning, the large overlap between the two shield sections may cause interference between devices and block signal transmission. Or, when the front shield space is very dusty, it may be impossible to accurately position the shield.

[0083] Based on the above technical problems, the inventive concept of this application is: by tilting the cylinder between the front shield and the support shield, the total length of the tunnel boring machine can be reduced while providing more reference data for the relative posture between the front shield and the support shield. Therefore, the absolute posture of the support shield that is not restricted by the field of view can be measured according to the existing technology, and then the relative posture of the support shield and the front shield can be obtained according to the reference data provided by the cylinder. Finally, the absolute posture of the front shield is solved according to the absolute posture of the support shield and the relative posture of the support shield and the front shield, thereby avoiding the measurement error caused by directly measuring the posture of the front shield due to the limited field of view, aiming to solve the above technical problems of the prior art.

[0084] The specific application scenarios of this application are as follows:

[0085] Figure 1 Schematic diagram of the application scenario of the method for processing the front shield posture of a tunnel boring machine based on the figure eight oil cylinder provided in the embodiment of the present application. Figure 1 As shown, the two-section shield and eight-shaped cylinder tunnel boring machine includes a front shield 101, a support shield 102 and a cylinder 103. The equipment for measuring the posture includes a laser target 104, a total station 105 and a rearview prism 106. The cylinder 103 is hinged between the front shield 101 and the support shield 102, the laser target 104 is fixed on the rear end surface of the support shield 102, the total station 105 and the rearview prism 106 are both hoisted on the tunnel segment wall 107, and the total station 105 is set between the laser target 104 and the rearview prism 106.

[0086] The following specific embodiments describe in detail the technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0087] Figure 2 Schematic diagram of the process of the front shield posture processing method of the tunnel boring machine based on the figure eight oil cylinder provided in the embodiment of the present application Figure 1 .like Figure 2 As shown, the method includes:

[0088] S201, obtaining the initial data of the support shield posture and the oil cylinder.

[0089] The initial data of the cylinder include the distribution angle of the hinge points of the cylinder on the support shield and the front shield, and the actual rod length of the cylinder.

[0090] Specifically, since the support shield is located behind the tunnel boring machine, it is not affected by the dust during construction compared to the front shield. Therefore, the position of the support shield can be obtained by using a camera or photosensitive target in the existing technology. In this embodiment, a photosensitive target is set at the rear end of the support shield, and a total station and a rearview prism are set on the tunnel segment wall behind the support shield, so as to accurately obtain the position of the support shield.

[0091] The cylinder between the support shield and the front shield is installed before construction, that is, the hinge points of the cylinder, the front shield and the support shield are determined, and only the cylinder length changes with the control. The cylinder is dispersed between the support shield and the front shield. The change in the cylinder length directly affects the change in the posture of the front shield. Therefore, the hinge position of the cylinder and the length of each rod are important data for calculating the posture of the front shield. Before the tunnel boring machine starts, the center coordinates of the front shield, the support shield and the front and rear bases of the cylinder are measured, the initial readings of the cylinder stroke are read and recorded, and the relative posture of the front shield with respect to the support shield can be calculated based on the initial data of the cylinder.

[0092] S202: Construct a dynamic and static coordinate system based on the distribution angles of the hinge points of the oil cylinder on the support shield and the front shield, and obtain the theoretical rod length of the oil cylinder based on the constructed dynamic and static coordinate system.

[0093] Specifically, the actual scene is converted into a coordinate system based on the hinge points of the support shield, front shield, and cylinder, as well as the cylinder rod length, simplifying the computational complexity. Since the front shield changes position based on the extension and retraction of the cylinder, a dynamic coordinate system is constructed using the front shield as the moving platform within the dynamic and static coordinate systems. The static coordinate system is then constructed using the support shield as the static platform within the dynamic and static coordinate systems. The corresponding length of each cylinder is then calculated based on this constructed dynamic and static coordinate system. Since the corresponding hinge points in these constructed dynamic and static coordinate systems are virtual coordinates, the length obtained using these virtual coordinates represents the theoretical cylinder rod length.

[0094] S203: Determine the position of the front shield relative to the support shield based on the actual rod length and theoretical rod length of the oil cylinder.

[0095] Specifically, the actual rod length of the cylinder is obtained through existing technology. A stroke sensor is installed in the cylinder. After the initial length of the cylinder is known, the actual rod length of the cylinder can be determined based on the stroke sensor. Then, the theoretical rod length of the cylinder is matched with the actual rod length of the cylinder. The coordinates of point B and point P in the dynamic and static coordinate systems corresponding to the theoretical rod length of the cylinder can be reversed, and then the corresponding position of the front shield relative to the support shield composed of the coordinates of point B and point P in the dynamic and static coordinate systems can be obtained.

[0096] S204: Obtain a front shield posture according to the support shield posture and the posture of the front shield relative to the support shield.

[0097] Specifically, since the front shield has a certain thickness, the front shield posture includes the front shield rear end posture and the front shield front end posture. Since the support shield posture is the position and angle data of the support shield rear end measured by the laser target, relative to the cylinder, there is still a difference in the length data of the support shield (or the thickness of the support shield) between the cylinder and the rear end of the support shield, that is, the angle data in the posture data of the front end of the support shield is consistent with the angle data in the measured support shield posture data, but the difference between the center coordinates in the posture data of the front end of the support shield and the center coordinates in the measured support shield posture data is the length of the support shield. Similarly, when using the support shield posture to obtain the front shield posture, the thickness of the front shield also needs to be considered. The length of the front shield is obtained in advance, and then the front shield rear end posture is obtained according to the support shield posture, the support shield length and the posture of the front shield relative to the support shield, and the front shield front end posture is obtained according to the front shield rear end posture and the front shield length.

[0098] The method provided in this embodiment obtains initial data of the support shield posture and the cylinder. The initial data of the cylinder includes the distribution angles of the cylinder hinge points on the support shield and the front shield, and the actual rod length of the cylinder. A dynamic and static coordinate system is constructed based on the distribution angles of the cylinder hinge points on the support shield and the front shield, and the theoretical rod length of the cylinder is obtained based on the constructed dynamic and static coordinate system. The posture of the front shield relative to the support shield is determined based on the actual rod length and the theoretical rod length of the cylinder. The posture of the front shield is obtained based on the posture of the support shield and the posture of the front shield relative to the support shield, thereby indirectly obtaining the posture data of the front shield. The absolute posture of the support shield is obtained using existing technology, and the relative posture between the support shield and the front shield is obtained using the change in the length of the cylinder. Finally, the absolute posture of the front shield is obtained using the absolute posture of the support shield and the relative posture between the two shields. This method avoids the influence of the external environment on the camera or optical signal sensing measurement device, and combines the actual and theoretical lengths of the cylinder to improve the accuracy and reliability of the front shield data acquisition.

[0099] The following describes in detail the posture processing method of the front shield of the tunnel boring machine based on the figure eight oil cylinder of the present application with reference to a specific embodiment.

[0100] Figure 3 Schematic diagram of the process of the front shield posture processing method of the tunnel boring machine based on the figure eight oil cylinder provided in the embodiment of the present application Figure 2 .like Figure 3 As shown, the method includes:

[0101] S301: Acquire the initial data of the support shield posture and the oil cylinder.

[0102] The initial data of the cylinder include the distribution angle of the hinge points of the cylinder on the support shield and the front shield, and the actual rod length of the cylinder.

[0103] The implementation of S301 is similar to the implementation of S201 in the above embodiment, and will not be further described in detail in the embodiment of the present application.

[0104] S302, take the intersection of the front end surface of the front shield and the central axis as the coordinate origin of the moving platform, and calculate the distance M from the hinge point of the oil cylinder on the front shield to the corresponding central axis of the front shield and the distribution angle α of the hinge point of the oil cylinder on the front shield. i , determine the center coordinate B of the spherical joint of the moving platform i :

[0105] B i (x Bi ,y Bi ,z Bi )=B i (M cosα i ,Msinα i ,0).

[0106] S303, take the intersection of the front end face of the support shield and the central axis as the coordinate origin of the static platform, and calculate the coordinates of the static platform according to the distance N from the hinge point of the support shield to the central axis of the corresponding support shield and the distribution angle β of the hinge point on the cylinder support shield. i , determine the center coordinates P of the spherical joint of the static platform i :

[0107] P i (x Pi ,y Pi ,z Pi )=P i (N cosβ i ,N sinβ i ,0).

[0108] Among them, the cylinder number i=1, 2...n, n is the total number of cylinders, and at least six inclined and non-parallel cylinders are hinged between the support shield and the front shield, so n=6.

[0109] Specifically, Figure 5 Schematic diagram of the dynamic and static coordinate system of the front shield and support shield of the tunnel boring machine based on the figure eight oil cylinder provided in the embodiment of the present application. Figure 5As shown, the hinge points of the six oil cylinders 501, which are arranged obliquely and not parallel to each other, and the front shield 502 are B1, B2, B3, B4, B5, and B6, respectively, and the hinge points of the oil cylinders 501 and the support shield 503 are P1, P2, P3, P4, P5, and P6, respectively. Among them, B1, B2, B3, B4, B5, and B6 are on the same circumference, and the circumference radius is M. P1, P2, P3, P4, P5, and P6 are on the same circumference, and the circumference radius is N. Therefore, the front shield The center of the circle where the hinge point of the front shield and the support shield is located is the coordinate origin, the end faces of the front shield and the support shield are used as the XY axis planes of the dynamic coordinate system and the static coordinate system respectively, and the Z axis plane perpendicular to the XY axis plane and in the direction from the support shield to the front shield is set as the Z axis plane to construct the dynamic coordinate system O′-X′Y′Z′ and the static coordinate system O-XYZ. Then, according to the constructed dynamic and static coordinate systems, the hinge points at both ends of the cylinder are expressed in the dynamic and static coordinate systems using a functional relationship consisting of radius and trigonometric functions.

[0110] S304, according to the coordinates B of the hinge point of the moving platform i The product of the preset coordinate transformation matrix T is to obtain the coordinate B′ of the hinge point of the moving platform corresponding to the static platform i .

[0111] The preset coordinate transformation matrix includes a posture function of the front shield relative to the support shield.

[0112] Specifically, the length in space needs to be converted to the same plane before calculation. Here, a preset coordinate transformation matrix is ​​used to transform points in different planes to the same plane in order to calculate the distance between two points in the same plane. The preset coordinate transformation matrix T satisfies the following relationship:

[0113]

[0114]

[0115] in,

[0116] a is the azimuth angle of the front shield relative to the support shield, p is the pitch angle of the front shield relative to the support shield, r is the roll angle of the front shield relative to the support shield, a, p, and r are unknown functions to be solved, and x, y, and z are the center coordinates of the front end of the support shield respectively.

[0117] S305, according to the coordinate B' of the movable platform hinge point on the static platform i The coordinates of the hinge point of the static platform P i , use the following formula to calculate the theoretical rod length l of each cylinder i :

[0118]

[0119] S306, according to the actual rod length L of the cylinder i And the theoretical rod length of the cylinder l i The difference between , construct the approximation function f:

[0120] f=L i 2 -l i 2 .

[0121] S307, according to the minimum value of the approach function f, obtain the theoretical rod length l of the cylinder i The corresponding position of the front shield relative to the supporting shield.

[0122] Specifically, since the transformation matrix carries unknown quantities, the obtained theoretical values ​​also carry parameters with unknown quantities. The theoretical values ​​and actual values ​​are simplified to solve the optimization problem. The transformation matrix corresponding to the possible theoretical values ​​is solved using the approximation function, and then the corresponding unknown quantities are obtained, namely the position a, p, and r of the front shield relative to the support shield.

[0123] S308, according to the support shield posture The azimuth angle a and pitch angle p of the front shield relative to the support shield are used to calculate the center coordinates (X, Y, Z) of the rear end of the front shield using the following formula:

[0124]

[0125] Where L is the length of the support shield, γ is the azimuth angle of the support shield, is the pitch angle of the support shield, and μ is the roll angle of the support shield.

[0126] S309, according to the center coordinates (X, Y, Z) of the rear end of the front shield, use the following formula to calculate the center coordinates (X ′ ,Y ′ ,Z ′ ):

[0127]

[0128] Among them, L ′ is the length of the front shield.

[0129] The method provided in this embodiment obtains the initial data of the support shield posture and the oil cylinder; takes the intersection of the front end surface of the front shield and the central axis as the coordinate origin of the moving platform, and determines the center coordinates of the spherical joint of the moving platform according to the distance M from the hinge point of the oil cylinder on the front shield to the corresponding center axis of the front shield and the distribution angle of the hinge point of the oil cylinder on the front shield; takes the intersection of the front end surface of the support shield and the central axis as the coordinate origin of the static platform, and determines the center coordinates of the spherical joint of the static platform according to the distance N from the hinge point of the support shield to the corresponding center axis of the support shield and the distribution angle of the hinge point on the oil cylinder support shield; obtains the coordinates of the dynamic platform hinge point according to the product of the coordinates of the dynamic platform hinge point and the preset coordinate transformation matrix. The joints correspond to the coordinates on the static platform; the theoretical rod length of each cylinder is calculated according to the coordinates of the hinge points of the moving platform corresponding to the static platform and the coordinates of the hinge points of the static platform; an approximation function is constructed according to the difference between the actual rod length of the cylinder and the theoretical rod length of the cylinder; the posture of the front shield relative to the support shield corresponding to the theoretical rod length of the cylinder is obtained according to the minimum value of the approximation function; the center coordinates of the rear end of the front shield are calculated according to the azimuth and pitch angles in the posture of the support shield and the posture of the front shield relative to the support shield; the center coordinates of the front end of the front shield are calculated according to the center coordinates of the rear end of the front shield, so as to avoid inaccurate measurement caused by directly measuring the posture of the front shield with large dust or obstruction.

[0130] Figure 4 This is a schematic diagram of the structure of the tunnel boring machine front shield posture processing device based on the figure eight oil cylinder provided in the embodiment of the present application. Figure 4 As shown, the processing device 40 includes:

[0131] The acquisition module 401 is used to obtain the initial data of the support shield posture and the cylinder.

[0132] Among them, the tunnel boring machine includes a support shield and a front shield, and multiple inclined and non-parallel cylinders are hinged between the support shield and the front shield; the initial data of the cylinders include the distribution angles of the cylinders at the hinge points on the support shield and the front shield, and the actual rod length of the cylinders.

[0133] Processing module 402 is used to construct a dynamic and static coordinate system based on the distribution angles of the hinge points of the oil cylinder on the support shield and the front shield, and obtain the theoretical rod length of the oil cylinder based on the constructed dynamic and static coordinate system;

[0134] The processing module 402 is further configured to determine the position of the front shield relative to the support shield based on the actual rod length of the cylinder and the theoretical rod length of the cylinder;

[0135] The processing module is further configured to obtain a front shield posture according to the support shield posture and the posture of the front shield relative to the support shield.

[0136] Optionally, the processing module 402 is specifically configured to construct a dynamic and static coordinate system based on the distribution angles of the hinge points of the oil cylinders on the support shield and the front shield, including:

[0137] The intersection of the front face of the front shield and the central axis is taken as the coordinate origin of the moving platform. According to the distance M from the hinge point of the oil cylinder on the front shield to the corresponding central axis of the front shield and the distribution angle α of the hinge point of the oil cylinder on the front shield, i , determine the center coordinate B of the spherical joint of the moving platform i :

[0138] B i (x Bi ,y Bi ,z Bi )=B i (M cosα i ,M sinα i ,0);

[0139] The intersection of the front face of the support shield and the central axis is taken as the coordinate origin of the static platform. According to the distance N from the hinge point of the support shield to the corresponding central axis of the support shield and the distribution angle β of the hinge point on the cylinder support shield, i , determine the center coordinates P of the spherical joint of the static platform i :

[0140] P i (x Pi ,y Pi ,z Pi )=P i (N cosβ i ,N sinβ i ,0);

[0141] The oil cylinder number i=1, 2...n, where n is the total number of oil cylinders.

[0142] Optionally, the processing module 402 is specifically configured to obtain the theoretical rod length of the cylinder according to the constructed dynamic and static coordinate system, including:

[0143] According to the coordinates B of the hinge point of the moving platform i The product of the preset coordinate transformation matrix T is to obtain the coordinate B′ of the hinge point of the moving platform corresponding to the static platform i ; Wherein, the preset coordinate transformation matrix includes the posture function of the front shield relative to the support shield;

[0144] According to the coordinate B' of the hinge point of the moving platform corresponding to the static platform i The coordinates of the hinge point of the static platform P i , use the following formula to calculate the theoretical rod length l of each cylinder i :

[0145]

[0146] Among them, the preset coordinate transformation matrix T satisfies the following relationship:

[0147]

[0148] in,

[0149] a is the azimuth angle of the front shield relative to the support shield, p is the pitch angle of the front shield relative to the support shield, r is the roll angle of the front shield relative to the support shield, and x, y, and z are the center coordinates of the front end of the support shield, respectively.

[0150] Optionally, the processing module 402 is specifically configured to determine the position of the front shield relative to the support shield according to the actual rod length of the cylinder and the theoretical rod length of the cylinder, including:

[0151] According to the actual rod length L of the cylinder i And the theoretical rod length of the cylinder l i The difference between , construct the approximation function f:

[0152] f=L i 2 -l i 2 ;

[0153] According to the minimum value of the approach function f, the theoretical rod length l of the cylinder is obtained. i The corresponding position of the front shield relative to the supporting shield.

[0154] Optionally, the processing module 402 is specifically configured to obtain the front shield posture according to the support shield posture and the posture of the front shield relative to the support shield, including:

[0155] According to the support shield posture The azimuth angle a and pitch angle p of the front shield relative to the support shield are used to calculate the center coordinates (X, Y, Z) of the rear end of the front shield using the following formula:

[0156]

[0157] Where L is the length of the support shield, γ is the azimuth angle of the support shield, is the pitch angle of the support shield, μ is the roll angle of the support shield;

[0158] According to the center coordinates (X, Y, Z) of the rear end of the front shield, the center coordinates (X ′ ,Y ′ ,Z ′ ):

[0159]

[0160] Among them, L ′ is the length of the front shield.

[0161] The tunnel boring machine front shield posture processing device based on the figure-eight oil cylinder provided in this embodiment can execute the tunnel boring machine front shield posture processing method based on the figure-eight oil cylinder in the above embodiment. Its implementation principle and technical effects are similar, and will not be repeated here in this embodiment.

[0162] In an embodiment of the present invention, the electronic device or main control device can be divided into functional modules according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present invention is schematic and is only a logical functional division. In actual implementation, there may be other division methods.

[0163] In the specific implementation of the aforementioned tunnel boring machine front shield posture processing device based on the figure-eight oil cylinder, each module can be implemented as a processor, and the processor can execute the computer execution instructions stored in the memory, so that the processor executes the aforementioned tunnel boring machine front shield posture processing method based on the figure-eight oil cylinder.

[0164] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly implemented by a hardware processor or implemented by a combination of hardware and software modules in the processor.

[0165] The memory may include a high-speed RAM memory, and may also include a non-volatile storage NVM, such as at least one disk storage.

[0166] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified into address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0167] The above-mentioned functions implemented by the electronic device and the main control device have introduced the solutions provided by the embodiments of the present invention. It can be understood that in order to implement the above-mentioned functions, the electronic device or the main control device includes hardware structures and / or software modules corresponding to the execution of each function. In combination with the units and algorithm steps of the various examples described in the embodiments disclosed in the embodiments of the present invention, the embodiments of the present invention can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiments of the present invention.

[0168] The present application also provides a roadheader, comprising: a support shield and a front shield, wherein a plurality of oil cylinders arranged obliquely and not parallel to each other are hingedly connected between the support shield and the front shield;

[0169] Total station, used to emit laser to obtain the roll angle, pitch angle and azimuth angle of the support shield;

[0170] Laser target, used to receive laser signals and reflect them to measure the support shield posture;

[0171] Rearview prism, used to obtain the distance between the laser target and the total station to obtain the center coordinates of the support shield;

[0172] A front shield posture processing device for a roadheader based on an eight-shaped oil cylinder is used to obtain the front shield posture according to a front shield posture processing method for a roadheader based on an eight-shaped oil cylinder;

[0173] The laser target is arranged on the rear end surface of the support shield, the total station and the rearview prism are both arranged on the tunnel segment wall, the total station is arranged between the laser target and the rearview prism, and the total station is communicatively connected to the front shield posture processing device of the tunnel boring machine based on the figure eight oil cylinder.

[0174] Specifically, more than six cylinders are hinged between the support shield and the front shield. Generally, 8-12 cylinders are set. Six of them that are relatively dispersed are selected as measurement and monitoring cylinders, and stroke sensors are set on at least these six measurement and monitoring cylinders. By setting multiple inclined and non-parallel cylinders, there is no need to reserve a large space between the front shield and the support shield, and there is no need to install additional measuring equipment. While saving costs, it solves the problem of insufficient space for small-diameter equipment and the inability to install larger measuring instruments.

[0175] The tunnel boring machine provided in this embodiment can execute the tunnel boring machine front shield posture processing method based on the figure eight oil cylinder of the above embodiment. Its implementation principle and technical effects are similar, and this embodiment will not be repeated here.

[0176] The present application also provides a computer-readable storage medium, which stores computer-executable instructions. When a processor executes the computer-executable instructions, the above-mentioned method for processing the posture of the front shield of a tunnel boring machine based on an eight-shaped oil cylinder is implemented.

[0177] The computer-readable storage medium mentioned above can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. The computer-readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0178] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist as discrete components in an electronic device or a main control device.

[0179] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0180] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant laws, regulations and standards, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0181] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for processing the posture of the front shield of a tunnel boring machine based on an eight-shaped oil cylinder, characterized in that: Applied to a tunnel boring machine comprising a support shield and a front shield, wherein a plurality of oil cylinders arranged obliquely and non-parallel to each other are hingedly connected between the support shield and the front shield; the method comprises: Obtaining initial data of the support shield posture and the cylinder; wherein the initial data of the cylinder includes the distribution angle of the cylinder hinge points on the support shield and the front shield, and the actual rod length of the cylinder; According to the distribution angles of the hinge points of the cylinder on the support shield and the front shield, a dynamic and static coordinate system is constructed, and the theoretical rod length of the cylinder is obtained based on the constructed dynamic and static coordinate system; Determine the position of the front shield relative to the support shield based on the actual rod length of the cylinder and the theoretical rod length of the cylinder; Obtaining a front shield posture according to the support shield posture and the posture of the front shield relative to the support shield; The dynamic and static coordinate systems are constructed based on the distribution angles of the hinge points of the oil cylinders on the support shield and the front shield, including: The intersection of the front face of the front shield and the central axis is used as the coordinate origin of the moving platform. According to the distance M from the hinge point of the cylinder on the front shield to the corresponding central axis of the front shield and the distribution angle of the hinge point of the cylinder on the front shield, , determine the coordinates of the spherical joint center of the moving platform : ； The intersection of the front face of the support shield and the central axis is used as the coordinate origin of the static platform. According to the distance N from the hinge point of the support shield to the corresponding central axis of the support shield and the distribution angle of the hinge point on the cylinder support shield, , determine the center coordinates of the spherical joint of the static platform : ； Among them, the cylinder number , n is the total number of cylinders.

2. The method according to claim 1, characterized in that The theoretical rod length of the oil cylinder is obtained based on the constructed dynamic and static coordinate system, including: According to the coordinates of the hinge point of the moving platform and the preset coordinate transformation matrix The product of the moving platform hinge point and the static platform coordinates are obtained. ; Wherein, the preset coordinate transformation matrix includes the posture function of the front shield relative to the support shield; According to the coordinates of the hinge point of the moving platform corresponding to the static platform Coordinates of the hinge points of the static platform , use the following formula to calculate the theoretical rod length of each cylinder : 。 3. The method according to claim 2, characterized in that The preset coordinate transformation matrix Satisfies the following relationship: ； in, , , , , is the azimuth of the front shield relative to the supporting shield, is the pitch angle of the front shield relative to the supporting shield, is the rolling angle of the front shield relative to the supporting shield, are the center coordinates of the front end of the support shield respectively.

4. The method according to claim 2, characterized in that Determining the position of the front shield relative to the support shield based on the actual rod length of the cylinder and the theoretical rod length of the cylinder includes: According to the actual rod length of the cylinder And the theoretical rod length of the cylinder The difference between : ； According to the proximity function The minimum value of the theoretical rod length of the cylinder is obtained The corresponding position of the front shield relative to the supporting shield.

5. The method according to claim 3, characterized in that The obtaining of the front shield posture according to the support shield posture and the posture of the front shield relative to the support shield comprises: According to the support shield posture and the azimuth angle of the front shield relative to the support shield and pitch angle , use the following formula to calculate the center coordinates of the rear end of the front shield : ； in, is the length of the support shield, is the azimuth of the support shield, is the pitch angle of the support shield, is the roll angle of the support shield; According to the center coordinates of the rear end of the front shield , use the following formula to calculate the center coordinates of the front end of the front shield : ； in, is the length of the front shield.

6. The method according to any one of claims 1 to 5, characterized in that: At least six oil cylinders that are arranged obliquely and are not parallel to each other are hinged between the support shield and the front shield.

7. A tunnel boring machine front shield posture processing device based on an eight-shaped oil cylinder, characterized in that: Applicable to a tunnel boring machine comprising a support shield and a front shield, wherein a plurality of oil cylinders arranged obliquely and non-parallel to each other are hingedly connected between the support shield and the front shield; the processing device comprises: An acquisition module is used to acquire the initial data of the support shield posture and the cylinder; wherein the initial data of the cylinder includes the distribution angle of the cylinder hinge points on the support shield and the front shield, and the actual rod length of the cylinder; A processing module is used to construct a dynamic and static coordinate system based on the distribution angles of the hinge points of the oil cylinder on the support shield and the front shield, and obtain the theoretical rod length of the oil cylinder based on the constructed dynamic and static coordinate system; The processing module is further used to determine the position of the front shield relative to the support shield based on the actual rod length of the cylinder and the theoretical rod length of the cylinder; The processing module is further configured to obtain a front shield posture according to the support shield posture and the posture of the front shield relative to the support shield; The processing module is specifically used to use the intersection of the front end surface of the front shield and the central axis as the coordinate origin of the moving platform, and the distribution angle of the hinge point of the cylinder on the front shield to the corresponding central axis of the front shield is calculated according to the distance M between the hinge point of the cylinder on the front shield and the central axis of the front shield. , determine the coordinates of the spherical joint center of the moving platform : ； The intersection of the front face of the support shield and the central axis is used as the coordinate origin of the static platform. According to the distance N from the hinge point of the support shield to the corresponding central axis of the support shield and the distribution angle of the hinge point on the cylinder support shield, , determine the center coordinates of the spherical joint of the static platform : ； Among them, the cylinder number , n is the total number of cylinders.

8. A tunnel boring machine, characterized in that: include: A support shield and a front shield, wherein a plurality of oil cylinders arranged obliquely and not parallel to each other are hingedly connected between the support shield and the front shield; Total station, used to emit laser to obtain the roll angle, pitch angle and azimuth angle of the support shield; Laser target, used to receive laser signals and reflect them to measure the support shield posture; Rearview prism, used to obtain the distance between the laser target and the total station to obtain the center coordinates of the support shield; A front shield posture processing device for a roadheader based on an eight-shaped oil cylinder, used for obtaining the front shield posture according to any method described in claims 1-6; The laser target is arranged on the rear end surface of the support shield, the total station and the rearview prism are both arranged on the tunnel segment wall, the total station is arranged between the laser target and the rearview prism, and the total station is communicatively connected with the front shield posture processing device of the tunnel boring machine based on the figure eight oil cylinder.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions, which are used to implement the method according to any one of claims 1 to 6 when executed by a processor.

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