Guiding system and method for double-shield hard rock tunneling machine

Abstract

The invention relates to a double-shield hard rock heading machine guiding system and method. The double-shield hard rock heading machine guiding system comprises a total station, a first prism, a laser target, a plurality of second prisms, a binocular camera, a characteristic body and an upper computer system. The total station and the first prism are both mounted on the mounted shield segment; the laser target, the plurality of second prisms and the binocular camera are all mounted on the supporting shield; the feature body is installed on the anterior shield, and a plurality of feature points are deployed on the feature body; the total station and the first prism measure the target coordinates of the laser target; the laser target and the plurality of second prisms measure the supporting shield attitude of the supporting shield; the binocular camera measures point position coordinates of the feature points, and a first anterior shield attitude of the anterior shield is determined according to the point position coordinates; and the upper computer system selects a target measurement mode from preset measurement modes during tunneling, determines a target anterior shield attitude of the anterior shield based on the target measurement mode according to the target coordinates, the point location coordinates, the support shield attitude and the first anterior shield attitude, and performs tunneling guidance according to the target anterior shield attitude.

Description

Technical Field

[0001] The present disclosure relates to the technical field of shield construction, and in particular to a double-shield hard rock tunnel boring machine guidance system and method. Background Art

[0002] The double shield hard rock tunnel boring machine has the characteristics of high construction efficiency for formations with complex rock properties, high rock strength and small turning radius. The cylinder between the support shield and the front shield of the double shield hard rock tunnel boring machine is a spherical cylinder mechanism. The degree of freedom formed by this structure is large. If the stroke of the cylinder is used to calculate the posture of the front shield, it will lead to a large error in the posture of the front shield.

[0003] In related scenarios, for example, 201910126974.7 and "Research on Guidance System Based on Double Shield TBM" install a photosensitive target on the front shield, emit laser through the support shield laser transmitter, and the photosensitive target collects the offset of the laser to calculate the deviation value of the front shield, but the width of the photosensitive target is limited and its applicability is low. Another example is "Research on Key Technologies of Guidance System of Double Shield Hard Rock Tunnel Boring Machine" uses a monocular camera to identify the three-dimensional coordinates of the feature points in front to solve the posture of the front shield; 202020349116.7 uses a binocular camera to identify the three-dimensional coordinates of the feature points installed on the front shield to solve the posture of the front shield; 202110937837.9 discloses an alternating positioning guidance system. Compared with the binocular camera double shield guidance system, an additional set of binocular cameras is added to the front shield body and an additional set of feature points is added to the support shield. The two sets of guidance groups are positioned with each other to reduce the number of station changes of the guidance system. Although the above technical solutions all have the function of measuring the front shield posture, they do not verify whether the posture is accurate, and when the hardware is damaged, the system cannot work normally. Summary of the invention

[0004] In order to overcome the technical problem of low accuracy in measuring the front shield posture in the related art, the present disclosure provides a double-shield hard rock tunnel boring machine guidance system and method.

[0005] In a first aspect of an embodiment of the present disclosure, a double-shield hard rock tunnel boring machine guidance system is provided, comprising:

[0006] Total station, first prism, laser target, multiple second prisms, binocular camera, feature body and host computer system;

[0007] The total station and the first prism are both installed on the installed shield segment;

[0008] The laser target, the plurality of the second prisms and the binocular camera are all mounted on the support shield of the double-shield hard rock tunnel boring machine;

[0009] The feature body is mounted on the front shield of the double-shield hard rock tunnel boring machine, a plurality of feature points are deployed on the feature body, and the distance between the plurality of feature points meets a preset threshold, wherein the laser target and a plurality of the second prisms are mounted on a side of the support shield close to the total station, and the binocular camera is mounted on a side of the support shield close to the front shield;

[0010] The total station and the first prism are respectively used to measure the target coordinates of the laser target;

[0011] The laser target and the plurality of the second prisms are used to measure the support shield posture of the support shield;

[0012] The binocular camera is used to measure the point coordinates of the feature point on the feature body, and determine the first front shield posture of the front shield according to the point coordinates;

[0013] The host computer system is used to select a target measurement mode from preset measurement modes during the excavation process, and based on the target measurement mode, determine the target front shield posture of the front shield according to the target coordinates, the point coordinates, the support shield posture and the first front shield posture, and guide the excavation of the double shield hard rock tunnel boring machine according to the target front shield posture.

[0014] In a possible implementation, the host computer system is specifically used to:

[0015] During the excavation process, target measurement modes are selected one by one from the preset measurement modes;

[0016] Based on the pre-calibrated information and the target measurement mode selected each time, determining the target front shield posture of the front shield according to the target coordinates, the point coordinates, the support shield posture and the first front shield posture;

[0017] The target front shield postures of the front shields in each target measurement mode are compared and a measurement evaluation result in each target measurement mode is given.

[0018] In a possible implementation, the pre-calibration information includes:

[0019] Pre-calibrating a first positional relationship between the laser target and the plurality of second prisms relative to a coordinate system of the support shield;

[0020] Pre-calibrating the attitude conversion relationship between the support shield and the binocular camera;

[0021] A second positional relationship of the feature body relative to the coordinate system of the front shield is pre-calibrated.

[0022] In a possible implementation, the host computer system is specifically used to:

[0023] Calculating the camera posture of the binocular camera according to the target coordinates, the support shield posture and the point coordinates of the feature points in the feature body recognized by the binocular camera in its coordinate system, and determining the first front shield posture of the front shield according to the camera posture, the first position and the posture conversion relationship; and / or,

[0024] Determine the first front shield posture of the front shield based on the left point coordinates of the feature body recognized by the left monocular camera in the binocular camera and the second position relationship, and / or, based on the right point coordinates of the feature body recognized by the right monocular camera in the binocular camera and the second position relationship; and / or,

[0025] The initial axis deviation values ​​between the center of the feature body and the axes of the left and right monocular cameras in the binocular camera are respectively determined; during the tunneling process, the real-time axis deviation values ​​between the center of the feature body and the axes of the left and right monocular cameras in the binocular camera are respectively determined; the left deviation and the right deviation of the double-shield hard rock tunneling machine are determined according to the real-time axis deviation value and the initial axis deviation value; the first front shield posture of the front shield is determined according to the left deviation, the right deviation and the shield machine parameters.

[0026] In a possible implementation, the double-shield hard rock tunnel boring machine guidance system further includes: an inclinometer, the inclinometer being mounted on the front shield of the double-shield hard rock tunnel boring machine;

[0027] The inclinometer is used to measure a second front shield posture of the front shield;

[0028] The host computer system is specifically used to determine the attitude angle of the front shield according to the left deviation, the right deviation and the second front shield attitude;

[0029] The first front shield posture of the front shield is determined according to the posture angle and the shield machine parameters.

[0030] In a possible implementation, the host computer system is further used for:

[0031] Determine the maximum measurement data error corresponding to each target measurement mode according to the measurement evaluation result;

[0032] Determine the target object with measurement error according to the maximum measurement data error corresponding to each of the target measurement modes;

[0033] The target object is alerted of the existence of measurement errors.

[0034] In a possible implementation, the laser target is used to:

[0035] Self-checking the first posture of the support shield;

[0036] Determining a second posture of the double-shield hard rock tunnel boring machine based on the light spot generated by the total station;

[0037] The inclinometer in the laser target is calibrated according to the first posture and the second posture, and the calibrated inclinometer is used to measure the support shield posture of the support shield.

[0038] In a possible implementation, the feature body is deployed with at least 5 feature points and at least one feature point is deployed at the center of the feature body, the feature body has at least two feature planes and each of the feature planes is deployed with the feature point, wherein the distance between the feature planes satisfies the preset threshold.

[0039] In a possible implementation, the host computer system is further used for:

[0040] When the measured target coordinates and / or the support shield posture do not meet the preset measurement conditions, the assembly support shield posture of the support shield is determined according to the point coordinates of the feature points on the feature body, the posture angle matrix of the binocular camera, and the initial translation matrix between the support shield and the binocular camera;

[0041] The double-shield hard rock tunnel boring machine is assisted in tunneling guidance according to the posture of the assembled support shield.

[0042] In a second aspect of an embodiment of the present disclosure, a double shield hard rock tunnel boring machine guidance method is provided, which is applied to the double shield hard rock tunnel boring machine guidance system described in any one of the first aspects, and the method comprises:

[0043] Measuring target coordinates of a laser target respectively by a total station and a first prism, wherein the laser target is mounted on a support shield of the double-shield hard rock tunnel boring machine;

[0044] Measuring the support shield posture of the support shield by means of the laser target and a plurality of second prisms, wherein the plurality of second prisms are mounted on the support shield of the double shield hard rock tunnel boring machine;

[0045] The point coordinates of the feature points on the feature body are measured by a binocular camera, and a first front shield posture of the front shield is determined according to the point coordinates, wherein the feature body is installed on the front shield of the double shield hard rock tunnel boring machine, a plurality of feature points are deployed on the feature body, and the distance between the plurality of feature points meets a preset threshold, wherein the laser target and a plurality of the second prisms are installed on a side of the support shield close to the total station, and the binocular camera is installed on the support shield of the double shield hard rock tunnel boring machine;

[0046] During the excavation process, the host computer system selects a target measurement mode from preset measurement modes, and based on the target measurement mode, determines the target front shield posture of the front shield according to the target coordinates, the point coordinates, the support shield posture and the first front shield posture, and guides the excavation of the double shield hard rock tunnel boring machine according to the target front shield posture.

[0047] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0048] The target coordinates of the laser target are measured by the total station and the first prism installed on the installed shield segment; the support shield posture of the support shield is measured by the laser target and multiple second prisms installed on the support shield; the point coordinates of multiple feature points deployed on the feature body installed on the front shield are measured by the binocular camera installed on the support shield, and the first front shield posture of the front shield is determined according to the point coordinates; during excavation, the host computer system selects the target measurement mode from the preset measurement mode, and based on the target measurement mode, determines the target front shield posture of the front shield according to the target coordinates, point coordinates, support shield posture and the first front shield posture, and guides the excavation according to the target front shield posture. The posture of the support shield and the front shield can be monitored in real time, and the target front shield posture of the front shield can be automatically calculated according to the preset measurement mode, so as to guide the excavation process, and then the segment installation accuracy can be controlled.

[0049] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0051] Figure 1 It is a schematic structural diagram of a double-shield hard rock tunnel boring machine guidance system according to an exemplary embodiment.

[0052] Figure 2 It is a flow chart of a method for mutual verification of multiple measurement methods of a double-shield hard rock tunnel boring machine guidance system according to an exemplary embodiment.

[0053] Figure 3 It is a schematic structural diagram of a feature body according to an exemplary embodiment.

[0054] Figure 4 The present invention is a flow chart of a double-shield hard rock tunnel boring machine guidance method according to an exemplary embodiment. DETAILED DESCRIPTION

[0055] 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 disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0056] Figure 1 FIG. 1 is a schematic structural diagram of a double shield hard rock tunnel boring machine guidance system according to an exemplary embodiment. Figure 1 As shown, the double-shield hard rock tunnel boring machine guidance system includes: a total station, a first prism, a laser target, a plurality of second prisms, a binocular camera, a feature body and a host computer system;

[0057] The total station and the first prism are both installed on the installed shield segment;

[0058] The laser target, the plurality of the second prisms and the binocular camera are all mounted on the support shield of the double-shield hard rock tunnel boring machine;

[0059] The feature body is mounted on the front shield of the double-shield hard rock tunnel boring machine, a plurality of feature points are deployed on the feature body, and the distance between the plurality of feature points meets a preset threshold, wherein the laser target and a plurality of the second prisms are mounted on a side of the support shield close to the total station, and the binocular camera is mounted on a side of the support shield close to the front shield;

[0060] The total station and the first prism are respectively used to measure the target coordinates of the laser target;

[0061] The laser target and the plurality of the second prisms are used to calculate the support shield posture of the support shield;

[0062] The binocular camera is used to measure the point coordinates of the feature point on the feature body, and the host computer determines the first front shield posture of the front shield according to the point coordinates;

[0063] The host computer system is used to select a target measurement mode from preset measurement modes during the excavation process, and based on the target measurement mode, determine the target front shield posture of the front shield according to the target coordinates, the point coordinates, the support shield posture and the first front shield posture, and guide the excavation of the double shield hard rock tunnel boring machine according to the target front shield posture.

[0064] In the disclosed embodiment, the first prism can play a rear-view role, that is, a rear-view prism. The laser target and multiple second prisms are all installed on the upper part of the support shield, wherein the upper part can be understood as the shield segment close to the top and the shield segment away from the ground. There are at least two second prisms. The laser target and multiple second prisms have the function of calculating the support shield posture. The laser target can self-check the support shield posture of the support shield, wherein the support shield posture can include the pitch angle and the roll angle. The pitch angle and roll angle of the shield machine are calculated based on the total station spot, and the pitch angle and roll angle data of the shield machine are calculated by checking the inclinometer inside the target.

[0065] Among them, the multiple second prisms can self-check the posture data of the support shield and serve as a backup measurement method when a problem occurs with the laser target; specifically, the prism on the laser target can be used as one of the prisms to form a three-prism method with the other two prisms to calculate the posture of the support shield.

[0066] In the disclosed embodiment, the binocular camera can be a camera with binocular vision, or a camera system composed of two monocular cameras, and the binocular camera can see the feature body. The binocular camera can identify the three-dimensional coordinates of the feature points in front based on the camera coordinate system, and calculate the front shield posture according to the coordinate conversion principle; each monocular in the binocular camera can be used separately, and the left and right cameras in the binocular camera are used as monocular cameras to respectively identify the three-dimensional coordinates calculated by the feature points in front, so as to calculate the front shield posture according to the coordinate conversion principle; the left and right cameras in the binocular camera are used as monocular cameras to respectively identify the deviation value of the center point of the feature body, and the center point deviation value of the feature body is used to calculate the front shield posture. Among them, the feature body can be a cubic structure.

[0067] In the disclosed embodiment, the host computer system communicates with other hardware, reads relevant data and controls the operation of system-related equipment; and is also used to display, calculate and save initial calibration and calculation data related to the use of the system.

[0068] In the disclosed embodiment, relevant data needs to be calibrated initially, for example, the positional relationship of the support shield laser target and multiple prisms relative to the support shield coordinate system and the attitude conversion relationship between the laser target or prism and the binocular camera are calibrated; the positional relationship of multiple feature points on the front shield relative to the front shield coordinate system and the parameters of multiple feature points in the binocular camera are calibrated; and the angle data of the front shield inclinometer is checked.

[0069] The above technical solution measures the target coordinates of the laser target by installing a total station and a first prism on the installed shield segment; measures the support shield posture of the support shield by installing a laser target and multiple second prisms on the support shield; measures the point coordinates of multiple feature points deployed on the feature body installed on the front shield by a binocular camera installed on the support shield, and determines the first front shield posture of the front shield according to the point coordinates; selects the target measurement mode from the preset measurement mode by the host computer system during excavation, and determines the target front shield posture of the front shield based on the target measurement mode according to the target coordinates, point coordinates, support shield posture and the first front shield posture, and guides the excavation according to the target front shield posture. The postures of the support shield and the front shield can be monitored in real time, and the target front shield posture of the front shield can be automatically calculated according to the preset measurement mode, so as to guide the excavation process, and then the control of the segment installation accuracy can be achieved.

[0070] In a possible implementation, the host computer system is specifically used to:

[0071] During the excavation process, target measurement modes are selected one by one from the preset measurement modes;

[0072] Based on the pre-calibrated information and the target measurement mode selected each time, determining the target front shield posture of the front shield according to the target coordinates, the point coordinates, the support shield posture and the first front shield posture;

[0073] The target front shield postures of the front shields in each target measurement mode are compared and a measurement evaluation result in each target measurement mode is given.

[0074] In the embodiments of the present disclosure, see Figure 2 As shown in the figure, during the excavation process, according to the selected mode, if one of the modes is selected to measure the front shield posture, when the shield machine is excavating normally, the total station calculates the support shield posture by measuring the laser target coordinates and thus calculates the camera posture information. Then measure according to the selected mode. If the selected mode fails to measure, the system analyzes the relevant reasons and automatically switches to other modes for measurement; if other modes fail to measure, the system analyzes the relevant reasons and prompts to enter the next measurement cycle. If one of the modes is successfully measured, the system gives the data of the successful measurement mode. When the system time reaches the set posture verification interval, when the selected mode is measured, the system automatically measures other modes and gives a score.

[0075] According to the selected mode, if two of the modes are selected to measure the shield posture, the system automatically gives a score at the end of the measurement. When the shield machine is excavating normally, the total station calculates the support shield posture by measuring the laser target coordinates and then calculates the camera posture information, and then measures according to the selected mode. If one of the selected modes fails to measure, the system analyzes the relevant reasons and prompts, and automatically switches to the unselected mode for measurement; if all measurement modes fail, the system analyzes the relevant reasons and prompts to enter the next measurement cycle. If one of the modes is successfully measured, the system gives the data of the successful measurement mode. When the system time reaches the set posture verification interval, when the selected mode is measured, the system automatically measures other modes and gives a score.

[0076] According to the selected mode, if three modes are selected to measure the front shield posture, the system automatically gives a score at the end of the measurement. When the shield machine is excavating normally, the total station calculates the support shield posture by measuring the laser target coordinates to calculate the camera posture information. Then calculate the front shield posture according to the first measurement method. If the measurement is successful, calculate the front shield posture according to the second measurement method; if the first method fails, the system prompts that the measurement failed, and analyzes the cause of failure and then calculates the front shield posture according to the second measurement method; if the second method is successful, calculate the front shield posture according to the third measurement method; if the second method fails, the system prompts that the measurement failed and analyzes the cause of failure; then calculate the front shield posture system according to the third measurement method; three measurement posture data deviations, give a score, if one of the deviations is too large, analyze the relevant reasons. If all three measurements fail, the system analyzes the relevant reasons and prompts to enter the next measurement cycle. If one of the modes is successfully measured, the system gives the data of the successful measurement mode. At the same time, the system will compare the relevant data with the previous data. If the data deviation exceeds the set deviation value, the system automatically reminds the user.

[0077] The above technical solution can use binoculars to achieve multiple ways of measurement and calculate posture data. Through multiple ways of mutual verification, system problems can be discovered and prompted in time. When one of the binocular cameras has a problem, the monocular camera in the binocular can be switched to measure without delaying on-site construction. At the same time, when there is a problem with the laser target or total station, the posture of the support shield can be reversely calculated through the feature points of the front shield.

[0078] In a possible implementation, the pre-calibration information includes:

[0079] Pre-calibrating a first positional relationship between the laser target and the plurality of second prisms relative to a coordinate system of the support shield;

[0080] Pre-calibrating the attitude conversion relationship between the support shield and the binocular camera;

[0081] A second positional relationship of the feature body relative to the coordinate system of the front shield is pre-calibrated.

[0082] In one possible implementation, the host system can select which measurement mode to use, and one, two or three measurement modes can be used; if one or two measurement modes are selected, when the measurement fails, it will automatically jump to other modes for measurement; if one measurement mode is selected, the system can set an interval time, and when the interval time is reached, the system automatically uses other methods to measure the posture, thereby verifying the shield posture. If three measurement modes are selected, the system will enter the next measurement cycle if the measurement fails.

[0083] The host computer system is specifically used for:

[0084] Calculating the camera posture of the binocular camera according to the target coordinates, the support shield posture, and the point coordinates of the feature points in the feature body recognized by the binocular camera in its coordinate system, and determining the first front shield posture of the front shield according to the camera posture, the first position, and the posture conversion relationship;

[0085] This measurement method (hereinafter referred to as the first measurement method) is that the binocular camera recognizes the three-dimensional coordinates of a cube with multiple feature points in the binocular camera coordinate system, calculates the camera posture data through the support shield laser target coordinates and posture, and calculates the posture of the front shield through coordinate system conversion.

[0086] Determine the first front shield posture of the front shield based on the left point coordinates of the feature body recognized by the left monocular camera in the binocular camera and the second position relationship, and / or based on the right point coordinates of the feature body recognized by the right monocular camera in the binocular camera and the second position relationship;

[0087] This measurement method (hereinafter referred to as the second measurement method) utilizes each monocular camera in the binocular camera for recognition, recognizes the coordinate data of the feature points of the front shield based on the PnP principle based on the left monocular camera, and calculates the front shield posture according to the coordinate transformation principle; recognizes the coordinate data of the feature points of the front shield based on the PnP principle based on the right monocular camera, and calculates the front shield posture according to the coordinate transformation principle.

[0088] The initial axis deviation values ​​between the center of the feature body and the axes of the left and right monocular cameras in the binocular camera are respectively determined; during the tunneling process, the real-time axis deviation values ​​between the center of the feature body and the axes of the left and right monocular cameras in the binocular camera are respectively determined; the left deviation and the right deviation of the double-shield hard rock tunneling machine are determined according to the real-time axis deviation value and the initial axis deviation value; the first front shield posture of the front shield is determined according to the left deviation, the right deviation and the shield machine parameters.

[0089] This measurement method (hereinafter referred to as the third measurement method) is based on the calculation of the displacement of the center feature point of the multi-feature point square equivalent to the camera axis; the deviation value of the axis of the monocular camera needs to be calibrated initially. If the initial deviation of the center position of the multi-feature point cube and the axis of the monocular camera is (Δx0, Δy0); if the shield machine advances forward, the monocular camera recognizes and calculates the deviation (Δx0) between the center position of the multi-feature point cube and the axis of the monocular camera i ,Δy i ), then the left and right deviation of the shield machine is (Δx i -Δx0,Δy i -Δy0), combined with the shield machine parameters, the deviation posture of the front shield can be calculated. At the same time, both the left and right cameras can calculate the relevant deviation data.

[0090] In a possible implementation, the double-shield hard rock tunnel boring machine guidance system further includes: an inclinometer, the inclinometer being mounted on the front shield of the double-shield hard rock tunnel boring machine;

[0091] The inclinometer is used to measure a second front shield posture of the front shield;

[0092] The host computer system is specifically used to determine the attitude angle of the front shield according to the left deviation, the right deviation and the second front shield attitude;

[0093] The first front shield posture of the front shield is determined according to the posture angle and the shield machine parameters.

[0094] This measurement method can be used to measure the left and right deviations (Δx i -Δx0,Δy i -Δy0) is combined with the front shield inclinometer roll angle to correct the deviation data, so as to calculate the attitude angle of the front shield, and then combined with the shield machine parameters, the deviation attitude of the front shield can be calculated. At the same time, both the left and right cameras can calculate the relevant deviation data.

[0095] In a possible implementation, the host computer system is further used for:

[0096] Determine the maximum measurement data error corresponding to each target measurement mode according to the measurement evaluation result;

[0097] Determine the target object with measurement error according to the maximum measurement data error corresponding to each of the target measurement modes;

[0098] The target object is alerted of the existence of measurement errors.

[0099] The scoring mechanism is to compare the data of several measurement mechanisms, score whether the error exceeds the set range, and mainly evaluate three functions. The first is the scoring mechanism for the support shield and front shield angle; the second is the scoring mechanism for the support shield posture; and the third is the scoring mechanism for the front shield posture.

[0100] The scoring mechanism for the support shield and front shield angles is based on the total station spot calculation of the pitch angle and roll angle of the shield machine and the data of the pitch angle and roll angle of the inclinometer inside the target; the scoring mechanism for the front shield is based on the comparison of the angle of the front shield inclinometer with the angles measured by the first and second measurement methods. The specific scoring rules are as follows: the angle error can be set to X a ;

[0101] (1) If the score is 90 ≤ X < 100, the maximum measurement data error of the pitch angle and roll angle is X. a Within °;

[0102] (2) If the score is 80 ≤ X < 90, the maximum measurement data error of the pitch angle and roll angle is 2X a Within °;

[0103] (3) If the score is 70≤X<80, the maximum measurement data error of the pitch angle and roll angle is 3X a Within °;

[0104] (4) If the score is 60≤X<70, the maximum measurement data error of the pitch angle and roll angle is 4X a Within °;

[0105] (5) If the score is 0≤X<60, the maximum measurement data error of the pitch angle and roll angle is 5X a Within °;

[0106] The front shield posture scoring mechanism is to score the posture data comparison of the three measurement methods. After giving the score, if the score is low, the system will prompt which measurement mode has a problem and give a simple processing method for the mode: The specific method of the front shield posture scoring mechanism is as follows:

[0107] If the whole system fails to measure, the system prompts that the measurement failed, and no scoring is performed in this measurement cycle; if only one system is successfully measured, the current measurement cycle will be scored, but it needs to be compared with the previous measurement data. If it exceeds the set threshold, the system will prompt and remind the user whether there is a problem with the camera and whether the front mark is blocked. If two or more measurement methods are successful, the following scoring is performed: The specific scoring rules are as follows, and the data error can be set to X a ;

[0108] (1) If the score is 90≤X<100, the comparison error of the measured data is within Xmm;

[0109] (2) If the score is 80≤X<90, the comparison error of the measured data is within 2Xmm;

[0110] (3) If the score is 70≤X<80, the comparison error of the measured data is within 3Xmm;

[0111] (4) If the score is 60≤X<70 points, the comparison error of the measured data is within 4Xmm;

[0112] (5) If the score is 0≤X<60 points, the comparison error of the measured data is within 5Xmm;

[0113] The support shield posture scoring mechanism is based on the comparative scoring of the support shield laser target and prism measurement results; and the comparative scoring of the support shield posture using the front shield multi-feature point cube. The specific scoring rules are consistent with the front shield posture scoring mechanism.

[0114] In a possible implementation, the laser target is used to:

[0115] Self-checking the first posture of the support shield;

[0116] Determining a second posture of the double-shield hard rock tunnel boring machine based on the light spot generated by the total station;

[0117] The inclinometer in the laser target is calibrated according to the first posture and the second posture, and the calibrated inclinometer is used to measure the support shield posture of the support shield.

[0118] In a possible implementation, the feature body is deployed with at least 5 feature points and at least one feature point is deployed at the center of the feature body, the feature body has at least two feature planes and each of the feature planes is deployed with the feature point, wherein the distance between the feature planes satisfies the preset threshold.

[0119] In the embodiment of the present disclosure, the preset threshold value may be 500 mm, see Figure 3 As shown, the distance between the first characteristic plane and the second characteristic plane is at least 500mm. Similarly, the distance between any two characteristic points on the first characteristic plane is at least 500mm, and the distance between any two characteristic points on the second characteristic plane is at least 500mm. The characteristic body is a cube with multiple characteristic points. The characteristic points can be irregularly distributed in special shapes, but the bottom must be a square.

[0120] In a possible implementation, the host computer system is further used for:

[0121] When the measured target coordinates and / or the support shield posture do not meet the preset measurement conditions, the front shield posture is determined according to the point coordinates of the feature points on the feature body, the posture angle matrix of the binocular camera, and the initial translation matrix between the support shield and the binocular camera;

[0122] The front shield posture of the double-shield hard rock tunnel boring machine is assisted in tunneling guidance according to the support shield posture.

[0123]

[0124] Among them, R o is the attitude angle matrix of the binocular camera; C y It is the translation matrix between the support shield and the binocular camera. is the point coordinate of the feature point, The assembly posture of the support shield is shown.

[0125] When the shield machine is excavating, the support shield is fixed. When the front shield is excavating, the support shield data recorded by the system is used to measure the three-dimensional coordinates of each feature point of the front shield; when the excavation is completed, the system records the three-dimensional coordinates of each feature point on the feature body. When the support shield stops moving forward, the camera's attitude angle matrix and translation matrix are calculated using the above formula (1) and the three-dimensional coordinates of each feature point on the feature body. Then, the matrix relationship of the initial calibration can be used to calculate the relevant attitude data of the support shield. When the assembly is completed, the front shield of the shield machine continues to excavate, and the attitude of the front shield is calculated based on the support shield data.

[0126] The present disclosure also provides a double shield hard rock tunnel boring machine guidance method, which is applied to the double shield hard rock tunnel boring machine guidance system described in any of the above embodiments, see Figure 4 As shown, the method includes:

[0127] In step S41, the target coordinates of the laser target are measured by a total station and a first prism respectively, and the laser target is installed on the support shield of the double shield hard rock tunnel boring machine;

[0128] In step S42, the support shield posture of the support shield is measured by the laser target and a plurality of second prisms, wherein the plurality of second prisms are mounted on the support shield of the double shield hard rock tunnel boring machine;

[0129] In step S43, the point coordinates of the feature points on the feature body are measured by a binocular camera, and a first front shield posture of the front shield is determined according to the point coordinates, the feature body is installed on the front shield of the double shield hard rock tunnel boring machine, a plurality of feature points are deployed on the feature body, and the distance between the plurality of feature points meets a preset threshold, wherein the laser target and a plurality of the second prisms are installed on a side of the support shield close to the total station, and the binocular camera is installed on the support shield of the double shield hard rock tunnel boring machine;

[0130] In step S44, during the excavation process, the host computer system selects a target measurement mode from the preset measurement modes, and based on the target measurement mode, determines the target front shield posture of the front shield according to the target coordinates, the point coordinates, the support shield posture and the first front shield posture, and guides the excavation of the double shield hard rock tunnel boring machine according to the target front shield posture.

[0131] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the present disclosure. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are intended to be exemplary only.

[0132] It should be understood that the present disclosure is not limited to the exact construction that has been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof.

Claims

1. A double shield hard rock tunnel boring machine guidance system, characterized in that: The system comprises: Total station, first prism, laser target, multiple second prisms, binocular camera, feature body and host computer system; The total station and the first prism are both installed on the installed shield segment; The laser target, the plurality of the second prisms and the binocular camera are all mounted on the support shield of the double-shield hard rock tunnel boring machine; The feature body is mounted on the front shield of the double-shield hard rock tunnel boring machine, a plurality of feature points are deployed on the feature body, and the distance between the plurality of feature points meets a preset threshold, wherein the laser target and a plurality of the second prisms are mounted on a side of the support shield close to the total station, and the binocular camera is mounted on a side of the support shield close to the front shield; The total station and the first prism are respectively used to measure the target coordinates of the laser target; The laser target and the plurality of the second prisms are used to measure the support shield posture of the support shield; The binocular camera is used to measure the point coordinates of the feature point on the feature body, and determine the first front shield posture of the front shield according to the point coordinates; The host computer system is used to select a target measurement mode from preset measurement modes during the excavation process, and based on the target measurement mode, determine the target front shield posture of the front shield according to the target coordinates, the point coordinates, the support shield posture and the first front shield posture, and guide the excavation of the double shield hard rock tunnel boring machine according to the target front shield posture.

2. The double shield hard rock tunnel boring machine guidance system according to claim 1, characterized in that: The host computer system is specifically used for: During the excavation process, target measurement modes are selected one by one from the preset measurement modes; Based on the pre-calibrated information and the target measurement mode selected each time, determining the target front shield posture of the front shield according to the target coordinates, the point coordinates, the support shield posture and the first front shield posture; The target front shield postures of the front shields in each target measurement mode are compared and a measurement evaluation result in each target measurement mode is given.

3. The double shield hard rock tunnel boring machine guidance system according to claim 2, characterized in that: The pre-calibration information includes: Pre-calibrating a first positional relationship between the laser target and the plurality of second prisms relative to a coordinate system of the support shield; Pre-calibrating the attitude conversion relationship between the support shield and the binocular camera; A second positional relationship of the feature body relative to the coordinate system of the front shield is pre-calibrated.

4. The double shield hard rock tunnel boring machine guidance system according to claim 3, characterized in that: The host computer system is specifically used for: Calculating the camera posture of the binocular camera according to the target coordinates, the support shield posture, and the point coordinates of the feature points in the feature body recognized by the binocular camera in its coordinate system, and determining the first front shield posture of the front shield according to the camera posture, the first position, and the posture conversion relationship; and / or, Determine the first front shield posture of the front shield based on the left point coordinates of the feature body recognized by the left monocular camera in the binocular camera and the second position relationship, and / or based on the right point coordinates of the feature body recognized by the right monocular camera in the binocular camera and the second position relationship; and / or, The initial axis deviation values ​​between the center of the feature body and the axes of the left and right monocular cameras in the binocular camera are respectively determined; during the tunneling process, the real-time axis deviation values ​​between the center of the feature body and the axes of the left and right monocular cameras in the binocular camera are respectively determined; the left deviation and the right deviation of the double-shield hard rock tunneling machine are determined according to the real-time axis deviation value and the initial axis deviation value; the first front shield posture of the front shield is determined according to the left deviation, the right deviation and the shield machine parameters.

5. The double shield hard rock tunnel boring machine guidance system according to claim 4, characterized in that: The double-shield hard rock tunnel boring machine guidance system further includes: an inclinometer, the inclinometer being mounted on the front shield of the double-shield hard rock tunnel boring machine; The inclinometer is used to measure a second front shield posture of the front shield; The host computer system is specifically used to determine the attitude angle of the front shield according to the left deviation, the right deviation and the second front shield attitude; The first front shield posture of the front shield is determined according to the posture angle and the shield machine parameters.

6. The double shield hard rock tunnel boring machine guidance system according to claim 2, characterized in that: The host computer system is also used for: Determine the maximum measurement data error corresponding to each target measurement mode according to the measurement evaluation result; Determine the target object with measurement error according to the maximum measurement data error corresponding to each of the target measurement modes; The target object is alerted of the existence of measurement errors.

7. The double shield hard rock tunnel boring machine guidance system according to claim 1, characterized in that: The laser target is used for: Self-checking the first posture of the support shield; Determining a second posture of the double-shield hard rock tunnel boring machine based on the light spot generated by the total station; The inclinometer in the laser target is calibrated according to the first posture and the second posture, and the calibrated inclinometer is used to measure the support shield posture of the support shield.

8. The double shield hard rock tunnel boring machine guidance system according to claim 1, characterized in that: The feature body is deployed with at least 5 feature points and at least one feature point is deployed at the center of the feature body, the feature body has at least two feature planes and each of the feature planes is deployed with the feature point, wherein the distance between the feature planes meets the preset threshold.

9. The double shield hard rock tunnel boring machine guidance system according to any one of claims 1 to 8, characterized in that: The host computer system is also used for: When the measured target coordinates and / or the support shield posture do not meet the preset measurement conditions, the assembly support shield posture of the support shield is determined according to the point coordinates of the feature points on the feature body, the posture angle matrix of the binocular camera, and the initial translation matrix between the support shield and the binocular camera; The double-shield hard rock tunnel boring machine is assisted in tunneling guidance according to the posture of the assembled support shield.

10. A double shield hard rock tunnel boring machine guidance method, characterized in that: Applied to the double shield hard rock tunnel boring machine guidance system according to any one of claims 1 to 9, the method comprising: Measuring target coordinates of a laser target respectively by a total station and a first prism, wherein the laser target is mounted on a support shield of the double-shield hard rock tunnel boring machine; Measuring the support shield posture of the support shield by means of the laser target and a plurality of second prisms, wherein the plurality of second prisms are mounted on the support shield of the double shield hard rock tunnel boring machine; The point coordinates of the feature points on the feature body are measured by a binocular camera, and a first front shield posture of the front shield is determined according to the point coordinates, wherein the feature body is installed on the front shield of the double shield hard rock tunnel boring machine, a plurality of feature points are deployed on the feature body, and the distance between the plurality of feature points meets a preset threshold, wherein the laser target and a plurality of the second prisms are installed on a side of the support shield close to the total station, and the binocular camera is installed on the support shield of the double shield hard rock tunnel boring machine; During the excavation process, the host computer system selects a target measurement mode from preset measurement modes, and based on the target measurement mode, determines the target front shield posture of the front shield according to the target coordinates, the point coordinates, the support shield posture and the first front shield posture, and guides the excavation of the double shield hard rock tunnel boring machine according to the target front shield posture.

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