Shield guiding system based on single-axis rotation inertial navigation and total station

Abstract

The invention discloses a shield guiding system based on single-axis rotation inertial navigation and a total station. The shield guiding system is characterized in that a shield head of a shield tunneling machine faces the tunneling direction of a tunnel; the inertial navigation unit measures attitude information of the shield tunneling machine, and the control box is connected with the inertial navigation unit through a cable and used for transmitting the attitude information of the inertial navigation unit to the industrial computer through the control box; the rear-end prism is mounted on a tunnel pipe wall, the total station is mounted between the inertial navigation device and the rear-end prism, and coordinate information of the inertial navigation device under a coordinate system of the total station is measured through the aiming prism; data exchange is carried out between the radio station and the total station according to an internal protocol, and data of the total station is sent to the industrial computer; the industrial computer is connected with the radio station and the control box through cables, coordinate transformation is carried out based on collected measurement information of inertial navigation and the total station, and the deviation between a reference point of the shield tunneling machine and a designed standard route and the tunneling trend of the shield tunneling machine are calculated. The system is high in measurement real-time performance, high in environmental adaptability and easier to maintain.

Description

Technical Field

[0001] The invention relates to a shield guide system based on a single-axis rotating inertial navigation and a total station, which can be used for posture measurement in underground excavation involving a single-shield shield machine or a multi-section shield machine, and belongs to the field of engineering machinery. Background Art

[0002] With the acceleration of the national urbanization process, the city size and population have grown rapidly, and the pressure on ground traffic in modern cities has become increasingly greater. Ground traffic congestion not only affects residents' lives and travel, reduces urban vitality, but also restricts urban development and causes the urban environment to deteriorate. At the same time, urban underground pipelines such as drainage and power supply are densely laid under the city. Therefore, under such complex and dense ground buildings and shallow surface pipelines, the reasonable and effective development of underground space and the relief of ground traffic pressure have become a research hotspot in modern urban construction.

[0003] Due to the dense high-rise buildings in the city and the large number of pipelines for different purposes underground, the construction of underground space without affecting the residential areas, commercial outlets and cultural landscapes on the ground will inevitably put forward more and higher requirements for tunnel excavation technology. The shield construction technology with the least impact on the ground is the fastest, safest and most suitable method to develop underground space.

[0004] The shield machine posture measurement in the shield machine guidance system is an important part of guiding the shield machine to advance along the design axis. The mainstream guidance system on the market is the laser target system, which can automatically measure, solve and display the shield machine posture and the deviation between the shield machine and the design axis periodically, so as to control and adjust the shield machine posture in time.

[0005] Laser target guidance system Figure 1 As shown, the main component is the laser target, which is installed on the tunnel boring machine as the main reference of the system. The exact position relationship between the laser target and the axis of the tunnel boring machine is obtained in advance by a measuring machine. A prism is installed on the edge of the laser target, and the total station measures the distance through this prism.

[0006] The basis for locating the attitude of the tunnel boring machine is two known geodetic coordinate points (east, north, vertical). One point refers to the point where the total station is located, and the total station needs to have line of sight with the laser target. The total station needs to be oriented through the second known point (rearview prism) to derive the direction of tunneling.

[0007] By measuring the distance and angle of the prism installed on the laser target, the geodetic coordinates of the laser target can be obtained. After measuring the distance and angle, the laser beam will automatically point to the laser target, and the laser target will measure the incident angle of the laser beam.

[0008] The horizontal azimuth of the axis of the tunnel boring machine relative to the tunnel design axis is calculated by measuring the refraction angle of the laser (incident angle and incident point on the laser target). The roll angle and pitch angle are measured by the built-in dual-axis inclinometer.

[0009] With the development of intelligent, automated and unmanned driving technologies in my country, as underground tunneling of shield machines, its intelligent and unmanned driving will be the future development trend. At present, the laser target solution has a slow test cycle, generally about 30s to 1min, which is not real-time and not suitable for future development. Secondly, during the assembly of tunnel segments during the tunneling of the shield machine, the optical path of the total station is blocked, and the posture information of the shield machine cannot be measured in real time. Therefore, the shield machine needs to stop tunneling during the assembly of the segments, which reduces the tunneling efficiency. At the same time, in some underground tunneling environments, a large amount of dust is easily generated, which affects optical measurement. The original laser target solution is easily affected by dust in the environment during underground tunneling. In order to maintain the measurement accuracy, regular maintenance is required. The traditional optical target solution is inconvenient to maintain and use. After long-term use, the optical target needs to be calibrated and maintained regularly, which increases the cost of use. Summary of the invention

[0010] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to provide a shield guidance system based on a single-axis rotation inertial navigation and a total station, to solve the problems of the prior guidance system having a slow attitude output cycle, low real-time performance, laser target attitude measurement being easily affected by dust, and low maintainability.

[0011] The technical solution of the present invention is: a shield guidance system based on a single-axis rotating inertial navigation and a total station, including: a shield machine, an inertial navigation, a transition base plate, a front prism, a rear prism, a total station, a control box, an industrial computer, and a radio station, wherein:

[0012] The shield head of the shield machine faces the tunneling direction;

[0013] The inertial navigation system is used to measure the attitude information of the shield machine. The inertial navigation system and the front prism are installed on the transition base plate, and the transition base plate is installed at the tail of the shield machine.

[0014] The control box is connected to the inertial navigation system through a cable, which is used to transmit the attitude information of the inertial navigation system to the industrial computer through the control box;

[0015] The rear prism is installed on the tunnel wall, and the total station is installed between the inertial navigation system and the rear prism. The coordinate information of the inertial navigation system in the total station coordinate system is measured by aiming at the prism.

[0016] The radio and total station exchange data according to the internal protocol, and send the total station data to the industrial computer;

[0017] The industrial computer is connected to the radio station and the control box via a cable. It performs coordinate transformation based on the collected measurement information from the inertial navigation and total station, calculates the deviation between the benchmark point of the shield machine and the designed standard route, and the trend of the shield machine's excavation, and displays it.

[0018] Preferably, when the shield machine is installed, the initial installation error between the shield coordinate system of the shield machine and the inertial navigation coordinate system is calibrated to obtain the coordinate transformation matrix of the shield coordinate system relative to the inertial navigation coordinate system.

[0019] Preferably, the inertial navigation is initially aligned before the shield machine is excavated to determine the initial attitude of the inertial navigation relative to the geographic coordinate system, including three attitude angles θ, γ and Ψ, where θ is the pitch angle, γ is the roll angle, and Ψ is the heading angle;

[0020] Define the three axes of the geographic coordinate system and the tunnel coordinate system to be parallel.

[0021] Preferably, the attitude matrix based on the initial inertial navigation relative tunnel coordinates for:

[0022]

[0023] Preferably, the industrial computer performs coordinate transformation based on the collected measurement information of the inertial navigation and total station, specifically:

[0024] Define the coordinates of the reference point of the shield machine in the shield coordinate system as P d (X d , Y d , Z d ), the coordinate of the inertial navigation in the tunnel coordinate system is P INS (X c , Y c , Z c ), then the coordinates of the reference point of the shield machine in the tunnel coordinate system are It is expressed as:

[0025]

[0026] in, is the coordinate transformation matrix of the shield body coordinate system relative to the inertial navigation coordinate system, is the attitude matrix of the initial inertial navigation relative to the tunnel coordinates,

[0027] Preferably, the calculation method of the reference point deviation of the shield machine is:

[0028] Define the coordinates of the reference point of the shield machine in the tunnel coordinate system as calculate The distance from the point to each design point in the design standard route database, record the distance The closest point is N p , define the design standard route database in the excavation direction and N p The nearest point is N p+1 , in the reverse direction, the standard route database is designed with N p The nearest point is N p-1 ; Calculation point To N p-1 Point and N p+1 The distance between the points determines N p-1 and N p+1 Distance between points N p A closer point, a little closer Do this point and N p The perpendicular line connecting the two points, the distance d obtained is the reference point deviation.

[0029] Preferably, the excavation trend of the shield machine includes a horizontal trend and a vertical trend.

[0030] Preferably, the calculation formula of the horizontal trend Δα of the shield machine excavation is as follows:

[0031] Δα=atan[(y'1-y'2) / (x'1-x'2)]-atan[(y1-y2) / (x1-x2)]

[0032] P 首 (x1,y1),P 尾 (x2, y2) are the horizontal coordinates of the theoretical shield head and shield tail on the design standard route in the tunnel coordinate system; P' 首 (x'1,y'1),P' 尾 (x'2, y'2) are the horizontal coordinates of the shield head and shield tail of the shield machine in the tunnel coordinate system after coordinate calculation; x represents the east coordinate and y represents the north coordinate.

[0033] Preferably, the vertical trend Δβ of shield machine excavation is calculated as follows:

[0034] Δβ=atan[(H1-H2) / (L1-L2)]-atan[(H'1-H'2) / (L'1-L'2)]

[0035] P 首 (L1,H1),P 尾 (L2, H2) are the vertical coordinates of the theoretical shield head and shield tail of the designed standard route in the tunnel coordinate system; P' 首 (L'1,H'1),P' 尾(L'2, H'2) are the vertical coordinates of the shield head and shield tail of the shield machine in the tunnel coordinate system after coordinate calculation, L represents the mileage, and H represents the elevation.

[0036] Preferably, the industrial computer also includes a software interface for the shield guidance system, which can display the position information measured by the inertial navigation, the calculated reference point deviation, and the horizontal and vertical trends of the excavation.

[0037] Compared with the prior art, the present invention has the following advantages:

[0038] (1) The guidance system of the present invention adopts an inertial navigation solution, which can output attitude in a 5 ms period, thereby improving the real-time performance of the system attitude measurement;

[0039] (2) The inertial navigation scheme of the present invention is not affected by dust. The shield machine guidance system adopts the inertial navigation scheme, which significantly improves the environmental adaptability of the system.

[0040] (3) The present invention is based on the inertial navigation guidance system. The inertial navigation can adopt a rotary inertial navigation system, and the relevant parameters can be self-calibrated regularly without being removed from the shield machine, thereby improving the maintainability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of laser target guidance in the background technology of the present invention;

[0042] Figure 2 It is a schematic diagram of the components of the shield guide system in the present invention;

[0043] Figure 3 It is a schematic diagram of the software interface of the shield guidance system in the present invention;

[0044] Figure 4 It is a schematic diagram of the coordinate solution of the reference point of the shield machine in the present invention;

[0045] Figure 5 It is a schematic diagram of the tunneling trend of the shield machine in the present invention. DETAILED DESCRIPTION

[0046] In recent years, the application of inertial navigation in various fields has become increasingly mature. It uses gyroscopes and accelerometers as inertial sensitive components to measure the carrier's speed, attitude and other information in real time, providing a basis for the system to perform navigation solutions. The inertial navigation system has the characteristics of simple structure, long service life, strong adaptability to mechanical environment, and higher reliability. It is suitable for long-term guidance applications under complex and highly dynamic conditions, and is less polluted by dust and other links. As a posture measurement device, it meets the requirements of shield machine use and the future development trend of unmanned driving.

[0047] Based on this, a shield guidance system based on single-axis rotation inertial navigation and total station is proposed to solve the problems of slow attitude output cycle, low real-time performance, laser target attitude measurement being easily affected by dust, and low maintainability of the existing guidance system. The main technical problems solved include:

[0048] (1) The shield machine attitude measurement uses inertial navigation, which has a high attitude output frequency, solves the problem of real-time attitude output and adapts to the future development trend of autonomous driving;

[0049] (2) The inertial navigation system uses a single-axis rotating inertial navigation system, which can realize the self-calibration function of instrument parameters during use, thereby improving the maintainability of the system;

[0050] (3) The inertial navigation solution is adopted to solve the impact of dust in the environment and improve the environmental adaptability of the system.

[0051] The technical solution adopted by the present invention is:

[0052] (1) The shield guidance system adopts an inertial navigation solution and combines it with a total station to improve the real-time performance of the system attitude measurement;

[0053] (2) In inertial navigation attitude measurement, a system-level attitude correction and compensation scheme is adopted to improve the attitude measurement accuracy;

[0054] (3) The dual Kalman filter algorithm of the combined navigation of total station and inertial navigation is used to suppress the influence of long-term position drift of the pure inertial navigation solution and improve the real-time performance and accuracy of position measurement.

[0055] Specific:

[0056] The shield guidance system based on single-axis rotation inertial navigation and total station is as follows: Figure 2 As shown, the components include: a shield machine 1, an inertial navigation system 2, a transition base plate 8, two prisms, including a front end 3-1 and a rear end prism 3-2, a total station 4, a control box 5, an industrial computer 6, and a radio station 7.

[0057] The inertial navigation system 2 and the front prism 3-1 are installed on the transition base plate 8, and the transition base plate 8 is installed at the shield tail of the shield machine 1. The inertial navigation system 2 is connected to the control box 5 through a cable, and the control box 5 is connected to the industrial computer 6 through a cable, and the radio station 7 is connected to the industrial computer 6 through a cable. The rear prism 3-2 is installed on the tunnel wall, and the total station 4 is installed between the inertial navigation system 2 and the rear prism 3. The radio station 7 and the total station 4 exchange data according to the internal protocol.

[0058] When the shield machine 1 is installed, it is necessary to calibrate the installation error between the shield coordinate system of the shield machine 1 and the coordinate system of the inertial navigation 2, which is used as the initial installation deviation for subsequent posture solution. Before the shield machine 1 is excavated, the inertial navigation 2 needs to be aligned to determine the initial posture of the inertial navigation 2, which is converted into the shield posture of the shield machine 1 through the installation deviation matrix. The total station 4 can measure the coordinate information of the inertial navigation 2 in the coordinate system of the total station 4 by aiming at the prism on the bottom plate 8, and transmit the coordinate information to the industrial computer 6 through the radio 7, and at the same time, the posture information of the inertial navigation 2 is transmitted to the industrial computer 6 through the control box 5.

[0059] Theoretically, the inertial navigation coordinate system (b system) of the inertial navigation 2 and the shield coordinate system (d system) of the shield machine 1 are parallel to each other. However, in the actual installation process, there is a small initial installation error between the two. This error can be measured during the initial installation calibration of the shield machine 1 to obtain the coordinate transformation matrix of the shield coordinate system relative to the inertial navigation coordinate system. Define the three axes of the geographic coordinate system and the tunnel coordinate system to be parallel.

[0060] After the initial alignment of the inertial navigation, the three attitude angles of the inertial navigation coordinate system relative to the geographic coordinate system are θ, γ and Ψ, where θ is the pitch angle, γ is the roll angle, and Ψ is the heading angle; the initial quaternion Q0 of the inertial navigation and the attitude matrix of the inertial navigation relative to the tunnel coordinate system are:

[0061]

[0062] The reference points of the shield machine 1 include the shield head and the shield tail. Assume that the coordinates of the reference points of the shield machine 1 in the shield body coordinate system of the shield machine 1 are P d (X d , Y d , Z d ), the coordinate of the inertial navigation 2 in the tunnel coordinate system is P INS (X c , Y c , Z c ), then the coordinates of the reference point of shield machine 1 in the tunnel coordinate system are It can be expressed as follows:

[0063]

[0064] in,

[0065] During tunnel excavation, it is necessary to determine the horizontal and vertical errors of the reference point of the shield machine 1. To calculate the deviations of the shield machine, it is first necessary to query the design standard route database at this time based on the coordinates.

[0066] Define the coordinates of the reference point of shield machine 1 in the tunnel coordinate system as calculate The distance from the point to each design point in the design standard route database, record the distance The nearest point is N p , define the design standard route database in the excavation direction and N p The nearest point is N p+1 , in the reverse direction, the standard route database is designed with N p The nearest point is N p-1 ; Calculation point To N p-1 Point and N p+1 The distance between the points determines N p-1 and N p+1 Distance between points N p A closer point, a little closer Do this point and N p The perpendicular line connecting the two points, the distance d obtained is the reference point deviation.

[0067] Take the shield head coordinate point as an example: define is the measured coordinates of the shield head coordinate point in the tunnel coordinate system, such as Figure 4 In the solution process, first calculate the distance from point P to each design point in the design standard route database, and record the point with the smallest distance from point P as N. Define the point closest to point N in the design standard route database in the excavation direction as N+1, and the point closest to point N in the design standard route database in the reverse direction as N-1; calculate the distance from point P to points N-1 and N+1, and get the point with the smallest distance to point N. Figure 4 The closer point is point N+1. Draw the foot O of the perpendicular line connecting points N and N+1 through point P. The resulting distance ds is the shield head deviation. Similarly, the shield tail deviation dw can also be calculated.

[0068] The trend represents the angle between the shield machine 1 and the design standard route. In order to better control the excavation of the shield machine 1, the trend is divided into two vectors: horizontal trend and vertical trend, to represent the relationship between the shield machine 1 and the design standard route, such as Figure 5 shown.

[0069] Horizontal trend: The horizontal angle between the shield machine and the designed standard route, with right deviation being positive and left deviation being negative;

[0070] Vertical trend: The vertical angle between the shield machine and the designed standard route, with an upward deviation being positive and a downward deviation being negative;

[0071] Assume that the horizontal coordinates of the theoretical shield head and shield tail on the design standard route in the tunnel coordinate system are P 首 (x1,y1),P 尾 (x2, y2); The horizontal coordinates of the shield head and shield tail of shield machine 1 in the tunnel coordinate system after coordinate calculation are P' 首 (x'1,y'1),P' 尾(x'2, y'2). X represents the easting coordinate, and y represents the northing coordinate; the formula for calculating the horizontal trend Δα is as follows:

[0072] Δα=atan[(y'1-y'2) / (x'1-x'2)]-atan[(y1-y2) / (x1-x2)];

[0073] Assume that the vertical coordinates of the theoretical shield head and shield tail of the design standard route in the tunnel coordinate system are P 首 (L1,H1),P 尾 (L2, H2); The vertical coordinates of the shield head and shield tail of shield machine 1 in the tunnel coordinate system after coordinate calculation are P' 首 (L'1,H'1),P' 尾 (L'2,H'2), L represents mileage, H represents elevation. The vertical trend Δβ calculation formula is as follows:

[0074] Δβ=atan[(H1-H2) / (L1-L2)]-atan[(H'1-H'2) / (L'1-L'2)];

[0075] The calculation results of the position deviation and trend of the shield machine 1 are displayed on the software interface of the shield guidance system, so that the driver of the shield machine 1 can understand the excavation position and better control the posture of the shield machine 1. The display results are as follows: Figure 3 shown.

[0076] The contents not described in detail in the specification of the present invention belong to the prior art known to the professional and technical personnel in this field.

Claims

1. A shield guidance system based on single-axis rotation inertial navigation and total station, characterized in that include: Shield machine (1), inertial navigation (2), transition base plate (8), front prism (3-1), rear prism (3-2), total station (4), control box (5), industrial computer (6), radio station (7), wherein: The shield head of the shield machine (1) faces the tunnel excavation direction; The inertial navigation system (2) is used to measure the attitude information of the shield machine (1). The inertial navigation system (2) and the front prism (3-1) are installed on a transition base plate (8), and the transition base plate (8) is installed at the shield tail of the shield machine (1). The control box (5) is connected to the inertial navigation system (2) via a cable, and is used to transmit the attitude information of the inertial navigation system (2) to the industrial computer (6) via the control box (5); The rear prism (3-2) is installed on the tunnel wall, and the total station (4) is installed between the inertial navigation system (2) and the rear prism (3-2). The coordinate information of the inertial navigation system (2) in the coordinate system of the total station (4) is measured by aiming the prism. The radio station (7) and the total station (4) exchange data according to an internal protocol, and send the data of the total station (4) to the industrial computer (6); The industrial computer (6) is connected to the radio station (7) and the control box (5) via a cable, and performs coordinate transformation based on the collected measurement information of the inertial navigation (2) and the total station (4), calculates the deviation between the reference point of the shield machine (1) and the designed standard route, and the excavation trend of the shield machine (1), and displays them.

2. The shield guidance system based on single-axis rotation inertial navigation and total station according to claim 1, characterized in that: When the shield machine (1) is installed, the initial installation error between the shield coordinate system of the shield machine (1) and the inertial navigation coordinate system of the inertial navigation (2) is calibrated to obtain the coordinate transformation matrix of the shield coordinate system relative to the inertial navigation coordinate system.

3. The shield guidance system based on single-axis rotation inertial navigation and total station according to claim 1, characterized in that: Before the shield machine (1) excavates, the inertial navigation system (2) is initially aligned to determine the initial attitude of the inertial navigation system (2) relative to the geographic coordinate system, including three attitude angles θ, γ and Ψ, wherein θ is the pitch angle, γ is the roll angle, and Ψ is the heading angle; Define the three axes of the geographic coordinate system and the tunnel coordinate system to be parallel.

4. The shield guidance system based on single-axis rotation inertial navigation and total station according to claim 3 is characterized in that: Attitude matrix based on initial inertial navigation relative tunnel coordinates for:

5. The shield guidance system based on single-axis rotation inertial navigation and total station according to claim 1, characterized in that: The industrial computer (6) performs coordinate transformation based on the collected measurement information of the inertial navigation (2) and the total station (4), specifically: Define the coordinates of the reference point of the shield machine (1) in the shield coordinate system as P d (X d , Y d , Z d ), the coordinates of the inertial navigation (2) in the tunnel coordinate system are P INS (X c , Y c , Z c ), then the coordinates of the reference point of the shield machine (1) in the tunnel coordinate system are It is expressed as: in, is the coordinate transformation matrix of the shield body coordinate system relative to the inertial navigation coordinate system, is the attitude matrix of the initial inertial navigation relative to the tunnel coordinates, 6. The shield guidance system based on single-axis rotation inertial navigation and total station according to claim 1, characterized in that: The calculation method of the reference point deviation of the shield machine (1) is: The coordinates of the reference point of the shield machine (1) in the tunnel coordinate system are defined as calculate The distance from the point to each design point in the design standard route database, record the distance The closest point is N p , define the design standard route database in the excavation direction and N p The nearest point is N p+1 , in the reverse direction, the standard route database is designed with N p The nearest point is N p-1 ; Calculation point To N p-1 Point and N p+1 The distance between the points determines N p-1 and N p+1 Distance between points N p A closer point, a little closer Do this point and N p The perpendicular line connecting the two points, the distance d obtained is the reference point deviation.

7. The shield guidance system based on single-axis rotation inertial navigation and total station according to claim 1, characterized in that: The excavation trend of the shield machine (1) includes a horizontal trend and a vertical trend.

8. The shield guidance system based on single-axis rotation inertial navigation and total station according to claim 7 is characterized in that: The calculation formula for the horizontal trend Δα of the shield machine (1) is as follows: Δα=atan[(y'1-y'2) / (x'1-x'2)]-atan[(y1-y2) / (x1-x2)] P 首 (x1,y1),P 尾 (x2, y2) are the horizontal coordinates of the theoretical shield head and shield tail on the design standard route in the tunnel coordinate system; P' 首 (x'1,y'1),P' 尾 (x'2, y'2) are the horizontal coordinates of the shield head and shield tail of the shield machine (1) in the tunnel coordinate system after coordinate calculation; x represents the east coordinate and y represents the north coordinate.

9. The shield guidance system based on single-axis rotation inertial navigation and total station according to claim 1, characterized in that: The vertical trend Δβ of the shield machine (1) is calculated as follows: Δβ=atan[(H1-H2) / (L1-L2)]-atan[(H'1-H'2) / (L'1-L'2)] P 首 (L1,H1),P 尾 (L2, H2) are the vertical coordinates of the theoretical shield head and shield tail of the designed standard route in the tunnel coordinate system; P' 首 (L'1,H'1),P' 尾 (L'2, H'2) are the vertical coordinates of the shield head and shield tail of the shield machine (1) in the tunnel coordinate system after coordinate calculation, L represents the mileage, and H represents the elevation.

10. The shield guidance system based on single-axis rotation inertial navigation and total station according to claim 1, characterized in that: The industrial computer (6) also includes a software interface for the shield guidance system, which can display the position information measured by the inertial navigation (2), the calculated reference point deviation, and the horizontal and vertical trends of the tunneling.

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