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

Abstract

A kind of shield guiding system based on single-axis rotation inertial navigation and total station, comprising: shield machine shield first face tunneling direction;Inertial navigation measurement shield machine's attitude information, control box is connected with inertial navigation by cable, for transmitting the attitude information of inertial navigation to industrial computer through control box;Rear end prism is installed on the tunnel wall, total station is installed between inertial navigation and rear end prism, and the coordinate information of inertial navigation under total station coordinate system is measured by aiming at prism;Data exchange is carried out between radio and total station according to internal protocol, and the data of total station is sent to industrial computer;Industrial computer is connected with radio and control box by cable, and based on the measurement information of collected inertial navigation, total station carries out coordinate transformation, calculates the deviation of reference point and design standard route of shield machine, and the trend of shield machine excavation.The present application has high real-time measurement, strong environmental adaptability and better maintainability.

Description

Technical Field

[0001] This invention relates to a shield tunneling guidance system based on a single-axis rotary inertial navigation system and a total station, which can be used for position and attitude measurement in underground tunneling involving single-shield or multi-section shield tunneling machines, and belongs to the field of engineering machinery. Background Technology

[0002] With the acceleration of urbanization in China, the scale and population of cities are growing rapidly, leading to increasing pressure on surface traffic in modern cities. Traffic congestion not only affects residents' daily lives and reduces urban vitality but also restricts urban development and contributes to the continuous deterioration of the urban environment. Meanwhile, drainage, power supply, and other underground pipelines are densely laid beneath cities. Therefore, given such complex and dense surface buildings and shallow pipelines, the rational and effective development of underground space to alleviate surface traffic pressure has become a research hotspot in modern urban construction.

[0003] Due to the high density of high-rise buildings within urban areas and the presence of numerous underground pipelines for various purposes, constructing underground space without impacting surface residential areas, commercial outlets, or cultural landscapes inevitably places higher demands on tunnel excavation technology. Utilizing the shield tunneling method, which minimizes surface impact, is the fastest, safest, and most suitable approach for developing underground space.

[0004] In the tunnel boring machine (TBM) guidance system, TBM position measurement is a crucial step in guiding the TBM to excavate along the designed axis. The mainstream guidance system on the market is the laser target system, which can periodically and automatically measure, calculate, and display the TBM position and the deviation between the TBM and the designed axis, so as to control and adjust the TBM's attitude in a timely manner.

[0005] Laser target guidance system such as Figure 1 As shown, the main component is the laser target, which is mounted on the tunneling machine as the system's primary reference. The precise positional relationship between the laser target and the tunneling machine's axis is pre-determined using a measuring machine. A prism is mounted on the edge of the laser target, and the total station uses this prism to measure distances.

[0006] The basis for determining the attitude of the tunnel boring machine (TBM) is two known geodetic coordinate points (east, north, and vertical). One point refers to the location of the total station, which needs to be in line of sight to the laser target. The total station needs to be oriented through the second known point (backsight prism) to determine the tunneling direction.

[0007] By measuring the distance and angle of the prism mounted 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 towards the laser target, at which point the laser target will measure the incident angle of the laser beam.

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

[0009] With the development of intelligent, automated, and unmanned technologies in my country, intelligent and unmanned operation will be the future trend for underground tunnel boring machines (TBMs). Currently, the laser target system has a slow testing cycle, typically around 30 seconds to 1 minute, lacking real-time capability and unsuitable for future development. Secondly, during tunnel segment assembly, the optical path of the total station is obstructed, preventing real-time measurement of the TBM's attitude. Therefore, the TBM needs to stop during segment assembly, reducing efficiency. Furthermore, some underground tunneling environments generate significant dust, affecting optical measurements. The traditional laser target system is susceptible to dust interference during underground tunneling, requiring regular maintenance to maintain accuracy. Traditional optical target systems are inconvenient to maintain and use. After prolonged use, optical targets require periodic calibration and maintenance, increasing operating costs. Summary of the Invention

[0010] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a shield tunneling guidance system based on a single-axis rotating inertial navigation system and a total station, which solves the problems of slow attitude output cycle, low real-time performance, easy susceptibility of laser target attitude measurement to dust, and low maintainability of the existing guidance system.

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

[0012] The shield of the tunnel boring machine faces the direction of tunnel excavation;

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

[0014] The control box is connected to the inertial navigation system via 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 the prism.

[0016] The radio and the total station exchange data according to an internal protocol, sending the total station's data to the industrial computer;

[0017] The industrial computer is connected to the radio and control box via cable. Based on the collected measurement information from the inertial navigation system and total station, it performs coordinate transformation, calculates the deviation between the shield machine's reference point and the designed standard route, as well as the shield machine's tunneling trend, and displays the results.

[0018] Preferably, during the installation of the tunnel boring machine (TBM), the initial installation error between the TBM's shield coordinate system and the inertial navigation system's coordinate system is calibrated to obtain the coordinate transformation matrix between the shield coordinate system and the inertial navigation system.

[0019] Preferably, the inertial navigation system is initially aligned before the tunnel boring machine (TBM) begins excavation to determine the initial attitude of the inertial navigation system 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 geographic coordinate system and the tunnel coordinate system as having three parallel axes.

[0021] Preferably, the attitude matrix is ​​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 from the inertial navigation system and total station, specifically as follows:

[0024] Define the coordinates of the reference point of the tunnel boring machine in the shield coordinate system as P. d (X d Y d Z d The inertial navigation system's coordinates in the tunnel coordinate system are P. INS (X c Y c Z c If the reference point of the tunnel boring machine is given, then the coordinates of the reference point in the tunnel coordinate system are given. Represented as:

[0025]

[0026] in, Let be the coordinate transformation matrix between the shield coordinate system and the inertial navigation coordinate system. Let be the attitude matrix of the initial inertial navigation system relative to the tunnel coordinates.

[0027] Preferably, the method for calculating the reference point deviation of the tunnel boring machine is as follows:

[0028] Define the coordinates of the reference point of the tunnel boring machine in the tunnel coordinate system as follows: calculate Record the distance from each point to every design point in the standard route database. The nearest point is N p Define the standard route design in the tunneling direction database and N p The nearest point is N. p+1 In the opposite direction, design standard routes in the database and N p The nearest point is N p-1 ; Calculation points To N p-1 Point and N p+1 The distance between points, determine N p-1 and N p+1 Midpoint distance N p Point closer, past point Make this point and N p The perpendicular line drawn from the points is the distance d, which is the deviation from the reference point.

[0029] Preferably, the tunneling trend of the tunnel boring machine includes both horizontal and vertical trends.

[0030] The preferred formula for calculating the horizontal trend Δα of the tunnel boring machine 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 designed standard route in the tunnel coordinate system, respectively; 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 tunnel boring machine in the tunnel coordinate system, calculated by coordinate calculation; x represents the eastward coordinate and y represents the northward coordinate.

[0033] Preferably, the formula for calculating the vertical trend Δβ of the tunnel boring machine is 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) represent the vertical coordinates of the theoretical shield head and tail in the tunnel coordinate system for the standard design route; P' 首 (L'1,H'1),P' 尾(L'2,H'2) represents the vertical coordinates of the shield head and tail of the tunnel boring machine in the tunnel coordinate system, calculated using coordinates. L represents the mileage, and H represents the elevation.

[0036] Preferably, the industrial computer also includes a software interface for the tunnel boring machine (TBM) guidance system, which can display the pose information measured by inertial navigation, the calculated reference point deviation, and the horizontal and vertical trends of the tunneling.

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

[0038] (1) The guidance system of the present invention can output attitude in 5ms cycle by adopting an inertial navigation scheme, 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 an inertial navigation guidance system. The inertial navigation system can be a rotary inertial navigation system, which can periodically self-calibrate relevant parameters without having to be removed from the tunnel boring machine, thus improving the maintainability of the system. Attached Figure Description

[0041] Figure 1 This is a simplified diagram of laser target guidance in the background art of this invention;

[0042] Figure 2 This is a schematic diagram of the shield tunneling guidance system in this invention;

[0043] Figure 3 This is a schematic diagram of the software interface of the shield tunneling guidance system in this invention;

[0044] Figure 4 This is a schematic diagram illustrating the calculation of the reference point coordinates of the tunnel boring machine in this invention;

[0045] Figure 5 This is a schematic diagram of the tunneling trend of the tunnel boring machine in this invention. Detailed Implementation

[0046] In recent years, inertial navigation systems (INS) have become increasingly mature in various fields. Utilizing gyroscopes and accelerometers as inertial sensing components, they measure the vehicle's velocity, attitude, and other information in real time, providing a basis for navigation calculations. INS systems are characterized by simple structure, long service life, strong adaptability to mechanical environments, and higher reliability. They are suitable for long-term guidance applications under complex and highly dynamic conditions, are less susceptible to contamination from dust and other sources, and meet the requirements of tunnel boring machines and the future trend of unmanned driving as attitude measurement devices.

[0047] Based on this, and addressing the problems of slow attitude output cycle, low real-time performance, susceptibility to dust in laser target attitude measurement, and low maintainability of existing guidance systems, a shield tunneling guidance system based on a single-axis rotating inertial navigation system and a total station is proposed. The main technical problems solved include:

[0048] (1) The attitude measurement of the tunnel boring machine adopts inertial navigation, which has a high attitude output frequency, thus solving the problem of real-time attitude output and adapting to the future trend of autonomous driving.

[0049] (2) The inertial navigation system adopts 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 use of inertial navigation system solves the problem of dust in the environment and improves the environmental adaptability of the system.

[0051] The technical solution adopted in this invention is as follows:

[0052] (1) The shield tunneling guidance system adopts an inertial navigation scheme 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, which improves the attitude measurement accuracy;

[0054] (3) By using the dual Kalman filter algorithm of total station and inertial navigation combined navigation, the long-term position drift of pure inertial navigation scheme is suppressed, and the real-time performance and accuracy of position measurement are improved.

[0055] Specifically:

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

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

[0058] During the installation of tunnel boring machine 1, the installation error between the shield body coordinate system of tunnel boring machine 1 and the coordinate system of inertial navigation system 2 needs to be calibrated as the initial installation deviation for subsequent attitude calculation. Before tunnel boring machine 1 begins tunneling, inertial navigation system 2 needs to be aligned to determine its initial attitude, which is then converted into the shield body attitude of tunnel boring machine 1 through the installation deviation matrix. Total station 4 measures the coordinate information of inertial navigation system 2 in the coordinate system of total station 4 by aiming at the prism on the base plate 8, and transmits the coordinate information to industrial computer 6 via radio 7. At the same time, the attitude information of inertial navigation system 2 is transmitted to industrial computer 6 through control box 5.

[0059] Theoretically, the inertial navigation coordinate system (b-frame) of Inertial Navigation System 2 is parallel to the shield coordinate system (d-frame) of TBM 1. However, during actual installation, there is a small initial installation error between the two. This error can be measured during the initial installation and calibration of TBM 1, yielding the coordinate transformation matrix of the shield coordinate system relative to the inertial navigation coordinate system. Define the geographic coordinate system and the tunnel coordinate system as having three parallel axes.

[0060] After initial alignment, the inertial navigation system (INS) yields three attitude angles relative to the geographic coordinate system: 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 and the attitude matrix of the INS relative to the tunnel coordinate system are then:

[0061]

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

[0063]

[0064] in,

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

[0066] Define the coordinates of the reference point of tunnel boring machine 1 in the tunnel coordinate system as follows: calculate Record the distance from each point to every design point in the standard route database. The nearest point is N. p Define the standard route design in the tunneling direction database and N p The nearest point is N. p+1 In the opposite direction, design standard routes in the database and N p The nearest point is N p-1 ; Calculation points To N p-1 Point and N p+1 The distance between points, determine N p-1 and N p+1 Midpoint distance N p Point closer, past point Make this point and N p The perpendicular line drawn from the points is the distance d, which is the deviation from the reference point.

[0067] Taking the shield head coordinates as an example: Definition To determine the coordinates of the shield head coordinates in the tunnel coordinate system, such as... Figure 4 In the solution process, firstly, the distance from point P to each design point in the design standard route database is calculated. Let N be the point with the smallest distance from P. Define N+1 as the point in the design standard route database closest to N in the tunneling direction, and N-1 as the point in the opposite direction. Then, calculate the distances from point P to points N-1 and N+1 to find the point with the smallest distance to N. Figure 4 For the closer point N+1, draw the perpendicular from point P to point O, which is the foot of the line connecting points N and N+1. 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 tunnel boring machine 1 and the design standard route. To better control the tunneling of tunnel boring machine 1, the trend is divided into two vectors: horizontal trend and vertical trend, to represent the relationship between tunnel boring machine 1 and the design standard route, such as... Figure 5 As shown.

[0069] Horizontal tendency: The angle between the tunnel boring machine and the standard design route in the horizontal direction; rightward deviation is positive, and leftward deviation is negative.

[0070] Vertical orientation: The angle between the tunnel boring machine and the standard design route; upward deviation is positive, and downward deviation is negative.

[0071] Assume the horizontal coordinates of the theoretical shield head and tail on the standard design route in the tunnel coordinate system are P. 首 (x1,y1),P 尾 (x2, y2); The horizontal coordinates of the shield head and tail of tunnel boring machine 1 in the tunnel coordinate system, calculated by coordinate calculation, are P'. 首 (x'1,y'1),P' 尾(x'2, y'2). X represents the eastward coordinate, and y represents the northward 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 the vertical coordinates of the theoretical shield head and tail in the tunnel coordinate system for the standard design route are P. 首 (L1,H1),P 尾 (L2,H2); The vertical coordinates of the shield head and tail of tunnel boring machine 1 in the tunnel coordinate system, calculated by coordinate calculation, are P'. 首 (L'1,H'1),P' 尾 (L'2,H'2), where L represents mileage and H represents elevation. The formula for calculating the vertical trend Δβ is as follows:

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

[0075] The calculated results of the positional deviation and trend of tunnel boring machine 1 are displayed on the software interface of the tunnel boring machine guidance system, allowing the operator of tunnel boring machine 1 to understand the tunneling position and better control the attitude of tunnel boring machine 1. The display results are as follows: Figure 3 As shown.

[0076] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. A shield tunneling guidance system based on a single-axis rotating inertial navigation system and a total station, characterized in that... include: The tunnel boring machine (1), inertial navigation system (2), transition base plate (8), front prism (3-1), rear prism (3-2), total station (4), control box (5), industrial computer (6), radio (7), among which: The shield head of the tunnel boring machine (1) faces the tunnel excavation direction; The inertial navigation system (2) is used to measure the attitude information of the tunnel boring machine (1). The inertial navigation system (2) and the front end prism (3-1) are installed on the transition base plate (8), which is installed at the tail of the tunnel boring 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) through 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 (7) and the total station (4) exchange data according to the 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 (7) and the control box (5) via cable. Based on the collected measurement information from the inertial navigation (2) and the total station (4), it performs coordinate transformation, calculates the deviation between the reference point and the design standard route of the tunnel boring machine (1), as well as the tunneling trend of the tunnel boring machine (1), and displays the results. The industrial computer (6) performs coordinate transformation based on the collected measurement information from the inertial navigation system (2) and the total station (4), specifically as follows: Define the coordinates of the reference point of the tunnel boring machine (1) in the shield coordinate system as P. d (X d Y d Z d The coordinates of the inertial navigation system (2) in the tunnel coordinate system are P. INS (X c Y c Z c If the reference point of the tunnel boring machine (1) is in the tunnel coordinate system, then the coordinates of the reference point of the tunnel boring machine (1) are... Represented as: in, Let be the coordinate transformation matrix between the shield coordinate system and the inertial navigation coordinate system. Let be the attitude matrix of the initial inertial navigation system relative to the tunnel coordinates. The calculation method for the reference point deviation of the tunnel boring machine (1) is as follows: The coordinates of the reference point of the tunnel boring machine (1) in the tunnel coordinate system are defined as follows: calculate Record the distance from each point to every design point in the standard route database. The nearest point is N p Define the standard route design in the tunneling direction database and N p The nearest point is N. p+1 In the opposite direction, design standard routes in the database and N p The nearest point is N p-1 ; Calculation points To N p-1 Point and N p+1 The distance between points, determine N p-1 and N p+1 Midpoint distance N p Point closer, past point Make this point and N p The perpendicular line drawn from the point is the distance d obtained, which is the deviation of the reference point. The tunneling trend of a shield machine (1) includes horizontal and vertical trends; The formula for calculating the horizontal trend Δα of the tunnel boring 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 designed standard route in the tunnel coordinate system, respectively; 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 tunnel boring machine (1) in the tunnel coordinate system, calculated by coordinate calculation; x represents the east coordinate and y represents the north coordinate; The formula for calculating the vertical trend Δβ of tunnel boring machine (1) is 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) represent the vertical coordinates of the theoretical shield head and tail in the tunnel coordinate system for the standard design route; 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 tunnel boring machine (1) in the tunnel coordinate system, calculated by coordinate calculation. L represents the mileage and H represents the elevation.

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

3. The shield tunneling guidance system based on a single-axis rotating inertial navigation system and a total station according to claim 1, characterized in that: Before the tunnel boring machine (1) starts tunneling, 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, where θ is the pitch angle, γ is the roll angle and Ψ is the heading angle. Define the geographic coordinate system and the tunnel coordinate system as having parallel axes.

4. A shield tunneling guidance system based on a single-axis rotating inertial navigation system and a total station according to claim 3, characterized in that: Attitude matrix based on initial inertial navigation relative tunnel coordinates for:

5. A shield tunneling guidance system based on a single-axis rotating inertial navigation system and a total station according to claim 1, characterized in that: The industrial computer (6) also includes a software interface for the shield tunneling guidance system, which can display the pose 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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