Shield tunneling machine attitude measuring device and measuring method

Abstract

The invention provides a shield tunneling machine attitude measuring device and method, and relates to the technical field of shield tunneling machines. According to the method, a laser target arranged on a shield tunneling machine, a laser range finder fixed to a pipe piece and a processing module in communication connection with the laser target and the laser range finder are included; wherein the laser target is used for measuring the attitude angle of the laser target; the laser range finder is used for measuring target linear distances between the laser target and the laser range finder before and after the position of the laser target is changed along with the movement of the shield tunneling machine, and an included angle formed by connecting the vertex with the point where the laser target is located before and after the position of the laser target is changed by taking the laser range finder as the vertex; the processing module is used for receiving the attitude angle, the target linear distance and the included angle and obtaining the pose of the shield tunneling machine after movement. Compared with the prior art, the operation is simplified based on the laser range finder, so that the labor cost and the construction cost are reduced, and the working efficiency of a construction site is improved.

Description

Technical Field

[0001] The present application relates to the technical field of shield machines, and in particular to a shield machine posture measurement device and a measurement method. Background Art

[0002] Shield tunnel construction is a comprehensive construction technology. It is a construction method that combines various types of work such as directional tunneling, transportation, lining, and installation into one. The burial depth can be very deep, and it is not affected by ground buildings, weather, and traffic. It has a high degree of mechanization and automation. It is an advanced soil tunnel construction method. Shield construction measurement mainly controls the position and advancement direction of the shield, with the aim of ensuring that the shield advances along the designed axis and that the segment assembly meets the tunnel axis error control requirements. The position of the shield machine (current spatial position and axis direction) is determined by the wire point in the tunnel, and different thrusts are applied by the thrust cylinder to adjust the position and advancement direction of the shield so that the shield machine advances along the designed route direction.

[0003] Shield advancement is only a part of shield construction technology. During the entire construction process, construction measurement also includes complex measurement work, which determines whether the tunnel can meet the design requirements, whether the shield machine can accurately enter the receiving well and ensure the accurate penetration of the tunnel.

[0004] The main method for measuring the posture of shield machines in the prior art is total station traverse measurement. However, this method has high labor and construction costs, and is complicated to operate, resulting in low on-site work efficiency. Summary of the invention

[0005] Based on this, it is necessary to provide a shield machine posture measurement device and measurement method that can improve the measurement efficiency at the construction site in order to address the above technical problems.

[0006] In a first aspect, the present application provides a shield machine posture measurement device. The device comprises:

[0007] A laser target disposed on the shield machine, a laser rangefinder fixed on the pipe segment, and a processing module connected to the laser target and the laser rangefinder in communication;

[0008] Wherein, the laser target includes a device for measuring the attitude angle of the laser target;

[0009] The laser rangefinder is used to measure the target straight-line distance between the laser target and the laser rangefinder before and after the position change of the laser target that changes with the movement of the shield machine, as well as the angle formed by connecting the vertex and the point before and after the position change of the laser target with the laser rangefinder as the vertex;

[0010] The processing module is used to receive the attitude angle, target straight-line distance and angle, and obtain the position and posture of the shield machine after moving.

[0011] In one embodiment, the attitude angles include a pitch angle, a roll angle, and an azimuth angle;

[0012] The laser target includes a coordinate automatic calculation module and a rotating platform; the coordinate automatic calculation module includes a gyroscope for measuring the attitude angle of the laser target in three target directions, and an accelerometer for measuring the attitude angular velocity component of the laser target in three target directions; the rotating platform is used to compensate for the errors of the gyroscope and the accelerometer;

[0013] Among them, the three target directions are three directions orthogonal to each other.

[0014] In one embodiment, the automatic calculation module further includes a main control board, a first communication module, a first embedded computer and a first power supply module;

[0015] Among them, the main control board is used to realize functions including attitude angle related data collection and attitude angle related data compensation; the first embedded computer is used to realize functions including laser target debugging; the first communication module is used to support the communication connection between the laser target and the processing module; the first power supply module is used to supply power to the main control board, the first communication module and the first embedded computer.

[0016] In one embodiment, the laser target includes a sealed box for protecting the internal structure of the laser target, and a first weather correction module for adjusting the temperature and humidity in the sealed box is arranged in the sealed box.

[0017] In one embodiment, the laser rangefinder includes a laser rangefinder head, a horizontal rotation motor, a vertical rotation motor, and a second embedded computer;

[0018] Among them, the horizontal rotation motor and the vertical rotation motor are used to adjust the posture of the laser rangefinder head to aim at the laser target; the second embedded computer is used to collect the output data of the horizontal rotation motor and the vertical rotation motor to obtain the target straight-line distance and angle.

[0019] In one embodiment, the processing module includes a control box and an industrial computer;

[0020] The control box is used to receive measurement data including attitude angle, target straight-line distance and angle, complete the shield machine attitude calculation task according to the measurement data, and display the shield machine attitude calculation results on the industrial computer.

[0021] In one embodiment, the control box is also used to distribute at least part of the computing tasks to the industrial computer and / or the laser target.

[0022] In a second aspect, the present application provides a shield machine posture measurement method, based on the above-mentioned shield machine posture measurement device, the method includes:

[0023] According to the straight-line distance and angle of the target, the actual movement of the laser target is obtained;

[0024] According to the attitude angle and the actual movement amount, the coordinate data of the laser target is obtained;

[0025] Based on the coordinate data of the laser target, combined with the geometric center of the shield head and the geometric center of the shield tail of the shield machine and the spatial position model of the laser target, the shield head coordinate data and the shield tail coordinate data of the shield machine are obtained.

[0026] In one embodiment, the laser target includes a gyroscope, an accelerometer and a rotating platform, the gyroscope and the accelerometer are used to measure attitude angle related data in three target directions, and the method includes:

[0027] Obtaining a first drift of the gyroscope that changes sinusoidally when the gyroscope rotates continuously around the correction direction and a second drift in the correction direction, and obtaining a first zero bias of the accelerometer that changes sinusoidally when the accelerometer rotates continuously around the correction direction and a second zero bias in the correction direction; wherein the correction direction is one of three mutually orthogonal target directions;

[0028] The first drift amount, the second drift amount, the first zero offset amount and the second zero offset amount are compensated by using a rotating platform.

[0029] The above-mentioned shield machine posture measurement device and measurement method include a laser target set on the shield machine, a laser rangefinder fixed on the pipe segment, and a processing module that is communicatively connected to the laser target and the laser rangefinder; wherein the laser target includes a device for measuring the laser target posture angle; the laser rangefinder is used to measure the target straight-line distance between the laser target and the laser rangefinder before and after the position change of the laser target that changes position with the movement of the shield machine, as well as the angle formed by connecting the vertex and the point before and after the position change of the laser target with the laser rangefinder as the vertex; the processing module is used to receive the posture angle, the target straight-line distance and the angle, and obtain the posture of the shield machine after movement. This application proposes a new posture calculation method based on the laser rangefinder, abandons the traditional posture calculation method based on the total station, realizes simplification in the supporting equipment, and correspondingly simplifies the operation in debugging and measurement, thereby reducing labor costs and construction costs, and improving the work efficiency of the construction site. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of the structure of a shield machine posture measurement device in one embodiment;

[0031] Figure 2 A measurement principle diagram of a laser rangefinder in one embodiment;

[0032] Figure 3 A schematic diagram of the connection structure between the automatic calculation module and the rotating platform in one embodiment;

[0033] Figure 4 Schematic diagram of the exploded structure of the automatic calculation module in one embodiment.

[0034] Explanation of the accompanying drawings: 1. Shield machine; 2. Segment; 3. Laser target; 31. First gyroscope; 32. Second gyroscope; 33. Third gyroscope; 34. Main control board; 35. Connector board; 36. First power supply module; 37. Fixed connecting bolts; 38. Base; 4. Laser rangefinder; 5. Processing module; 51. Control box; 52. Industrial computer; 6. Automatic calculation module; 7. Rotating platform; 71. Motor. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0036] The present application embodiment provides a shield machine posture measurement device, such as Figure 1 As shown, the device includes: a laser target 3 arranged on the shield machine 1, a laser rangefinder 4 fixed on the pipe segment 2, and a processing module 5 connected to the laser target 3 and the laser rangefinder 4 in communication; wherein the laser target 3 includes a device for measuring the attitude angle of the laser target 3; the laser rangefinder 4 is used to measure the target straight-line distance between the laser target 3 and the laser rangefinder 4 before and after the position change of the laser target 3 which changes position with the movement of the shield machine 1, and the angle formed by connecting the vertex and the point where the laser target 3 is located before and after the position change with the laser rangefinder 4 as the vertex; the processing module 5 is used to receive the attitude angle, the target straight-line distance and the angle, and obtain the posture of the shield machine 1 after the movement.

[0037] In this embodiment, the laser target 3 is the same as the conventional laser target 3, which is fixedly installed in the shield body of the shield machine 1 and moves forward with the shield machine 1. The laser rangefinder 4 replaces the conventional total station, tracks and collimates the prism of the laser target 3, and calculates the movement data of the laser target 3. The processing module 5 has a data processing function, receives the measurement data collected and output by the laser target 3 and the laser rangefinder 4, processes the measurement data according to the preset program, and calculates the position and posture of the shield machine 1.

[0038] During the specific implementation, all the above hardware and software are connected normally, and the communication is ensured to be normal. The initial position coordinates and initial value of the attitude angle of the laser target 3 are set in the processing module 5. The attitude angle includes the pitch angle, the roll angle and the azimuth angle. The initial value of the attitude angle of the shield machine 1 can also be directly set as the initial value of the attitude angle of the laser target 3; or all the initial values ​​of the attitude angle can be set to zero. The geometric center position coordinates of the shield head, the geometric center position coordinates of the shield tail, and the attitude angle data of the shield machine 1 are entered into the processing module 5, and the geometric relationship between the shield head geometric center, the shield tail geometric center and the laser target 3 of the shield machine 1 is automatically generated, that is, the data relationship between the position coordinates and the attitude angle.

[0039] After the initial value setting is completed, the instructions sent by the processing module 5 are transmitted to the laser rangefinder 4 via wireless or wired transmission, and the laser rangefinder 4 controls the various modules to work together through electrical connection according to the instructions. The instructions sent by the processing module 5 are transmitted to the laser target 3 via wireless or wired transmission, and the laser target 3 controls the various modules to work together through electrical connection according to the instructions. Specifically, the laser target 3 reads its own three-dimensional coordinates and attitude angle related parameters in real time, and stores and calculates them. Figure 2 As shown, the laser rangefinder 4 is located at point A, O1 is the position of the laser target 3 before it moves with the shield machine 1, and O1' is the position of the laser target 3 after it moves with the shield machine 1. L1 is the distance from the laser rangefinder 4 to the laser target 3 before the shield machine 1 moves, and L2 is the distance from the laser rangefinder 4 to the laser target 3 after the shield machine 1 moves. L1 and L2 are the target straight-line distances. ∠a is the laser angle measured twice, that is, the angle. L1, L2, and ∠a are all measured by the laser rangefinder 4. Based on these three data, the actual movement amount L3 of the laser target 3 before and after the shield machine 1 moves can be calculated. Based on the actual movement amount of the laser target 3 and the position coordinates of the laser target 3 before the shield machine 1 moves, the position coordinates of the laser target 3 after the shield machine 1 moves can be calculated. Combined with the attitude angle and coordinate data obtained by the laser target 3 itself, the geometric relationship model of the shield head geometric center, shield tail geometric center and laser target 3 of the shield machine 1 is applied to output the shield head geometric center coordinate data and shield tail geometric center geometric coordinate data after the shield machine 1 moves, thereby determining the posture of the shield machine 1. After completing a posture measurement, as the shield machine 1 continues to move, the above operation is repeated to continue measuring the posture of the shield machine 1.

[0040] When it is necessary to change the station, the laser rangefinder 4 is moved from the position before the movement to the position after the movement, the laser is aimed at the laser target 3, and the station change operation is selected on the processing module 5. The above-mentioned operation of measuring the posture of the shield machine 1 is repeated at the station change position, and so on.

[0041] In one embodiment, the laser target 3 includes a coordinate automatic calculation module 6 and a rotating platform 7; the coordinate automatic calculation module 6 includes a gyroscope for measuring the attitude angle of the laser target 3 in three target directions, and an accelerometer for measuring the attitude angular velocity components of the laser target 3 in three target directions; the rotating platform 7 is used to compensate for the errors of the gyroscope and the accelerometer; wherein the three target directions are three mutually orthogonal directions.

[0042] like Figure 3 and Figure 4 As shown, the main internal structure of the laser target 3 is shown. The laser target 3 is a box with good sealing performance, and a fixed connecting bolt 37 is installed on the outer bottom wall to reduce vibration during use. A prism is installed on the outer side wall of the box, and the prism cooperates with the laser rangefinder 4. An automatic calculation module 6 and a rotating platform 7 are installed inside the laser target 3.

[0043] Among them, the automatic calculation module 6 includes three gyroscopes, namely the first gyroscope 31, the second gyroscope 32 and the third gyroscope 33. The three gyroscopes are installed outside the panel of the circuit board to measure the pitch angle, roll angle and azimuth in the three directions of XYZ, respectively. The three directions of XYZ are due north, due east and zenith. The automatic calculation module 6 also includes an accelerometer to measure the velocity components of the pitch angle, roll angle and azimuth in the three directions of XYZ, respectively; the main function is to further improve the coordinate accuracy. The bottom of the automatic calculation module 6 is connected to a rotating platform 7, the main function of which is to solve the cumulative error of the gyroscope and the accelerometer, realize self-correction, and ensure that there is no cumulative error during operation. In this embodiment, the automatic calculation module 6 is installed on a base 38, and a motor 71 for driving the rotating platform 7 to rotate is provided on the base 38, and a rotation scheme can be selected according to actual needs.

[0044] In one embodiment, by designing a rotation scheme, the error sources in the system, such as gyroscope drift, accelerometer zero bias, etc., can be effectively modulated and compensated, thereby improving coordinate accuracy and reliability. The automatic calculation module 6 including the gyroscope and accelerometer is placed on the rotating platform 7, and the motor drives the rotating platform 7 to rotate continuously at a constant angular velocity, or drives the rotating platform 7 to operate in a fixed multi-position (such as four equally spaced positions of 0°, 90°, 180°, and 270°) turn-stop form to eliminate the influence of the gyroscope and accelerometer errors.

[0045] Specifically, the gyroscope output model is established as follows:

[0046] ω out =K g ω in +ε(t)+w g

[0047] Where: out——Angular velocity output; K g ——gyro scale factor; ω in ——angular velocity input; ε(t)——gyroscope drift, zero bias that changes slowly over time; w g ——The gyroscope outputs white noise, and the integral is a random walk of the angle. Gyroscope drift has the greatest impact on system accuracy. Gyroscope drift changes slowly over time and can be approximately regarded as a constant zero bias relative to the time scale of the modulation cycle.

[0048] The accelerometer output model is established as follows:

[0049]

[0050] Among them: a out ——Specific force output; K a ——Accelerometer scale factor; a in ——Comparative force input; ——Accelerometer bias, which changes slowly over time; w a ——The accelerometer outputs white noise, and the integration shows a random walk of velocity.

[0051] Taking the most common single-axis continuous rotation system as an example, the measurement component performs single-axis rotation around the azimuth axis Z. The measurement component coordinate system is a rotating coordinate system, in which the gyroscope drift is a constant, and the equivalent gyroscope drift in the east and north directions in the navigation system changes according to the sinusoidal law.

[0052] During navigation solution, the integral value of the sinusoidal signal within one rotation period is 0, that is, the system accumulated error caused by gyroscope drift is converted into an error oscillating with a certain amplitude and frequency, making the system horizontal loop an ideal drift-free system.

[0053]

[0054] Where: E , ε N , ε U ——the equivalent east, north and celestial gyro drift in the navigation system; ε x , ε y , ε z ——Gyroscope drift of the X, Y and Z axes in the coordinate system of the measuring assembly; ω——angular velocity of the rotating mechanism; T——rotation period of the rotating mechanism.

[0055] Similarly, the variation law of the accelerometer zero bias in a single-axis continuous rotation system is established. The accelerometer zero bias equivalent to the east and north directions in the navigation system varies according to the sinusoidal law, and the integral value is 0 within one rotation cycle.

[0056]

[0057] in: - the equivalent accelerometer bias in the east, north and celestial directions in the navigation system; ——X, Y, and Z axis accelerometer zero bias in the measurement component coordinate system; ω——rotational angular velocity of the rotating mechanism.

[0058] Regarding the inertial sensor of the vertical axis, the geographic coordinate information and static state of the carrier can be comprehensively utilized, combined with the horizontal axis sensor, for further correction.

[0059] First, the angular velocity of the earth's rotation is accurately known, which is 15° / h. Based on the component of the angular velocity of the earth's rotation in the navigation system, the Z-axis gyroscope drift can be calculated as follows.

[0060]

[0061] in:

[0062] ω xout ,ω yout ,ω zout ——X, Y, and Z axis gyroscope outputs without drift effects;

[0063] ω ie —— angular velocity of the Earth’s rotation;

[0064] ε z - Z-axis gyro drift in the measurement component's coordinate system.

[0065] Secondly, based on the known geographic information, the local gravity acceleration value can be accurately calculated by the standard model. Combined with the static conditions, the Z-axis accelerometer zero bias can be calculated according to the following formula.

[0066]

[0067] in:

[0068] a xout 、a yout 、a zout ——X, Y, and Z axis accelerometer outputs without bias effects;

[0069] g n - local gravitational acceleration;

[0070] ——Z-axis accelerometer zero bias in the measurement component coordinate system.

[0071] The laser target 3 performs a self-calibration procedure by rotating the rotating platform 7 during the idle time of the system, thereby eliminating the long-term drift of the parameters of the inertial sensor itself and improving the system operation accuracy and subsequent coordinate accuracy.

[0072] This embodiment takes the Z axis as an example to illustrate the error compensation scheme for the gyroscope and the accelerometer. In other implementation schemes, the X axis and the Y axis can also be used as the rotation axes for error compensation. The scheme is the same as the Z axis and will not be repeated here.

[0073] In one embodiment, the automatic calculation module 6 also includes a main control board 34, a first communication module, a first embedded computer and a first power supply module 36; wherein the main control board 34 is used to realize functions including attitude angle related data collection and attitude angle related data compensation; the first embedded computer is used to realize functions including laser target 3 debugging; the first communication module is used to support the communication connection between the laser target 3 and the processing module 5; the first power supply module 36 is used to supply power to the main control board 34, the first communication module and the first embedded computer.

[0074] The main control board 34 includes a processor integrated on the circuit board, a gyroscope SPI interface, a magnetometer (the basis for judging the static state), serial communication, wireless communication and other chips. The accelerometer is also set on the main control board 34. By burning the program on the processor, the functions of data acquisition, parameter compensation, serial port transmission and reception and the like are realized.

[0075] The first embedded computer is responsible for data operation processing and interaction, and can also be used alone as a laser target 3 for debugging.

[0076] The first communication module may be a wired communication module or a wireless communication module.

[0077] The first power supply module 36 is a built-in battery. In addition to the built-in battery, the laser target 3 can also be powered by an external battery or an active line to continuously supply power to the electrical components in the target. The main purpose of the built-in battery is to ensure that the electrical components can work normally when the external battery is replaced.

[0078] In one embodiment, the laser target 3 includes a sealed box for protecting the internal structure of the laser target 3 , and a first weather correction module for adjusting the temperature and humidity in the sealed box is arranged in the sealed box.

[0079] The first weather correction module in the box is an adjustable temperature and humidity device, which keeps the interior at a constant temperature to ensure the stability and accuracy of each module in the laser target 3. There are temperature and humidity sensors in the box to monitor the weather conditions inside and outside the laser target 3 in real time. The first weather correction module can include a heater, a cooler, a dryer, etc.

[0080] The laser target 3 also includes a connector board 35, and the wiring harness on the connector board includes input and output, debugging and other interfaces.

[0081] In one embodiment, the laser rangefinder 4 includes a laser rangefinder head, a horizontal rotation motor, a vertical rotation motor and a second embedded computer; wherein the horizontal rotation motor and the vertical rotation motor are used to adjust the posture of the laser rangefinder head to aim at the laser target 3; the second embedded computer is used to collect the output data of the horizontal rotation motor and the vertical rotation motor to obtain the target straight-line distance and angle.

[0082] In this embodiment, both the horizontal rotary motor and the vertical rotary motor are equipped with an angle encoder for measuring the rotation angle of the horizontal motor and the vertical motor. The laser rangefinder 4 has a built-in second embedded computer electrically connected to each internal component, and uses ATR (Automatic Ranging and Targeting) for measurement. The laser rangefinder 4 can complete the angle measurement function through a controllable rotary motor and an angle encoder, track and aim at the laser target 3 prism, and calculate the actual moving distance of the laser target 3 according to the measurement results, with an accuracy of ≤2mm.

[0083] The laser rangefinder 4 also includes a second communication module for supporting communication between the laser rangefinder 4 and the processing module 5; it also includes a knob for adjusting the level and an automatic leveling compensator; it also includes a second meteorological correction module, and the laser rangefinder 4 automatically adjusts the temperature and humidity compensation to ensure measurement accuracy.

[0084] In one embodiment, the processing module 5 includes a control box 51 and an industrial computer 52; the control box 51 is used to receive measurement data including attitude angle, target straight-line distance and angle, complete the shield machine 1 attitude calculation task according to the measurement data, and display the shield machine 1 attitude calculation result on the industrial computer 52. In other embodiments, the control box 51 can also distribute at least part of the calculation task to the industrial computer 52 and / or the laser target 3.

[0085] The control box 51 is internally installed with a wireless communication module and a data operation processing module 5, which mainly play the role of data processing and interaction.

[0086] In one embodiment, the laser rangefinder 4 roughly processes and calculates the measurement data and transmits it to the control box 51, which further processes and calculates the actual movement of the laser target 3. The laser target 3 measures, records, stores, calculates, and processes the attitude angle and other related parameters during its own measurement in real time, and transmits the processed data to the control box 51. The control box 51 processes and calculates the coordinate data of the laser target 3 in combination with the actual movement of the laser target 3; the control box 51 calculates the attitude of the shield machine 1, and transmits the processing and calculation results to the industrial computer 52 for display.

[0087] In one embodiment, the laser rangefinder 4 roughly processes and calculates the measurement data and transmits it to the control box 51, which further processes and calculates the actual movement of the laser target 3. The laser target 3 measures, records, stores, calculates, and processes other related parameters such as the attitude angle during its own measurement in real time, and transmits the processed data to the control box 51. The control box 51 processes and calculates the coordinate data of the laser target 3 in combination with the actual movement of the laser target 3; the control box 51 transmits the processed coordinate data and attitude angle to the industrial computer 52 to calculate the attitude of the shield machine 1 and display the calculation results.

[0088] In one embodiment, the laser rangefinder 4 roughly processes and calculates the measured data and transmits it to the control box 51, and then transmits it to the industrial computer 52 for further processing and calculation to obtain the actual movement of the laser target 3. The laser target 3 measures, records, stores, calculates, and processes the attitude angle and other related parameters during its own measurement in real time, and transmits the processed data to the control box 51, and then to the industrial computer 52. The industrial computer 52 processes and calculates the coordinate data of the laser target 3 in combination with the actual movement of the laser target 3, and the industrial computer 52 calculates the attitude of the shield machine 1 and displays the calculation results.

[0089] In one embodiment, the laser rangefinder 4 transmits the measured data to the control box 51, which processes and calculates the actual movement of the laser target 3. The laser target 3 reads the attitude angle and other related parameters of itself in real time during measurement, and transmits the data to the control box 51. The control box 51 processes and calculates the coordinate data of the laser target 3 in combination with the actual movement of the laser target 3; the control box 51 calculates the attitude of the shield machine 1, and transmits the processing and calculation results to the industrial computer 52 for display.

[0090] In one embodiment, the laser rangefinder 4 transmits the measured data to the control box 51, and then to the industrial computer 52, which processes and calculates the actual movement of the laser target 3. The laser target 3 reads the attitude angle and other related parameters of itself in real time during measurement, transmits the data to the control box 51 and then to the industrial computer 52, and the industrial computer 52 processes and calculates the coordinate data of the laser target 3 in combination with the actual movement of the laser target 3; the industrial computer 52 calculates the attitude of the shield machine 1 and displays the calculation result.

[0091] In one embodiment, the laser rangefinder 4 transmits the measured data to the control box 51, which processes and calculates the actual movement of the laser target 3. The laser target 3 reads its own attitude angle and other related parameters in real time during measurement, and transmits the data to the control box 51. The control box 51 processes and calculates the coordinate data of the laser target 3 in combination with the actual movement of the laser target 3, and then transmits it to the industrial computer 52; the industrial computer 52 calculates the attitude of the shield machine 1 and displays the calculation results.

[0092] In one embodiment, the laser rangefinder 4 transmits the measured data to the control box 51, which processes and calculates the actual movement of the laser target 3. The laser target 3 reads the attitude angle and other related parameters of itself in real time during measurement, and the laser target 3 processes and calculates the coordinate data of the laser target 3 in combination with the actual movement of the laser target 3, and then transmits it to the industrial computer 52; the industrial computer 52 calculates the attitude of the shield machine 1 and displays the calculation results.

[0093] In one embodiment, the laser rangefinder 4 transmits the measured data to the control box 51, which processes and calculates the actual movement of the laser target 3. The laser target 3 reads the attitude angle and other related parameters of itself in real time during measurement, and the laser target 3 processes and calculates the coordinate data of the laser target 3 in combination with the actual movement of the laser target 3, and then transmits it to the control box 51; the control box 51 calculates the attitude of the shield machine 1, and transmits the processing and calculation results to the industrial computer 52 for display.

[0094] In one embodiment, the laser target 3, the laser rangefinder 4 and the control box 51 all have data storage functions to solve the measurement problems caused by blind pushing of the shield machine 1, untimely station change and guidance failure.

[0095] The existing total station-based shield machine 1 posture measurement adopts the total station rear-view orientation, so during the debugging process, the total station and rear-view prism are needed, and the positions of the total station and the rear-view point must be manually measured and adjusted. Then, the position coordinates and azimuth of the laser target 3 are measured by the total station, and the pitch angle and roll angle are measured by the inclination sensor in the laser target 3. Finally, according to the position relationship between the front and rear geometric center positions of the shield machine 1 and the laser target 3, plus the coordinates and azimuth of the laser target 3 measured by the total station, and the pitch angle and roll angle measured by the laser target 3 itself, the posture of the shield machine 1 is calculated.

[0096] However, the present application changes the total station to a laser rangefinder 4, and does not need to use a rear-view prism, and the laser target 3 automatically obtains its own attitude angle data including pitch angle, roll angle and azimuth angle. In addition, when changing stations, the shield machine 1 posture measurement based on the total station requires wire measurement to change stations. First, the total station is moved to a new position, and then the rear-view prism is moved to the position before the total station moves. Then, the total station is operated to look backward and orient, and the total station is turned to aim at the laser target 3 for measurement. However, when changing stations, the present application only needs to move the laser rangefinder 4 to a new position and let the laser rangefinder 4 aim at the laser target 3. Therefore, compared with the existing shield machine 1 posture measurement method, the structure is more streamlined, easier to operate, more efficient to implement, and has a low failure rate. At the same time, the structural improvements make the equipment cost of the present application much lower than the traditional shield machine 1 posture measurement equipment based on the total station, and it has a high social and economic value.

[0097] In addition, the simplification of structure and operation will not affect the accuracy. After actual measurement, the maximum operating error level of the coordinate accuracy of this application is ≤8mm, and the elevation is ≤9mm (comprehensive processing accuracy is measured once per second), and increasing the measurement frequency can reduce the accuracy (5 times per second, the accuracy can reach an error level of ≤5mm, and elevation ≤6mm). The coordinate accuracy of the traditional shield machine 1 posture measurement method based on total station is both centimeter-level horizontally and vertically, and there is also a cumulative error. Therefore, the coordinate accuracy of the technology disclosed in this application is much higher than the coordinate accuracy of the prior art measurement and there is no cumulative error.

[0098] Finally, compared with the traditional total station-based shield machine 1 posture measurement method, the posture measurement accuracy of the scheme proposed in this application is higher. This is because the shield machine 1 moves forward by pushing the pipe segment 2 with the propulsion cylinder during the advancement process, and the influence of the interaction force will cause the pipe segment 2 to move slightly backward. At the same time, the formed pipe segment 2 also floats up and down. The traditional total station is installed on the pipe segment 2. If the position of the pipe segment 2 changes, it will inevitably cause the absolute position coordinates of the total station to change. The system defaults to a certain position of the total station and transfers the coordinates under this default condition, which ultimately affects the accuracy of the posture measurement of the shield machine 1. This application abandons the traditional method of using absolute coordinates to calculate the posture, and uses the relative position method to calculate the posture. No matter how the pipe segment 2 is offset, it does not affect the relative position between the laser rangefinder 4 and the laser target 3, and does not affect the calculation of the actual movement of the laser target 3, thereby obtaining a more accurate shield machine posture measurement result.

[0099] The shield machine posture measurement device proposed in this application is applicable to tunnel excavation by existing domestic and foreign tunnel boring machines, conventional shield machines (such as slurry balance shield machines, earth pressure balance shield machines, conventional circular shield machines such as large-diameter shield machines), dual-mode shield machines, TBM shield machines, jacking shield machines, special-shaped shield machines (such as horseshoe shield machines, rectangular shield machines), shield construction tunnel excavation, etc. It is also applicable to shaft shield machines, which can be used for mountain hard rock tunnels and urban deep shaft excavation, etc., and the technology is superior to the existing technology.

[0100] Based on the same inventive concept, the embodiment of the present application also provides a shield machine attitude measurement method for realizing the above-mentioned shield machine attitude measurement device. The implementation scheme for solving the problem provided by the method is similar to the implementation scheme recorded in the above-mentioned device, so the specific limitations in one or more shield machine attitude measurement device embodiments provided below can refer to the limitations of the shield machine attitude measurement method above, and will not be repeated here.

[0101] In one embodiment, a shield machine posture measurement method is provided, based on the above-mentioned shield machine posture measurement device, and the method includes:

[0102] According to the straight-line distance and angle of the target, the actual movement of the laser target is obtained;

[0103] According to the attitude angle and the actual movement amount, the coordinate data of the laser target is obtained;

[0104] Based on the coordinate data of the laser target, combined with the geometric center of the shield head and the geometric center of the shield tail of the shield machine and the spatial position model of the laser target, the shield head coordinate data and the shield tail coordinate data of the shield machine are obtained.

[0105] In one embodiment, the laser target includes a gyroscope, an accelerometer and a rotating platform, the gyroscope and the accelerometer are used to measure attitude angle related data in three target directions, and the method includes: obtaining a first drift amount that changes sinusoidally when the gyroscope rotates continuously around the correction direction and a second drift amount in the correction direction, obtaining a first zero bias that changes sinusoidally when the accelerometer rotates continuously around the correction direction and a second zero bias in the correction direction; wherein the correction direction is one of the three mutually orthogonal target directions; and using the rotating platform to compensate for the first drift amount, the second drift amount, the first zero bias amount and the second zero bias amount. The purpose of this embodiment is to realize error compensation of the gyroscope and the accelerometer, and the specific scheme has been disclosed in detail in the method embodiment and will not be repeated here.

[0106] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited thereto. The processors involved in each embodiment provided in this application may be general-purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, data processing logic devices based on quantum computing, etc., but are not limited thereto.

[0107] The technical features of the above embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0108] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A shield machine posture measurement device, characterized in that: The device comprises: A laser target disposed on the shield machine, a laser rangefinder fixed on the pipe segment, and a processing module in communication with the laser target and the laser rangefinder; Wherein, the laser target includes a device for measuring the attitude angle of the laser target; The laser rangefinder is used to measure the target straight-line distance between the laser target and the laser rangefinder before and after the position change, which changes with the movement of the shield machine, and the angle formed by connecting the vertex and the point before and after the position change of the laser target with the laser rangefinder as the vertex; The processing module is used to receive the attitude angle, the target straight-line distance and the included angle, and obtain the posture of the shield machine after movement.

2. The device according to claim 1, characterized in that: The attitude angles include pitch angle, roll angle and azimuth angle; The laser target includes a coordinate automatic calculation module and a rotating platform; the coordinate automatic calculation module includes a gyroscope for measuring the attitude angle of the laser target in three target directions, and an accelerometer for measuring the attitude angular velocity component of the laser target in the three target directions; the rotating platform is used to compensate for the errors of the gyroscope and the accelerometer; The three target directions are three directions orthogonal to each other.

3. The device according to claim 2, characterized in that: The automatic calculation module also includes a main control board, a first communication module, a first embedded computer and a first power supply module; Among them, the main control board is used to realize the functions including the attitude angle related data acquisition and the attitude angle related data compensation; the first embedded computer is used to realize the laser target debugging function; the first communication module is used to support the communication connection between the laser target and the processing module; the first power supply module is used to supply power to the main control board, the first communication module and the first embedded computer.

4. The device according to claim 1, characterized in that: The laser target comprises a sealed box for protecting the internal structure of the laser target, and a first weather correction module for adjusting the temperature and humidity in the sealed box is arranged in the sealed box.

5. The device according to claim 1, characterized in that The laser rangefinder comprises a laser rangefinder head, a horizontal rotation motor, a vertical rotation motor and a second embedded computer; Among them, the horizontal rotation motor and the vertical rotation motor are used to adjust the posture of the laser rangefinder head to aim at the laser target; the two embedded computers are used to collect output data of the horizontal rotation motor and the vertical rotation motor to obtain the target straight-line distance and the angle.

6. The device according to claim 1, characterized in that The processing module includes a control box and an industrial computer; The control box is used to receive measurement data including the attitude angle, the target straight-line distance and the included angle, complete the shield machine attitude calculation task according to the measurement data, and display the shield machine attitude calculation result on the industrial computer.

7. The device according to claim 6, characterized in that: The control box is further used to distribute at least part of the computing tasks to the industrial computer and / or the laser target.

8. A shield machine posture measurement method, based on the shield machine posture measurement device according to any one of claims 1 to 7, the method comprising: According to the target straight-line distance and the angle, the actual movement amount of the laser target is obtained; Acquiring coordinate data of the laser target according to the attitude angle and the actual movement amount; Based on the coordinate data of the laser target, the shield head coordinate data and the shield tail coordinate data of the shield machine are obtained in combination with the shield head geometric center, the shield tail geometric center and the spatial position model of the laser target.

9. The method according to claim 8, wherein the laser target comprises a gyroscope, an accelerometer and a rotating platform, wherein the gyroscope and the accelerometer are used to measure the attitude angles in three target directions, and the method comprises: Acquire a first drift of the gyroscope that changes sinusoidally when the gyroscope rotates continuously around the correction direction and a second drift in the correction direction, and acquire a first zero bias of the accelerometer that changes sinusoidally when the accelerometer rotates continuously around the correction direction and a second zero bias in the correction direction; wherein the correction direction is one of the three mutually orthogonal target directions; The first drift, the second drift, the first zero offset and the second zero offset are compensated by using the rotating platform.

Images