Guide system for vertical shaft heading machine and vertical shaft heading guide measurement method

Abstract

The guiding system for the vertical shaft heading machine comprises a total station, a first prism, a monocular camera, a plurality of second prisms, a binocular camera, feature points, an upper computer and a power supply box, the second prisms can be lightened or lightened, the field of view of the binocular camera faces downwards, the feature points can be lightened or lightened, and the upper computer is connected with the power supply box. The upper computer is in data connection with the total station, the monocular camera and the binocular camera, station setting and orientation can be conducted on the total station through known geodetic coordinates of the total station and the first prisms, geodetic coordinates of the second prisms are measured through the total station and transmitted to the upper computer, the geodetic coordinates, the initial inclination angle and the azimuth angle of the hanging scaffold are integrated, and the position of the hanging scaffold is determined. The fixed position relation of the monocular camera, the hanging scaffold and the binocular camera is calculated, then the coordinates of the binocular camera can be calculated according to the geodetic coordinates and the camera coordinates actually measured by the feature points, the precision is high, the structure is simple, and the cost is low; the vertical shaft tunneling guide measurement method provided by the invention is simple in steps, convenient to operate and high in accuracy.

Description

Technical Field

[0001] The invention relates to the technical field of shaft excavation guidance, and in particular to a guidance system for a shaft excavation machine and a shaft excavation guidance measurement method. Background Art

[0002] A shaft boring machine is a mechanical device that digs vertically downward. The shaft excavated by the machine is usually used for ventilation and material transportation channels. Most existing shaft boring machines include a hanging platform for placing equipment and personnel operations, and a boring head located below the hanging platform. To facilitate excavation, the boring head and the hanging platform are usually flexibly connected. Affected by geological conditions, equipment operation and other factors, the shaft boring machine will inevitably produce a certain degree of deflection during the excavation process. In order to ensure that the deflection is controlled within a reasonable range, a guide system needs to be set up for real-time detection and correction. Most of the existing guide systems of shaft boring machines use a camera set at the entrance to capture the position of the boring head below for detection, such as Chinese patent CN11432030. 5A has disclosed this type of guidance system. Due to the loss of light energy and obstruction of the hanging plate, the accuracy of this type of guidance system is difficult to guarantee. There is also a method of calculating the coordinates of the upper and lower platforms by setting a vertical meter and a receiving target on the hanging plate, and installing a binocular camera at the lower end of the upper and lower platforms for detection. However, this solution requires that the receiving target, the binocular camera and the upper and lower platforms be regarded as a rigid body, which is too idealized. In actual operation, it is necessary to consider the positional relationship between the receiving target, the binocular camera and the center points of the upper and lower ends of the upper and lower platforms (involving the deflection angle and pitch attitude). If the positional relationship is inconsistent, it is necessary to calculate the coordinates of the binocular camera based on the inclination angle of the upper and lower platforms, and the rotation angle needs to be calculated through a gyroscope device, which has a complex structure and high cost. Summary of the invention

[0003] The purpose of the present invention is to overcome one or more shortcomings in the prior art and to provide a shaft boring machine guidance system with high precision, simple structure and low cost, as well as a shaft boring machine guidance measurement method with simple steps, convenient operation and high accuracy.

[0004] In order to achieve the above-mentioned object, the product in the technical solution provided by the present invention is a guide system for a shaft boring machine, comprising:

[0005] A total station, the total station and the leveling base are combined together, the total station is installed on the inner wall of the shaft, and the total station is installed vertically;

[0006] A leveling base, wherein the leveling base keeps the total station in a level state after the bubble is adjusted;

[0007] A first prism, the first prism being mounted on the edge of the shaft or on the inner wall of the shaft as the depth of the shaft increases;

[0008] A monocular camera, wherein the monocular camera is arranged at the center of the top platform of the hanging plate, the field of view of the monocular camera faces upward, and an inclinometer is integrated in the monocular camera;

[0009] A second prism, wherein the second prism is a double-sided prism, there are a plurality of the second prisms, the second prism is a prism device in which two prisms are symmetrically installed, the second prism is inserted into the inner wall of the shaft and one side of the second prism is located in the field of view of the monocular camera, and the other side of the second prism is located in the measurement range of the total station, and the second prism can be illuminated or lit;

[0010] A binocular camera, wherein the binocular camera is arranged on the bottom platform of the hanging plate, and the field of view of the binocular camera faces downward;

[0011] Feature points, the feature points are arranged on the top platform of the tunneling head and are located in the field of view of the binocular camera, the feature points can be lit or illuminated, there are multiple feature points and they are divided into at least two groups, the two groups of feature points are arranged at intervals in the horizontal direction, and there is a height difference in the up and down direction;

[0012] A host computer, which is arranged on the hanging plate and is data-connected to the monocular camera and the binocular camera;

[0013] A power supply box is arranged on the tunneling head, and is used to supply power to the monocular camera, the binocular camera, and the host computer, and to illuminate or light up the second prism and the feature point.

[0014] Preferably, the heights of the plurality of second prisms on the inner wall surface of the shaft are different.

[0015] Preferably, the guide system for a shaft boring machine further comprises a strong light for illuminating the second prism.

[0016] Further preferably, the strong light is arranged on the head of the monocular camera and is located on one side of the lens of the monocular camera.

[0017] Preferably, the feature point is a luminous feature point.

[0018] Further preferably, the guide system for the shaft boring machine further comprises a feature point bracket for mounting all the feature points.

[0019] To achieve the above object, the method in the technical solution provided by the present invention is a shaft excavation guidance measurement method, which adopts any one of the above-mentioned shaft boring machine guidance systems for measurement, and the shaft excavation guidance measurement method comprises the following steps:

[0020] The first step is to establish a coordinate system with due north as the positive direction of the X axis, due east as the positive direction of the Y axis, and the sky as the positive direction of the Z axis;

[0021] The second step is to manually measure the geodetic coordinates of the center point of the top platform of the hanging plate, the geodetic coordinates of the center point of the bottom platform of the hanging plate, the tilt angle of the hanging plate in the X-axis direction, the tilt angle of the hanging plate in the Y-axis direction, and set the azimuth angle of the hanging plate to 0, and mark the positive direction of the X-axis on the hanging plate based on the geodetic coordinate system;

[0022] The third step is to manually measure the center coordinates of the top platform of the tunneling head (x P ,y P ,z P ), the center coordinate of the bottom cutter head of the tunneling head (x D ,y D ,z D ), the geodetic coordinates of multiple feature points (x1, y1, z1), (x2, y2, z2), ... (x n ,y n ,z n ), and the angle α of the plane of the top platform of the tunneling head in the X-axis direction and the angle β in the Y-axis direction, while the initial angle of the azimuth angle γ of the shaft boring machine is recorded as 0°;

[0023] The fourth step is to calculate the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter head, and the relative position relationship of the geodetic coordinates of multiple feature points;

[0024] Take the center point coordinate of the top platform of the tunneling head as the origin (0,0,0), and place the center point coordinate of the bottom cutter head of the tunneling head in the negative direction of the Z axis to establish a coordinate system. Then, the center point coordinate of the bottom cutter head is (0,0,-l), where:

[0025]

[0026] The coordinates of the plurality of characteristic points in the coordinate system are calculated according to the coordinate system established with the coordinates of the center point of the top platform of the tunneling head as the origin, the angle α of the plane of the top platform of the tunneling head in the X-axis direction, the angle β in the Y-axis direction and the azimuth γ, and the relative position relationship between the plurality of characteristic points and the coordinates of the center point of the top platform of the tunneling head is obtained;

[0027] Use a binocular camera to identify the coordinate values ​​of multiple feature points in the camera coordinate system (x1′, y1′, z1′), (x′2, y′2, z′2), ... (x′ n ,y′ n ,z′ n ), according to the coordinate transformation formula (x,y,z) T=kR(x',y',z') T +(Δx,Δy,Δz) T , substitute the geodetic coordinates of multiple feature points and the camera coordinates of multiple feature points into the calculation, calculate the conversion coefficient k between the geodetic coordinates of multiple feature points and the camera coordinates, and the camera coordinate transformation matrix R X and offset (Δx, Δy, Δz) T , where the calculated offset is the geodetic coordinate of the binocular camera at the initial position; calculate the rotation matrix of the hanging plate, and then calculate the fixed transformation relationship matrix between the hanging plate rotation matrix and the binocular camera rotation matrix;

[0028] The rotation matrix formula is:

[0029]

[0030] Satisfy the following formula:

[0031] R Δ ×R D =R X ,

[0032] Among them, R Δ is the fixed transformation relationship matrix, R D is the suspension plate rotation matrix, R X is the stereo camera rotation matrix;

[0033] Calculate the fixed transformation relationship matrix:

[0034]

[0035] According to the rotation matrix of the hanging plate, the geodetic coordinates of the monocular camera with light and the binocular camera, the relative position relationship between the monocular camera with light and the binocular camera is calculated;

[0036] Step 5: During the excavation process, the total station measures the geodetic coordinates of the first prism based on its own geodetic coordinates, and compares them with the geodetic coordinates of the first prism during station orientation. After confirming that the total station coordinates have a small error with the previous ones, the geodetic coordinates of multiple second prisms are measured, and then the monocular camera is used to capture images of multiple second prisms, the geodetic coordinates of the monocular camera are calculated, the azimuth of the hanging plate is calculated, the X-axis tilt angle and the Y-axis tilt angle are obtained, and the rotation matrix of the hanging plate is calculated based on the three angles;

[0037] Then, according to the fixed conversion relationship matrix between the hanging plate rotation matrix and the binocular camera rotation matrix, the real-time rotation matrix of the binocular camera is calculated;

[0038] Step 6: Calculate the real-time geodetic coordinates of the binocular camera based on the relative position relationship between the monocular camera with light and the binocular camera;

[0039] Step 7, calculating the real-time geodetic coordinates of the multiple feature points according to the real-time rotation matrix of the binocular camera and the real-time geodetic coordinates and the real-time coordinates of the multiple feature points photographed by the binocular camera;

[0040] Step 8: According to the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter disc, and the relative position relationship of the geodetic coordinates of multiple feature points, the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter disc, and the rotation matrix of the top platform of the tunneling head are calculated, and the deviation values ​​of the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter disc and the design axis are calculated;

[0041] The ninth step is to calculate the downward excavation distance according to the elevation coordinates of the center point coordinates of the top platform of the tunneling head and the center point coordinates of the bottom cutter head;

[0042] The tenth step is to calculate the X-axis angle, Y-axis angle and azimuth angle of the top platform of the tunneling head according to the rotation matrix of the top platform of the tunneling head, and control the excavation direction according to these three angles.

[0043] Preferably, in the process from the first step to the tenth step, all the feature points are divided into two groups, each group of feature points forms a two-dimensional code, and the coordinates of the corner points of the two-dimensional code represent the coordinates of all the feature points in the group for calculation.

[0044] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0045] The shaft boring machine guidance system provided by the present invention does not require gyroscope equipment to calculate the rotation angle, is cheap, does not require dual channels to calculate the rotation angle, is not interfered by measurement channels, has high precision, simple structure and low cost.

[0046] The shaft excavation guidance measurement method provided by the invention has simple steps, convenient operation and high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a general schematic diagram of the vertical tunnel boring machine guidance system (Scheme 1) of the present invention;

[0048] Figure 2 It is a front view of the characteristic point bracket of the present invention;

[0049] Figure 3 It is a top view of the characteristic point bracket of the present invention;

[0050] Figure 4 It is a schematic diagram of the coordinate system of the present invention;

[0051] Figure 5 It is a general schematic diagram of the vertical tunneling machine guidance system (Scheme 2) of the present invention;

[0052] Figure 6 It is a front view of the two-dimensional code support of the present invention;

[0053] Figure 7 A top view of the two-dimensional code support of the present invention;

[0054] Figure 8 It is a schematic diagram of the two-dimensional code of the present invention;.

[0055] Among them: 1. Host computer; 2. Top platform of tunneling head; 3. Bottom cutter head of tunneling head; 4. Lifting plate; 5. Binocular camera; 6. Feature point bracket; 7. Power supply box; 8. Tunneling head; 9. Feature point; 10. Second prism; 11. Monocular camera; 12. Monocular camera; 13. QR code bracket; 14. Total station; 15. Leveling base; 16. First prism. DETAILED DESCRIPTION

[0056] like Figure 1 and 4 As shown, the guiding system for a shaft boring machine provided by the present invention comprises a total station 14, a leveling base 15, a first prism 16, a monocular camera 11, a second prism 10, a binocular camera 5, feature points 9, a host computer 1, and a power supply box 7, wherein the total station 14 and the leveling base 15 are combined together and installed on the inner wall surface of the shaft through a bracket; the total station 14 is installed vertically, facing downward, and can measure the coordinates of three second prisms 10 and the first prism 16; the leveling base 15 keeps the total station 14 in a leveled state after the bubble is adjusted; the first prism 16 is installed on the edge of the shaft or on the inner wall surface of the shaft as the depth of the shaft increases; the monocular camera 11 is arranged at the center of the top platform of the hanging plate 4, the field of view of the monocular camera 11 faces upward, and an inclinometer (not shown in the figure) is integrated in the monocular camera 11; there are three second prisms 10, and the second prisms 10 are two prisms symmetrically arranged The prism device is installed, the three second prisms 10 are inserted into the inner wall of the shaft and one of the sides is located in the field of view of the monocular camera 11, and the other side is located in the measuring range of the total station 14, and the second prism 10 can be illuminated; the binocular camera 5 is arranged on the bottom platform of the hanging plate 4, and the field of view of the binocular camera 5 faces downward; the feature point 9 is arranged on the top platform 2 of the tunneling head and is located in the field of view of the binocular camera 5, and the feature point 9 can be illuminated, there are multiple feature points 9 and they are divided into at least two groups, the two groups of feature points 9 are arranged at intervals in the horizontal direction, and there is a height difference in the up and down direction; the host computer 1 is arranged on the hanging plate 4, and the host computer 1 is data-connected with the total station 14, the monocular camera 11, and the binocular camera 5; the power supply box 7 is arranged on the tunneling head 8, and the power supply box 7 is used to supply power to the monocular camera 11, the binocular camera 5, and the host computer 1, and is used to illuminate the second prism 10 and light up the feature point 9.

[0057] The advantage of such a setting is that the total station 14 can be set up and oriented by using the known geodetic coordinates of the total station 14 and the first prism 16. At the same time, the total station 14 measures the geodetic coordinates of the multiple second prisms 10 in real time and transmits the geodetic coordinates of the multiple second prisms 10 to the host computer 1. Since the shooting distance of the illuminated monocular camera 11 is short, the multiple second prisms 10 need to be moved multiple times. The total station 14 is set on the inner wall of the shaft to quickly measure the coordinates of the multiple second prisms 10 after the position movement without changing the position of the total station 14; the host computer 1 records the upper center geodetic coordinates, lower center geodetic coordinates, initial tilt angle and azimuth angle of the hanging plate 4, and calculates the fixed position relationship of the illuminated monocular camera 11, the hanging plate 4 and the binocular camera 5 according to the above-mentioned initial tilt angle and azimuth angle; the host computer 1 calculates the fixed position relationship of the illuminated monocular camera 11, the hanging plate 4 and the binocular camera 5 according to the initial tilt angle and azimuth angle of the hanging plate 4 The rotation matrix of the hanging plate 4 is calculated according to the inclination angle and the azimuth angle, and the rotation matrix of the binocular camera is calculated according to the geodetic coordinates of the multiple feature points 9 measured and the camera coordinates of the multiple feature points 9 measured by the binocular camera 4. The two matrices are fixed relationship matrices, and the fixed relationship is recorded in the host computer 1; the host computer 1 calculates the inclination angle of the hanging plate according to the inclinometer integrated in the monocular camera 11 with light during operation, communicates with the monocular camera 11 with light and obtains the reflected images of the multiple second prisms 10 captured by the monocular camera 11 with light and calculates the geodetic coordinates of the monocular camera 11 with light in combination with the geodetic coordinates of the multiple second prisms 10, calculates the coordinates of the monocular camera 11 with light and the azimuth of the hanging plate according to the reflected images of the multiple second prisms 10, and calculates the coordinates of the binocular camera 5 according to the fixed position relationship between the monocular camera 11 with light, the hanging plate 4 and the binocular camera 5.

[0058] The host computer 1 is used to communicate with the binocular camera 5 and obtain the camera coordinate values ​​of multiple feature points 9 recognized by the binocular camera 5, record the relative position relationship between the top platform 2, the cutter head 3 and the multiple feature points 9 of the vertical tunnel boring machine head 8, and calculate the rotation matrix of the binocular camera 5 according to the real-time rotation matrix and the fixed relationship matrix of the hanging plate 4, and then calculate the geodetic coordinates of the multiple feature points 9 measured in real time to calculate the real-time coordinates of the top platform 2 and the cutter head 3 of the vertical tunnel boring machine head 8, and calculate the deviation value of the two from the design axis, calculate the excavation depth of the cutter head 3, and calculate the inclination angle and azimuth of the vertical tunnel boring machine head 8.

[0059] The shaft boring machine guidance system does not require a gyroscope device to calculate the rotation angle, is cheap, does not require dual channels to calculate the rotation angle, is not subject to interference from measurement channels, has high accuracy, simple structure and low cost.

[0060] In order to improve the accuracy of judgment based on the second prism image, in the present embodiment, the three second prisms 10 are at different heights on the inner wall of the shaft; to facilitate lighting, the guidance system for the shaft boring machine also includes a high-intensity lamp (not shown in the figure) for illuminating the second prism 10. The power supply of the high-intensity lamp comes from the power supply box 7. The high-intensity lamp is arranged at the head of the monocular camera 11 and is located on one side of the lens of the monocular camera 11.

[0061] Since the lighting environment below the hanging platform 4 is relatively dim, in order to enable the binocular camera 5 to capture clear feature point images, in this embodiment, the feature point 9 is a luminous feature point, and the luminous energy of the feature point 9 comes from the power supply box 7. Furthermore, in order to facilitate the layout of multiple feature points 9, in this embodiment, the guide system for the shaft boring machine also includes a feature point bracket 6 for installing all feature points 9.

[0062] In another embodiment, if Figures 5 to 8 As shown, the binocular camera 5 can also be replaced by a monocular camera 12 , the multiple feature points 9 are divided into two groups, each group of feature points 9 forms a two-dimensional code, and the feature point bracket 6 can be replaced by a two-dimensional code bracket 13 .

[0063] It should be noted that, in the present embodiment, the hanging platform 4 is fixed for a period of time. As the downward excavation distance increases, the monocular camera 11 is lowered along with the hanging platform 4. At the same time, every time the set distance is lowered, the worker stands on the edge of the top platform of the hanging platform 4 to insert a set of second prisms 10 into the inner wall of the shaft, and uses the total station 14 to measure the geodetic coordinates of the second prism 10 after the position change, so as to avoid the phenomenon that the second prism 10 moves out of the field of view of the monocular camera 11 and the second prism image cannot be captured as the lowering distance increases.

[0064] The shaft excavation guidance measurement method provided by the present invention adopts any of the above-mentioned shaft boring machine guidance systems for measurement, and the shaft excavation guidance measurement method comprises the following steps:

[0065] The first step is to establish a coordinate system with due north as the positive direction of the X axis, due east as the positive direction of the Y axis, and the sky as the positive direction of the Z axis;

[0066] The second step is to manually measure the geodetic coordinates of the center point of the top platform of the hanging plate, the geodetic coordinates of the center point of the bottom platform of the hanging plate, the tilt angle of the hanging plate in the X-axis direction, the tilt angle of the hanging plate in the Y-axis direction, and set the azimuth angle of the hanging plate to 0, and mark the positive direction of the X-axis on the hanging plate based on the geodetic coordinate system;

[0067] The third step is to manually measure the center coordinates of the top platform of the tunneling head (x P ,y P ,z P), the center coordinate of the bottom cutter head of the tunneling head (x D ,y D ,z D ), the geodetic coordinates of multiple feature points (x1, y1, z1), (x2, y2, z2), ... (x n ,y n ,z n ), and the angle α of the plane of the top platform of the tunneling head in the X-axis direction and the angle β in the Y-axis direction, while the initial angle of the azimuth angle γ of the shaft boring machine is recorded as 0°;

[0068] The fourth step is to calculate the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter head, and the relative position relationship of the geodetic coordinates of multiple feature points;

[0069] Take the center point coordinate of the top platform of the tunneling head as the origin (0,0,0), and place the center point coordinate of the bottom cutter head of the tunneling head in the negative direction of the Z axis to establish a coordinate system. Then, the center point coordinate of the bottom cutter head is (0,0,-l), where:

[0070]

[0071] The coordinates of the plurality of characteristic points in the coordinate system are calculated according to the coordinate system established with the coordinates of the center point of the top platform of the tunneling head as the origin, the angle α of the plane of the top platform of the tunneling head in the X-axis direction, the angle β in the Y-axis direction and the azimuth γ, and the relative position relationship between the plurality of characteristic points and the coordinates of the center point of the top platform of the tunneling head is obtained;

[0072] Use a binocular camera to identify the coordinate values ​​of multiple feature points in the camera coordinate system (x1′, y1′, z1′), (x′2, y′2, z′2), ... (x′ n ,y′ n ,z′ n ), according to the coordinate transformation formula (x,y,z) T =kR(x',y',z') T +(Δx,Δy,Δz) T , substitute the geodetic coordinates of multiple feature points and the camera coordinates of multiple feature points into the calculation, calculate the conversion coefficient k between the geodetic coordinates of multiple feature points and the camera coordinates, and the camera coordinate transformation matrix R X and offset (Δx, Δy, Δz) T , where the calculated offset is the geodetic coordinate of the binocular camera at the initial position; calculate the rotation matrix of the hanging plate, and then calculate the fixed transformation relationship matrix between the hanging plate rotation matrix and the binocular camera rotation matrix;

[0073] The rotation matrix formula is:

[0074]

[0075] Satisfy the following formula:

[0076] R Δ ×R D =R X ,

[0077] Among them, R Δ is the fixed transformation relationship matrix, R D is the suspension plate rotation matrix, R X is the stereo camera rotation matrix;

[0078] Calculate the fixed transformation relationship matrix:

[0079]

[0080] According to the rotation matrix of the hanging plate, the geodetic coordinates of the monocular camera with light and the binocular camera, the relative position relationship between the monocular camera with light and the binocular camera is calculated.

[0081] Step 5. During the excavation process, the total station measures the geodetic coordinates of the second prism based on its own geodetic coordinates, and compares them with the geodetic coordinates of the second prism during station orientation. After confirming that the total station coordinates have a small error with the previous ones (the difference does not exceed 10 mm), the geodetic coordinates of multiple second prisms are measured, and then the images of multiple second prisms are taken with a monocular camera, the geodetic coordinates of the monocular camera are calculated, the azimuth of the hanging plate is calculated, the X-axis tilt angle and the Y-axis tilt angle are obtained, and the rotation matrix of the hanging plate is calculated based on the three angles;

[0082] Then, according to the fixed conversion relationship matrix between the hanging plate rotation matrix and the binocular camera rotation matrix, the real-time rotation matrix of the binocular camera is calculated;

[0083] The sixth step is to calculate the real-time geodetic coordinates of the binocular camera based on the relative position relationship between the monocular camera with light and the binocular camera.

[0084] Step 7, calculating the real-time geodetic coordinates of the multiple feature points according to the real-time rotation matrix of the binocular camera and the real-time geodetic coordinates and the real-time coordinates of the multiple feature points photographed by the binocular camera;

[0085] Step 8: According to the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter disc, and the relative position relationship of the geodetic coordinates of multiple feature points, the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter disc, and the rotation matrix of the top platform of the tunneling head are calculated, and the deviation values ​​of the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter disc and the design axis are calculated;

[0086] The ninth step is to calculate the downward excavation distance according to the elevation coordinates of the center point coordinates of the top platform of the tunneling head and the center point coordinates of the bottom cutter head;

[0087] The tenth step is to calculate the X-axis angle, Y-axis angle and azimuth angle of the top platform of the tunneling head according to the rotation matrix of the top platform of the tunneling head, and control the excavation direction according to these three angles.

[0088] The shaft excavation guidance measurement method has simple steps, convenient operation and high accuracy.

[0089] Preferably, in the process from the first step to the tenth step, all the feature points are divided into two groups, each group of feature points forms a two-dimensional code, and the coordinates of the corner points of the two-dimensional code represent the coordinates of all the feature points in the group for calculation.

[0090] The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the contents of the present invention and implement them accordingly. They cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A guide system for a shaft boring machine, characterized in that: include: A total station, the total station and the leveling base are combined together, the total station is installed on the inner wall of the shaft, and the total station is installed vertically; A leveling base, wherein the leveling base keeps the total station in a level state after the bubble is adjusted; A first prism, the first prism being mounted on the edge of the shaft or on the inner wall of the shaft as the depth of the shaft increases; A monocular camera, wherein the monocular camera is arranged at the center of the top platform of the hanging plate, the field of view of the monocular camera faces upward, and an inclinometer is integrated in the monocular camera; A second prism, wherein the second prism is a double-sided prism, there are a plurality of the second prisms, the second prism is a prism device in which two prisms are symmetrically installed, the second prism is inserted into the inner wall of the shaft and one side of the second prism is located in the field of view of the monocular camera, and the other side of the second prism is located in the measurement range of the total station, and the second prism can be illuminated or lit; A binocular camera, wherein the binocular camera is arranged on the bottom platform of the hanging plate, and the field of view of the binocular camera faces downward; Feature points, the feature points are arranged on the top platform of the tunneling head and are located in the field of view of the binocular camera, the feature points can be lit or illuminated, there are multiple feature points and they are divided into at least two groups, the two groups of feature points are arranged at intervals in the horizontal direction, and there is a height difference in the up and down direction; A host computer, which is arranged on the hanging plate and is data-connected to the monocular camera and the binocular camera; A power supply box is arranged on the tunneling head, and is used to supply power to the monocular camera, the binocular camera, and the host computer, and to illuminate or light up the second prism and the feature point.

2. The guide system for a shaft boring machine according to claim 1, characterized in that: The plurality of second prisms have different heights on the inner wall surface of the shaft.

3. The guide system for a shaft boring machine according to claim 1, characterized in that: The guide system for a shaft boring machine further comprises a strong light for illuminating the second prism.

4. The guide system for a shaft boring machine according to claim 3, characterized in that: The strong light is arranged on the head of the monocular camera and is located on one side of the lens of the monocular camera.

5. The guide system for a shaft boring machine according to claim 1, characterized in that: The characteristic point is a luminous characteristic point.

6. The guide system for a shaft boring machine according to claim 5, characterized in that: The guide system for the shaft boring machine further comprises a feature point bracket for mounting all the feature points.

7. A method for guiding and measuring a shaft excavation, using the guidance system for a shaft boring machine according to any one of claims 1 to 6 for measurement, characterized in that: The shaft excavation guidance measurement method comprises the following steps: The first step is to establish a coordinate system with due north as the positive direction of the X axis, due east as the positive direction of the Y axis, and the sky as the positive direction of the Z axis; The second step is to manually measure the geodetic coordinates of the center point of the top platform of the hanging plate, the geodetic coordinates of the center point of the bottom platform of the hanging plate, the tilt angle of the hanging plate in the X-axis direction, the tilt angle of the hanging plate in the Y-axis direction, and set the azimuth angle of the hanging plate to 0, and mark the positive direction of the X-axis on the hanging plate based on the geodetic coordinate system; The third step is to manually measure the center coordinates of the top platform of the tunneling head (x P ,y P ,z P ), the center coordinate of the bottom cutter head of the tunneling head (x D ,y D ,z D ), the geodetic coordinates of multiple feature points (x1, y1, z1), (x2, y2, z2), ... (x n ,y n ,z n ), and the angle α of the plane of the top platform of the tunneling head in the X-axis direction and the angle β in the Y-axis direction, while the initial angle of the azimuth angle γ of the shaft boring machine is recorded as 0°; The fourth step is to calculate the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter head, and the relative position relationship of the geodetic coordinates of multiple feature points; Take the center point coordinate of the top platform of the tunneling head as the origin (0,0,0), and place the center point coordinate of the bottom cutter head of the tunneling head in the negative direction of the Z axis to establish a coordinate system. Then, the center point coordinate of the bottom cutter head is (0,0,-l), where: The coordinates of the plurality of characteristic points in the coordinate system are calculated according to the coordinate system established with the coordinates of the center point of the top platform of the tunneling head as the origin, the angle α of the plane of the top platform of the tunneling head in the X-axis direction, the angle β in the Y-axis direction and the azimuth γ, and the relative position relationship between the plurality of characteristic points and the coordinates of the center point of the top platform of the tunneling head is obtained; Use a binocular camera to identify the coordinate values ​​of multiple feature points in the camera coordinate system (x1′, y1′, z1′), (x′2, y′2, z′2), ... (x′ n ,y′ n ,z′ n ), according to the coordinate conversion formula (x,y,z) T =kR(x',y',z') T +(Δx,Δy,Δz) T , substitute the geodetic coordinates of multiple feature points and the camera coordinates of multiple feature points into the calculation, calculate the conversion coefficient k between the geodetic coordinates of multiple feature points and the camera coordinates, and the camera coordinate transformation matrix R X and offset (Δx, Δy, Δz) T , where the calculated offset is the geodetic coordinate of the binocular camera at the initial position; calculate the rotation matrix of the hanging plate, and then calculate the fixed transformation relationship matrix between the hanging plate rotation matrix and the binocular camera rotation matrix; The rotation matrix formula is: Satisfy the following formula: R Δ ×R D =R X , Among them, R Δ is the fixed transformation relationship matrix, R D is the suspension plate rotation matrix, R X is the stereo camera rotation matrix; Calculate the fixed transformation relationship matrix: According to the rotation matrix of the hanging plate, the geodetic coordinates of the monocular camera with light and the binocular camera, the relative position relationship between the monocular camera with light and the binocular camera is calculated; Step 5: During the excavation process, the total station measures the geodetic coordinates of the first prism based on its own geodetic coordinates, and compares them with the geodetic coordinates of the first prism during station orientation. After confirming that the total station coordinates have a small error with the previous ones, the geodetic coordinates of multiple second prisms are measured, and then the monocular camera is used to capture images of multiple second prisms, the geodetic coordinates of the monocular camera are calculated, the azimuth of the hanging plate is calculated, the X-axis tilt angle and the Y-axis tilt angle are obtained, and the rotation matrix of the hanging plate is calculated based on the three angles; Then, according to the fixed conversion relationship matrix between the hanging plate rotation matrix and the binocular camera rotation matrix, the real-time rotation matrix of the binocular camera is calculated; Step 6: Calculate the real-time geodetic coordinates of the binocular camera based on the relative position relationship between the monocular camera with light and the binocular camera; Step 7, calculating the real-time geodetic coordinates of the multiple feature points according to the real-time rotation matrix of the binocular camera and the real-time geodetic coordinates and the real-time coordinates of the multiple feature points photographed by the binocular camera; Step 8: According to the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter disc, and the relative position relationship of the geodetic coordinates of multiple feature points, the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter disc, and the rotation matrix of the top platform of the tunneling head are calculated, and the deviation values ​​of the center coordinates of the top platform of the tunneling head, the center coordinates of the bottom cutter disc and the design axis are calculated; The ninth step is to calculate the downward excavation distance according to the elevation coordinates of the center point coordinates of the top platform of the tunneling head and the center point coordinates of the bottom cutter head; The tenth step is to calculate the X-axis angle, Y-axis angle and azimuth angle of the top platform of the tunneling head according to the rotation matrix of the top platform of the tunneling head, and control the excavation direction according to these three angles.

8. The shaft excavation guidance measurement method according to claim 7, characterized in that: In the process from the first step to the tenth step, all the feature points are divided into two groups, each group of feature points forms a two-dimensional code, and the coordinates of the corner points of the two-dimensional code represent the coordinates of all the feature points in the group for calculation.

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