A method and device for monitoring the floating of a pipe ring, an electronic device and a medium

Abstract

Embodiments of the present application disclose a pipe ring floating monitoring method and device, electronic equipment and medium. The pipe ring floating monitoring method is applied to a pipe ring floating monitoring device. The monitoring device comprises a first measuring device, a second measuring device and a control device. The first measuring device is fixedly arranged on a shield machine body, the second measuring device is arranged on a travelling trolley, and the control device is electrically connected with the first measuring device and the second measuring device. The monitoring method comprises the following steps: determining a first elevation of a pipe ring measured by the first measuring device; determining a second elevation of the pipe ring measured by the second measuring device; and determining pipe ring floating information according to the first elevation of the pipe ring and the second elevation of the pipe ring. By using the above technical solution, manual intervention in pipe ring floating monitoring during shield construction is reduced, the stability and reliability of pipe ring floating monitoring data are improved, and the monitoring requirements of full cycle, full range, high stability and intelligence of pipe ring floating are realized.

Description

Technical Field

[0001] This invention relates to the field of tunnel ring monitoring technology, and in particular to a monitoring method, device, electronic equipment, and medium for monitoring the floating of a tunnel ring. Background Technology

[0002] During tunnel boring machine (TBM) construction, the tunnel ring often floats as a whole, which can lead to problems such as local damage, cracking, water seepage, and exceeding the limits of the tunnel, seriously threatening the safety during construction and operation.

[0003] Currently, automated monitoring of the ring's upward movement primarily utilizes an automatic total station integrated into the guidance system. A reflective prism is installed on the top of the ring, and the total station is used to aim at the prism to acquire the ring's elevation data. A data terminal is used to store and display the displacement data. A ring displacement monitoring module has been added to the guidance system software to display the real-time difference between the current and initial ring elevations.

[0004] The current method of using a buoyancy monitoring module in the guidance system for monitoring the pipe ring buoyancy requires manual installation of prisms on the pipe ring to be monitored. These prisms are susceptible to slurry contamination and damage from impacts with the assembly machine, resulting in high maintenance frequency and a significant workload for manual operation. Furthermore, pipe ring monitoring is an add-on function in the guidance system and cannot achieve full-ring monitoring. Its functionality fails to meet the "full-cycle, full-range, high-stability, and intelligent" monitoring requirements for pipe ring buoyancy in terms of coverage and anti-interference capabilities. Summary of the Invention

[0005] This invention provides a method, device, electronic equipment, and medium for monitoring the floating of a pipe ring, thereby reducing manual intervention in the monitoring of pipe ring floating and achieving the monitoring requirements of full-cycle, full-range, highly stable, and intelligent monitoring of pipe ring floating.

[0006] In a first aspect, embodiments of the present invention provide a method for monitoring the floating of a pipe ring, which is applied to a monitoring device for the floating of a pipe ring; The monitoring equipment includes a first measuring device, a second measuring device, and a control device; the first measuring device is fixedly installed on the main body of the tunnel boring machine, the second measuring device is installed on the traveling trolley, and the control device is electrically connected to the first measuring device and the second measuring device. Monitoring methods include: Determine the first elevation of the tube ring of the first measuring device; Determine the second elevation of the tube ring of the second measuring device; The buoyancy information of the pipe ring is determined based on the first and second elevations of the pipe ring.

[0007] Optionally, the first measuring device includes a first laser emitting unit and a first imaging unit; The first laser emission unit is used to emit a first detection laser to the measuring loop of the first measuring device to form a first detection spot; The first imaging unit is used to image the first detection spot to obtain the first spot image; Determining the first elevation of the tube ring of the first measuring device includes: Determine the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system; Determine the second rotation matrix and the second displacement matrix from the tunnel boring machine coordinate system to the first measuring device coordinate system based on the first rotation matrix and the first displacement matrix; The first coordinates of the first detection spot in the tunnel boring machine coordinate system are determined based on the second rotation matrix, the second displacement matrix, the first image coordinates of the first spot image in the first measuring device coordinate system, and the distance between the first detection spot and the first laser emission unit. The elevation of the highest point of the measuring pipe ring in the tunnel boring machine coordinate system is determined based on the shape parameters of the pipe ring measured by the first measuring device and the first coordinate. The first elevation of the pipe ring is determined by measuring the elevation of the highest point of the pipe ring in the tunnel boring machine coordinate system using the first measuring device and the elevation of the tunnel boring machine.

[0008] Optionally, the first measuring device may further include a first feature point and a first inclinometer; The second measuring device includes a second feature point. The first imaging unit is also used to image the second feature point to obtain an image of the second feature point; Determining the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system includes: Based on the coordinates of the first feature point in the total station coordinate system, the coordinates of the first feature point in the first measuring device coordinate system, the coordinates of the second feature point in the total station coordinate system, the coordinates of the second feature point in the first measuring device coordinate system, the measurement data of the first inclinometer, and the rotation matrix of the first inclinometer relative to the first measuring device, the first rotation matrix and the first displacement matrix are determined.

[0009] Optionally, determining the second rotation matrix and the second displacement matrix from the tunnel boring machine coordinate system to the first measuring device coordinate system based on the first rotation matrix and the first displacement matrix includes: Obtain the third rotation matrix and the third displacement matrix from the engineering coordinate system to the tunnel boring machine coordinate system; The second rotation matrix and the second displacement matrix are determined based on the first rotation matrix, the first displacement matrix, the third rotation matrix, and the third displacement matrix.

[0010] Optionally, the second measuring device includes a second laser emission unit, a second imaging unit, and a second inclinometer; The second laser emission unit is used to emit a second detection laser to the measuring loop of the second measuring device to form a second detection spot; The second imaging unit is used to image the second detection spot to obtain an image of the second spot; Determining the second elevation of the tube loop of the second measuring device includes: Determine the elevation of the second measuring device; The elevation of the highest point of the measuring tube ring of the second measuring device in the second measuring device coordinate system is determined based on the rotation matrix from the second measuring device to the second inclinometer, the measurement data of the second inclinometer, and the coordinates of the second detection spot in the coordinate system of the second measuring device. The second elevation of the pipe ring is determined by measuring the elevation of the highest point of the pipe ring in the coordinate system of the second measuring device and the elevation of the second measuring device.

[0011] Optionally, the first measuring device includes a first imaging unit; the second measuring device further includes a second feature point; The first imaging unit is used to image the second feature point to obtain an image of the second feature point; Determining the elevation of the second measuring device includes: Determine the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system; Determine the second rotation matrix and the second displacement matrix from the tunnel boring machine coordinate system to the first measuring device coordinate system based on the first rotation matrix and the first displacement matrix; The second coordinates of the second feature point in the tunnel boring machine coordinate system are determined based on the second rotation matrix, the second displacement matrix, the second image coordinates of the second feature point image in the coordinate system of the first measuring device, and the distance between the second feature point and the first measuring device. The elevation of the second measuring device is determined based on the second coordinate and the elevation of the tunnel boring machine.

[0012] Optionally, the uplift information of the pipe ring can be determined based on the first and second elevations of the pipe ring; including: The buoyancy information is determined based on the difference between the first elevation and the second elevation of the pipe ring.

[0013] Secondly, embodiments of the present invention provide a pipe ring buoyancy monitoring device comprising: The first elevation determination module for the pipe ring is used to determine the first elevation of the pipe ring of the first measuring device. The second elevation determination module for the pipe ring is used to determine the second elevation of the pipe ring of the second measuring device. The buoyancy information determination module is used to determine the buoyancy information of the pipe ring.

[0014] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising: At least one processor; and A memory that is communicatively connected to at least one processor; wherein, The memory stores a computer program that can be executed by at least one processor, which enables the at least one processor to perform a monitoring method for the floating of the tube ring.

[0015] Fourthly, embodiments of the present invention also provide a computer-readable storage medium storing computer instructions for causing a processor to execute a monitoring method for loop buoyancy.

[0016] This invention provides a monitoring method for monitoring the floating of tunnel boring machine (TBM) rings. A first measuring device fixed to the main body of the TBM measures the first elevation of the ring, while a second measuring device mounted on the traveling trolley measures the second elevation. The floating information of the ring is determined based on the first and second elevations, allowing for monitoring of the ring's floating status. This method achieves full-cycle, high-precision, interference-resistant, and intelligent monitoring of the TBM ring's floating status, reducing manual intervention and ensuring data accuracy. By incorporating interference-resistant first and second measuring devices, the impact of environmental interference and system failures on the data is reduced, improving the stability and reliability of the ring monitoring data. This solves the problem of low monitoring frequency and inability to meet real-time monitoring requirements caused by manual measurements.

[0017] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of a pipe ring floating monitoring device provided in an embodiment of the present invention; Figure 2 This is a flowchart of a monitoring method for pipe ring buoyancy provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of the first measuring device provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the internal structure of the first measuring device provided in an embodiment of the present invention; Figure 5 A flowchart of a method for measuring the first elevation of a pipe ring according to an embodiment of the present invention; Figure 6 This is a flowchart of another method for measuring the first elevation of a pipe ring provided in an embodiment of the present invention; Figure 7 This is a schematic diagram of the overall structure of the second measuring device provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the internal structure of the second measuring device provided in an embodiment of the present invention; Figure 9 This is a flowchart of another monitoring method for pipe ring floating provided in an embodiment of the present invention; Figure 10 This is a flowchart of a method for measuring the second elevation of a pipe ring according to an embodiment of the present invention; Figure 11 A flowchart illustrating another method for measuring the second elevation of a pipe ring according to an embodiment of the present invention; Figure 12 A flowchart of another monitoring method for pipe ring buoyancy provided in an embodiment of the present invention; Figure 13 This is a schematic diagram of the structure of a tube ring floating monitoring device provided in an embodiment of the present invention; Figure 14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

[0019] In this embodiment of the invention, the reference numerals and corresponding feature names are as follows: 1-Shield tunneling machine, 10-First measuring device, 20-Second measuring device, 2-Control device, 3-Calculation device, 4-Shield tunneling machine PLC, 5-First detection spot, 6-Second detection spot, 11-First feature point, 12-First laser emission unit, 13-First imaging unit, 14-First inclinometer, 8-First line laser, 21-Second feature point, 22-Second laser emission unit, 23-Second imaging unit, 24-Second inclinometer. Detailed Implementation

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0021] The terminology used in the embodiments of this invention is for the purpose of describing specific embodiments only and is not intended to limit the invention. It should be noted that directional terms such as "upper," "lower," "left," and "right" described in the embodiments of this invention are used to describe the angles shown in the accompanying drawings and should not be construed as limiting the embodiments of this invention. Furthermore, in the context, it should be understood that when referring to an element being formed "upper" or "lower" of another element, it can be formed not only directly "upper" or "lower" of the other element, but also indirectly "upper" or "lower" of the other element through an intermediate element. The terms "first," "second," etc., are used for descriptive purposes only and do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0023] Figure 1 This is a schematic diagram of the overall structure of a pipe ring buoyancy monitoring device provided in an embodiment of the present invention. Figure 2 This is a flowchart illustrating a monitoring method for pipe ring uplift provided in an embodiment of the present invention. This embodiment is applicable to situations during shield tunneling where the pipe ring experiences overall uplift, making comprehensive monitoring difficult. The pipe ring uplift monitoring method can be executed by a pipe ring uplift monitoring device, and this method is applied to pipe ring uplift monitoring equipment. Figure 1 As shown, the monitoring equipment includes a first measuring device 10, a second measuring device 20, and a control device 3; the first measuring device 10 is fixedly installed on the main body of the tunnel boring machine 1, the second measuring device 20 is installed on the traveling trolley, and the control device 3 is electrically connected to the first measuring device 10 and the second measuring device 20.

[0024] Specifically, the first measuring device 10 can be understood as a device installed on the shield body of the tunnel boring machine 1, used to measure the elevation information of the top of the pipe ring corresponding to the first measuring device 10 and to measure the elevation information of the second measuring device 20. The first measuring device 10 is fixed at the front of the tunnel boring machine 1. The second measuring device 20 can be understood as a device installed on the traveling trolley of the tunnel boring machine 1, used to measure the elevation information of the top of the pipe ring corresponding to the position reached by the second measuring device 20 as the tunnel boring machine 1 advances. The second measuring device 20 is fixed at the rear of the tunnel boring machine 1. Exemplarily, the second measuring device 20 includes, but is not limited to, lidar, laser rangefinder, and 3D camera; this embodiment of the invention does not limit this. The control device 3 can be understood as a device installed near the computing device 4 of the tunnel boring machine 1, electrically connected to the first measuring device 10 and the second measuring device 20, used to supply power to the first measuring device 10 and the second measuring device 20 and to realize data interaction between the first measuring device 10, the second measuring device 20, and the computing device 4. Exemplarily, the computing device 4 includes, but is not limited to, a computer; this embodiment of the invention does not limit this.

[0025] like Figure 2 As shown, the monitoring methods include: S110. Determine the first elevation of the tube ring of the first measuring device.

[0026] Specifically, the first elevation of the pipe ring can be understood as the elevation information of the highest point of the pipe ring corresponding to the first measuring device in the engineering coordinate system. The first elevation of the pipe ring is determined by the first measuring device, and the measured first elevation of the pipe ring is sent to the computing device for storage and display through the control device, which facilitates the subsequent determination of the pipe ring's buoyancy information.

[0027] S120. Determine the second elevation of the tube ring of the second measuring device.

[0028] Specifically, the second elevation of the tunnel ring can be understood as the elevation information of the highest point of the tunnel ring in the engineering coordinate system corresponding to the position reached by the second measuring device as the tunnel boring machine moves. The second elevation of the tunnel ring is determined by the first and second measuring devices, and the measured second elevation of the tunnel ring is sent to the computing device for storage through the control device, which facilitates the subsequent determination of the tunnel ring's uplift information.

[0029] S130. Determine the buoyancy information of the pipe ring based on the first and second elevations of the pipe ring.

[0030] Specifically, the uplift information of the pipe ring can be understood as the amount of upward displacement of the assembled pipe segment within the annular gap between it and the surrounding structure after it has been pulled out of the tunnel boring machine tail. Based on the first elevation of the pipe ring measured by the first measuring device and the second elevation measured by the first and second measuring devices, the uplift information of the pipe ring is calculated, and the uplift of the pipe ring is monitored based on this information.

[0031] The technical solution provided by this invention offers a monitoring method for monitoring the floating of a tunnel boring machine (TBM) ring. A first measuring device fixed to the main body of the TBM measures the first elevation of the TBM ring, while a second measuring device mounted on the traveling trolley measures the second elevation. The floating information of the TBM ring is determined based on the first and second elevations, allowing for monitoring of the ring's floating status. This solution achieves full-cycle, high-precision, interference-resistant, and intelligent monitoring of the TBM ring's floating status, reducing manual intervention and ensuring data accuracy. By incorporating interference-resistant first and second measuring devices, the impact of environmental interference and system failures on the data is reduced, improving the stability and reliability of the ring monitoring data. This solves the problem of low monitoring frequency and inability to meet real-time monitoring requirements caused by manual measurements.

[0032] Optional, Figure 3 This is a schematic diagram of the overall structure of the first measuring device provided in an embodiment of the present invention. Figure 4 This is a schematic diagram of the internal structure of the first measuring device provided in an embodiment of the present invention. Figure 5 This is a flowchart illustrating a method for measuring the first elevation of a pipe ring according to an embodiment of the present invention. Figure 4 As shown, the first measuring device 10 includes a first laser emission unit 12 and a first imaging unit 13; the first laser emission unit 12 is used to emit a first detection laser to the measuring tube ring of the first measuring device to form a first detection spot 5; the first imaging unit 13 is used to image the first detection spot 5 to obtain a first spot image.

[0033] Specifically, the first laser emitting unit 12 can be understood as a specific functional module for generating and emitting a first detection laser. For example, the first laser emitting unit 12 includes, but is not limited to, a line laser emitter; this embodiment of the invention does not impose any limitations on this. The first measuring device measuring loop can be understood as the loop corresponding to the first measuring device 10. The first laser emitting unit 12 emits the first detection laser and projects it onto the first measuring device measuring loop to form a first detection spot 5. The first detection spot 5 can be understood as a laser point projected by the first detection laser onto the first measuring device measuring loop. The first imaging unit 13 can be understood as a module for capturing and imaging the first detection spot 5. For example, the first imaging unit 13 includes, but is not limited to, an industrial camera; this embodiment of the invention does not impose any limitations on this. The first imaging unit 13 captures and images the first detection spot 5 to obtain a first spot image.

[0034] The method for determining the first elevation of the pipe ring of the first measuring device 10 will be described in detail in conjunction with the above embodiments. For example... Figure 4 As shown, determining the first elevation of the tube ring of the first measuring device includes: S210. Determine the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system.

[0035] Specifically, the engineering coordinate system can be understood as the "global reference system" for the entire project, determined through design or surveying. The coordinate system of the first measuring device can be understood as the "local reference system" for the first measuring device. Establishing the spatial relationship between the engineering coordinate system and the coordinate system of the first measuring device requires determining two parameters: the first rotation matrix R12 used to describe directional differences and the first displacement matrix T12 used to describe the origin offset.

[0036] S220. Determine the second rotation matrix and the second displacement matrix from the tunnel boring machine coordinate system to the first measuring device coordinate system based on the first rotation matrix and the first displacement matrix.

[0037] Specifically, the tunnel boring machine (TBM) coordinate system can be understood as a machine coordinate system established for precisely controlling the TBM's tunneling attitude and locating key components of the machine. It is the core spatial reference for the TBM's automatic guidance system, attitude adjustment, and segment assembly. Using the first rotation matrix R12 and the first displacement matrix T12 as intermediate transformation parameters, the second rotation matrix R11 and the second displacement matrix T11 are determined from the TBM coordinate system to the first measuring device coordinate system based on the obtained first rotation matrix R12 and first displacement matrix T12.

[0038] S230. Determine the first coordinates of the first detection spot in the tunnel boring machine coordinate system based on the second rotation matrix and the second displacement matrix, the first image coordinates of the first spot image in the first measuring device coordinate system, and the distance between the first detection spot and the first laser emission unit.

[0039] Specifically, the first image coordinates of the first light spot image in the coordinate system of the first measuring device can be understood as the coordinates p21 of the lowest point of the image of the first detection light spot on the pipe ring corresponding to the first measuring device, captured by the first imaging unit. The distance L21 between the first detection light spot and the first laser emission unit is obtained through the shield machine PLC. Based on the first rotation matrix R12, the first displacement matrix T12, the second rotation matrix R11, the second displacement matrix T11, the first image coordinates p21 of the first light spot image in the coordinate system of the first measuring device, and the distance L21 between the first detection light spot and the first laser emission unit, the first coordinates x21, y21, and z21 of the first detection light spot in the shield machine coordinate system are determined. The specific calculation formula is as follows: In the above formula, x21, y21, and z21 are the first coordinates of the first detection spot in the tunnel boring machine coordinate system, R11 is the second rotation matrix, L21 is the distance between the first detection spot and the first laser emission unit, p21 is the first image coordinate of the first spot image in the first measuring device coordinate system, and T11 is the second displacement matrix.

[0040] S240. Determine the elevation of the highest point of the measuring pipe ring in the tunnel boring machine coordinate system based on the shape parameters of the measuring pipe ring and the first coordinate.

[0041] Specifically, the shape parameters of the measuring ring of the first measuring device can be understood as the near-circular characteristics of the measuring ring. The elevation of the highest point of the measuring ring in the tunnel boring machine coordinate system can be calculated using the following formula: In the above formula, z22 is the elevation of the highest point of the measuring pipe ring of the first measuring device in the shield machine coordinate system, and y21 and z21 are the first coordinates of the first detection spot obtained in the shield machine coordinate system.

[0042] S250. Determine the first elevation of the pipe ring based on the elevation of the highest point of the pipe ring in the shield machine coordinate system measured by the first measuring device and the elevation of the shield machine.

[0043] Specifically, the tunnel boring machine's (TBM) elevation can be understood as the elevation of the TBM contained in the displacement matrix from the engineering coordinate system to the TBM coordinate system, which is read in real-time from the TBM PLC. This displacement matrix changes in real-time as the TBM advances. The first elevation of the pipe ring is the sum of the elevation z22 of the highest point of the pipe ring in the TBM coordinate system measured by the first measuring device and the elevation of the TBM itself.

[0044] This invention, in its embodiments, determines the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system by determining intermediate transformation parameters. Based on these first rotation and displacement matrices, it determines the second rotation matrix from the tunnel boring machine (TBM) coordinate system to the first measuring device coordinate system and the second displacement matrix from the TBM coordinate system to the first measuring device coordinate system. Using the obtained second rotation and second displacement matrices, the first image coordinates of the first spot image in the first measuring device coordinate system, and the distance parameter between the first detection spot and the first laser emission unit, it determines the first coordinates of the first detection spot in the TBM coordinate system. Utilizing the shape parameter characteristics of the measuring ring and the obtained first coordinates, it determines the elevation of the highest point of the measuring ring in the TBM coordinate system. Finally, it determines the first elevation of the ring by summing the elevation of the highest point of the measuring ring in the TBM coordinate system and the elevation of the TBM. The above technical solutions enable precise quantification of the pipe ring elevation, eliminating reliance on manual estimation or rough measurement. Instead, coordinate system transformation and measurement calculation by the first measuring device solve the problems of pipe ring installation accuracy depending on human experience and deviations in pipe ring elevation calculation, thereby improving the degree of automation and accuracy of pipe ring elevation measurement.

[0045] Optional, Figure 6 This is a flowchart of another method for measuring the first elevation of a pipe ring provided in an embodiment of the present invention. Figure 7 This is a schematic diagram of the overall structure of the second measuring device provided in an embodiment of the present invention. Figure 8 This is a schematic diagram of the internal structure of the second measuring device provided in an embodiment of the present invention. The first measuring device also includes a first feature point 11 and a first inclinometer 14, which can be further referred to... Figure 4 The second measuring device 20 includes a second feature point 21, which can be referenced. Figure 8 The first imaging unit 13 is also used to image the second feature point 21 to obtain the second feature point image.

[0046] In this embodiment, the first feature point 11 can be understood as a mark located on the first measuring device 10, used for initial calibration by manually using a total station to accurately measure its coordinates. Exemplarily, the first feature point 11 includes, but is not limited to, a reflecting prism, a reflecting sheet, or a physical mark; this embodiment of the invention does not impose any limitations on this. The first inclinometer 14 can be understood as an instrument located in the first measuring device 10, used for accurately measuring the tilt angle between the first measuring device 10 and a horizontal plane or a specified reference plane. The second feature point 21 can be understood as an identifier located on the second measuring device 20, used for identification and extraction by the first measuring device 10. Exemplarily, the second feature point 21 includes, but is not limited to, an infrared LED; this embodiment of the invention does not impose any limitations on this. The second feature point image can be understood as an image formed on the first imaging unit 13 by capturing the second feature point 11.

[0047] The methods for obtaining the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system are described in detail based on the above embodiments. For example... Figure 6 As shown, it includes: S310. Determine the first rotation matrix and the first displacement matrix based on the coordinates of the first feature point in the total station measurement coordinate system, the coordinates of the first feature point in the first measuring device coordinate system, the coordinates of the second feature point in the total station measurement coordinate system, the coordinates of the second feature point in the first measuring device coordinate system, the measurement data of the first inclinometer, and the rotation matrix of the first inclinometer relative to the first measuring device.

[0048] Specifically, the coordinates P12 of the first feature point in the total station's coordinate system are measured using the total station. The coordinates of the first feature point in the coordinate system of the first measuring device are P11, which is calibrated at the factory. The coordinates P13 of the second feature point in the total station's coordinate system are measured using the total station. The coordinates of the second feature point image in the coordinate system of the first measuring device can be understood as the image coordinates p11 obtained by the first imaging unit of the second feature point. The measurement data of the first inclinometer include the inclinometer readings incx1 and incy1. The rotation matrix R14 from the engineering coordinate system to the first inclinometer coordinate system is R(alf11, incy1, incx1), where alf11 is an unknown. The calculation formulas for the first rotation matrix R12 and the first displacement matrix T12 from the engineering coordinate system to the first measuring device coordinate system are as follows: In the above formula, P12 is the coordinate of the first feature point in the total station coordinate system, R12 is the first rotation matrix from the engineering coordinate system to the first measuring device coordinate system, P11 is the coordinate of the first feature point in the first measuring device coordinate system, T12 is the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system, and P13 is the coordinate of the second feature point in the total station coordinate system. R11 is the coordinate of the second feature point image in the coordinate system of the first measuring device, R14 is the rotation matrix from the engineering coordinate system to the inclinometer coordinate system, and R13 is the rotation matrix of the first inclinometer relative to the first measuring device.

[0049] S320. Determine the second rotation matrix and the second displacement matrix from the tunnel boring machine coordinate system to the first measuring device coordinate system based on the first rotation matrix and the first displacement matrix.

[0050] S330. Determine the first coordinates of the first detection spot in the tunnel boring machine coordinate system based on the second rotation matrix and the second displacement matrix, the first image coordinates of the first spot image in the first measuring device coordinate system, and the distance between the first detection spot and the first laser emission unit.

[0051] S340. Determine the elevation of the highest point of the measuring pipe ring in the tunnel boring machine coordinate system based on the shape parameters of the measuring pipe ring and the first coordinate.

[0052] S350. Determine the first elevation of the pipe ring based on the elevation of the highest point of the pipe ring in the shield machine coordinate system measured by the first measuring device and the elevation of the shield machine.

[0053] The technical solution provided by this invention determines a first rotation matrix and a first displacement matrix based on the coordinates of a first feature point in the total station's coordinate system, the coordinates of the first feature point in the coordinate system of the first measuring device, the coordinates of a second feature point in the total station's coordinate system, the coordinates of the image of the second feature point in the coordinate system of the first measuring device, the measurement data of the first inclinometer, and the rotation matrix of the first inclinometer relative to the first measuring device. By using the first and second measuring devices to calculate the intermediate transformation parameters, the first rotation matrix and the first displacement matrix, accurate transformation between different coordinate systems is achieved. This solves the problem of data unification and fusion between multiple measuring systems, reduces repetitive operations and error accumulation during the measurement process, and improves the accuracy and reliability of pipe ring float information measurement.

[0054] Optional, Figure 9 This is a flowchart of another monitoring method for pipe ring buoyancy provided in an embodiment of the present invention, such as... Figure 9 As shown, it specifically includes: S410. Determine the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system.

[0055] S420. Obtain the third rotation matrix and the third displacement matrix from the engineering coordinate system to the tunnel boring machine coordinate system.

[0056] Specifically, the third rotation matrix can be understood as being directly measured and written into the tunnel boring machine's (TBM) PLC by the TBM's built-in guidance system. The TBM PLC can then directly read the third rotation matrix R15 from the engineering coordinate system to the TBM coordinate system. Similarly, the third displacement matrix T13 can be understood as being directly measured and written into the TBM PLC by the TBM's built-in guidance system. The TBM PLC can then directly read the third displacement matrix T15 from the engineering coordinate system to the TBM coordinate system.

[0057] S430. Determine the second rotation matrix and the second displacement matrix based on the first rotation matrix, the first displacement matrix, the third rotation matrix, and the third displacement matrix.

[0058] Specifically, the second rotation matrix R11 can be understood as the transformation data from the tunnel boring machine coordinate system to the first measuring device coordinate system. Similarly, the second displacement matrix T11 can be understood as the transformation data from the tunnel boring machine coordinate system to the first measuring device coordinate system.

[0059] The second rotation matrix R11 and the second displacement matrix T11 are calculated according to the following formulas: In the above formula, R12 is the first rotation matrix, R11 is the second rotation matrix, and R15 is the third rotation matrix. T11 is the second displacement matrix, T12 is the first displacement matrix, and T13 is the third displacement matrix.

[0060] S440. Determine the first coordinates of the first detection spot in the tunnel boring machine coordinate system based on the second rotation matrix and the second displacement matrix, the first image coordinates of the first spot image in the first measuring device coordinate system, and the distance between the first detection spot and the first laser emission unit.

[0061] S450. Determine the elevation of the highest point of the measuring pipe ring in the tunnel boring machine coordinate system based on the shape parameters of the measuring pipe ring and the first coordinate.

[0062] S460. Determine the first elevation of the pipe ring based on the elevation of the highest point of the pipe ring in the shield machine coordinate system measured by the first measuring device and the elevation of the shield machine.

[0063] The technical solution provided by this invention obtains the third rotation matrix and the third displacement matrix from the engineering coordinate system to the tunnel boring machine coordinate system. A second rotation matrix is ​​determined based on the first and third rotation matrices, and a second displacement matrix is ​​determined based on the first, third, and third displacement matrices. This enables the calculation of transformation parameters from the tunnel boring machine coordinate system to the first measuring device coordinate system, thereby determining the first elevation of the tunnel ring. This achieves accurate transformation between different coordinate systems, solves the problem of data unification and fusion between multiple measuring systems, reduces repetitive operations and error accumulation during the measurement process, and lays a data foundation for subsequent measurement of tunnel ring uplift information.

[0064] Optional, Figure 10 This is a flowchart of a method for measuring the second elevation of a pipe ring according to an embodiment of the present invention. The second measuring device 20 includes a second laser emission unit 22, a second imaging unit 23, and a second inclinometer 24; the second laser emission unit 22 is used to emit a second probe laser to the second measuring device to measure the pipe ring and form a second probe spot 6; the second imaging unit 23 is used to image the second probe spot 6 to obtain a second spot image, which can be further referred to. Figure 8 .

[0065] In this embodiment, the second laser emitting unit 22 can be understood as a specific functional module in the laser emitting system responsible for generating and emitting the second detection laser. For example, the second laser emitting unit 22 includes, but is not limited to, a line laser emitter. The second measuring device measuring loop can be understood as the loop corresponding to the second measuring device. The second laser emitting unit 22 emits the second detection laser to the second measuring device measuring loop to form the second detection spot 6. The second detection spot 6 can be understood as a laser point formed by the second detection laser on the second measuring device measuring loop. The second laser emitting unit 22 projects the second detection laser onto the second measuring device measuring loop, captures its reflected light using a sensor, and measures the pose of the second detection spot 6 relative to the center of the second measuring device 20 by calculating the reflection angle of the second detection laser based on the distance between the sensor and the second laser emitting unit 22. The second imaging unit 23 can be understood as a functional module on the second measuring device 20 used for image acquisition. For example, the second imaging unit 23 includes, but is not limited to, an industrial camera. The second imaging unit 23 captures the second detection spot 6 formed by the second detection laser on the second measuring device measuring loop and performs image processing to obtain the second spot image. The second inclinometer 24 can be understood as an instrument located in the second measuring device 20, used to accurately measure the tilt angle between the second measuring device 20 and the horizontal plane or a specified reference plane. The pitch angle and rotation angle are obtained through the second inclinometer 24, facilitating subsequent calculation of the second elevation.

[0066] The determination of the second elevation of the second measuring device will be described in detail with reference to the above embodiments, such as... Figure 10 As shown, determining the second elevation of the second measuring device includes: S510. Determine the elevation of the second measuring device.

[0067] Specifically, the elevation of the second measuring device can be understood as its elevation in the engineering coordinate system. Ensure the second measuring device is installed at the height specified in the design to avoid functional malfunctions due to elevation deviations.

[0068] S520. Based on the rotation matrix from the second measuring device to the second inclinometer, the measurement data of the second inclinometer, and the coordinates of the projection point of the second detection laser in the second imaging unit coordinate system, determine the elevation of the highest point of the measuring loop of the second measuring device in the second measuring device coordinate system.

[0069] Specifically, the measurement data of the second inclinometer includes the rotation angle incx and the pitch angle incy. R42 is R(0, incy2, incx2), where R42 is the rotation matrix from the coordinate system of the second measuring device in a horizontal state to the second inclinometer. The rotation matrix R41 from the second measuring device to the second inclinometer is the data calibrated before leaving the factory. Since the entire projection trajectory of the second detection laser is a plane, the second imaging unit captures the projected second detection laser. After image processing, the projection points of n laser points on the second detection laser on the image can be obtained. Each projection point forms projection point coordinates Xj, Yj, and Zj in the coordinate system of the second imaging unit, where j is an integer from 1 to n. The elevation Zj1 of the highest point of the measuring ring in the shield machine coordinate system is calculated according to the following formula: In this system, each projection point forms projection point coordinates Xj, Yj, and Zj in the second imaging unit coordinate system. Based on the scaling factor kj for each projection point, the projection points xj and yj of the n points of the second detection laser obtained after image processing by the second imaging unit are determined. Here, j is an integer from 1 to n. The specific calculation formula is as follows: It should be further explained that the scaling factor kj for each projection point is determined based on the normal vector r41 of the projection trajectory plane of the second detection laser in the coordinate system of the second imaging unit, which can be determined through calibration before leaving the factory, a fixed point P41, and the projection points xj and yj of the n points of the second detection laser obtained after image processing by the second imaging unit, where j is an integer from 1 to n. The specific calculation formula is as follows: S530. Determine the second elevation of the pipe ring based on the elevation of the highest point of the pipe ring in the coordinate system of the second measuring device and the elevation of the second measuring device.

[0070] Specifically, the second elevation of the pipe ring is the sum of the maximum value of the elevation Zj1 of the highest point of the pipe ring measured by the second measuring device in the coordinate system of the second measuring device and the elevation of the second measuring device. Thus, the elevation information of the pipe ring measured by the second measuring device in the engineering coordinate system can be obtained.

[0071] The technical solution provided by this invention determines the elevation of the second measuring device; based on the rotation matrix from the second measuring device to the second inclinometer, the measurement data of the second inclinometer, and the coordinates of the second detection spot in the coordinate system of the second measuring device, the elevation of the highest point of the measuring ring of the second measuring device in the second measuring device coordinate system is determined; based on the elevation of the highest point of the measuring ring of the second measuring device in the second measuring device coordinate system and the elevation of the second measuring device, the second elevation of the ring is determined, realizing the measurement of the elevation information of the corresponding ring of the second measuring device in the engineering coordinate system. It can calculate the current highest point elevation of the ring corresponding to the second measuring device in real time and map it to the engineering coordinate system, providing dynamic feedback for the assembly of the tunnel boring machine's rings. This ensures the elevation accuracy and global consistency of the ring installation, improves the safety and reliability of construction, and solves the problem that it is difficult to accurately judge elevation deviations through manual observation or single-dimensional data.

[0072] Optional, Figure 11 This is a flowchart illustrating another method for measuring the second elevation of a pipe ring according to an embodiment of the present invention. The first measuring device 10 includes a first imaging unit 13; the second measuring device 20 further includes a second feature point 21; the first imaging unit 13 is used to image the second feature point 21 to obtain an image of the second feature point. The method for determining the elevation of the second measuring device in determining the second elevation is described in detail with reference to the above embodiments, such as... Figure 11 As shown, it includes: S610. Determine the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system.

[0073] Specifically, the methods for determining the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system can be found in the above-mentioned optional implementation methods.

[0074] S620. Determine the second rotation matrix and the second displacement matrix from the tunnel boring machine coordinate system to the first measuring device coordinate system based on the first rotation matrix and the first displacement matrix.

[0075] Specifically, the methods for determining the second rotation matrix and the second displacement matrix can be found in the above-mentioned optional implementation methods.

[0076] S630. Determine the second coordinates of the second feature point in the tunnel boring machine coordinate system based on the second rotation matrix, the second displacement matrix, the second image coordinates of the second feature point image in the coordinate system of the first measuring device, and the distance between the second feature point and the first measuring device.

[0077] Specifically, the second image coordinates p31 of the second feature point image in the coordinate system of the first measuring device are obtained through an image extraction algorithm. The distance L31 between the second feature point and the first measuring device can be calculated by measuring the coordinates P13 of the second feature point. During the operation of the tunnel boring machine (TBM), the distance L31 between the second feature point and the first measuring device can be considered constant. The specific calculation formulas for determining the second coordinates x31, y31, and z31 of the second feature point in the TBM coordinate system are as follows: In the above formula, R11 is the second rotation matrix, T11 is the second displacement matrix, L31 is the distance between the second feature point and the first measuring device, and p31 is the second image coordinate of the second feature point image in the coordinate system of the first measuring device.

[0078] S640. Determine the elevation of the second measuring device based on the second coordinates and the elevation of the tunnel boring machine.

[0079] Specifically, the elevation of the second measuring device is the sum of the elevation z31 of the second feature point in the shield machine coordinate system and the elevation of the shield machine. The elevation of the second measuring device is the elevation in the engineering coordinate system.

[0080] The technical solution provided by this invention determines the second coordinates of the second feature point in the tunnel boring machine (TBM) coordinate system based on the second rotation matrix, the second displacement matrix, the second image coordinates of the second feature point image in the first measuring device coordinate system, and the distance between the second feature point and the first measuring device. The elevation of the second measuring device is determined by the sum of the elevation of the second feature point's second coordinates in the TBM coordinate system and the elevation of the TBM. This achieves precise positioning of the second feature point in the TBM coordinate system, enabling accurate quantification of equipment height, solving the problem that image coordinates cannot be directly correlated with the physical position of the TBM, and ensuring the long-term reliability of the measurement data.

[0081] Optional, Figure 12 A flowchart of another monitoring method for pipe ring buoyancy provided in an embodiment of the present invention is shown below. Figure 12 As shown, it specifically includes: S710. Determine the first elevation of the tube ring of the first measuring device.

[0082] Specifically, the method for obtaining the first elevation of the pipe ring can be found in the above-mentioned optional implementation methods.

[0083] S720. Determine the second elevation of the tube ring of the second measuring device.

[0084] Specifically, the method for obtaining the second elevation of the pipe ring can be found in the above-mentioned optional implementation methods.

[0085] S730. Determine the buoyancy information based on the difference between the first elevation and the second elevation of the pipe ring.

[0086] Specifically, the first measuring device measures the first elevation of the corresponding pipe ring. As the tunnel boring machine advances forward, when the ring enters the measuring range of the second measuring device, the second measuring device measures the second elevation of the pipe ring. The upward information of the pipe ring is the difference between the second elevation and the first elevation of the pipe ring. Both the second elevation and the first elevation of the pipe ring are elevation coordinates in the engineering coordinate system.

[0087] The technical solution provided by this invention calculates the pipe ring uplift data by subtracting the determined first and second elevations of the pipe ring. This provides a precise adjustment basis for pipe ring uplift monitoring, automates the monitoring process, reduces manual operation, avoids errors caused by manual operation, and ensures the stability, accuracy, and reliability of the pipe ring uplift monitoring data. As the tunnel boring machine moves, full-cycle monitoring of the pipe ring can be achieved, solving the problem that traditional monitoring methods cannot fully cover pipe ring uplift monitoring.

[0088] Figure 13 This is a schematic diagram of the structure of a pipe ring buoyancy monitoring device provided in an embodiment of the present invention; the pipe ring buoyancy monitoring device can execute the method of the pipe ring buoyancy monitoring device provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of executing the method. Figure 13 As shown, a pipe ring buoyancy monitoring device includes: a pipe ring first elevation determination module 101, which is used to determine the first elevation of the pipe ring of a first measuring device; a pipe ring second elevation determination module 102, which is used to determine the second elevation of the pipe ring of a second measuring device; and a buoyancy information determination module 103, which is used to determine the buoyancy information of the pipe ring.

[0089] Specifically, the first elevation determination module 101 for the pipe ring includes a first measuring device, which includes a first imaging unit, a first inclinometer, a first feature point, and a first laser emission unit, used to acquire the first elevation information of the pipe ring corresponding to the first measuring device and send it to the buoyancy information determination module 103. The second elevation determination module 102 for the pipe ring includes a first measuring device and a second measuring device, which includes a second imaging unit, a second inclinometer, a second feature point, and a second laser emission unit, used to acquire the second elevation information of the pipe ring corresponding to the second measuring device and send it to the buoyancy information determination module 103. The buoyancy information determination module 103 includes a control device and a calculation device, used to calculate the buoyancy information of the pipe ring based on the first and second elevations of the pipe ring, thus completing the monitoring of the pipe ring's buoyancy.

[0090] The technical solution provided in this invention determines the first elevation information of the tunnel ring corresponding to the first measuring device through a first elevation determination module 101, determines the second elevation information of the tunnel ring corresponding to the second measuring device through a second elevation determination module 102, and calculates the tunnel ring buoyancy information based on the first and second elevations of the tunnel ring, thus completing the monitoring of tunnel ring buoyancy. This achieves full-cycle, high-precision, anti-interference, and intelligent monitoring of the tunnel ring buoyancy, reducing manual intervention, ensuring the accuracy of monitoring data, reducing the impact of environmental interference and system failures on the data, and improving the stability and reliability of the tunnel ring monitoring data. It solves the problem of low monitoring frequency and inability to meet real-time requirements caused by manual measurement.

[0091] Figure 14 This is a schematic diagram of an electronic device provided for an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0092] like Figure 14 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded into the RAM 13 from storage unit 18. The RAM 13 can also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0093] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0094] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the method of monitoring pipe loop buoyancy.

[0095] In some embodiments, the method for monitoring pipe ring buoyancy can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the method for monitoring pipe ring buoyancy described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method for monitoring pipe ring buoyancy by any other suitable means (e.g., by means of firmware).

[0096] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0097] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0098] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0099] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0100] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0101] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0102] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0103] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method for monitoring the buoyancy of a tubular ring, characterized in that, Monitoring equipment used for pipe ring buoyancy; The monitoring equipment includes a first measuring device, a second measuring device, and a control device. The first measuring device is fixedly installed on the main body of the tunnel boring machine. The first measuring device includes a first laser emission unit and a first imaging unit. The first laser emission unit is used to emit a first detection laser to the measuring loop of the first measuring device to form a first detection spot, and the first imaging unit is used to image the first detection spot to obtain a first spot image. The second measuring device is installed on the traveling trolley. The second measuring device includes a second laser emission unit, a second imaging unit, and a second inclinometer. The second laser emission unit is used to emit a second detection laser to the measuring loop of the second measuring device to form a second detection spot, and the second imaging unit is used to image the second detection spot to obtain a second spot image. The control device is electrically connected to the first measuring device and the second measuring device; The monitoring method includes: Determine the first elevation of the tube ring of the first measuring device; Determining the first elevation of the loop of the first measuring device includes: Determine the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system; Determine the second rotation matrix and the second displacement matrix from the tunnel boring machine coordinate system to the first measuring device coordinate system based on the first rotation matrix and the first displacement matrix; The first coordinates of the first detection spot in the tunnel boring machine coordinate system are determined based on the second rotation matrix and the second displacement matrix, the first image coordinates of the first spot image in the first measuring device coordinate system, and the distance between the first detection spot and the first laser emission unit. The elevation of the highest point of the measuring pipe ring in the tunnel boring machine coordinate system is determined based on the shape parameters of the pipe ring measured by the first measuring device and the first coordinate. The first elevation of the pipe ring is determined based on the elevation of the highest point of the pipe ring in the shield machine coordinate system measured by the first measuring device and the elevation of the shield machine; Determine the second elevation of the tube ring of the second measuring device; Determining the second elevation of the second measuring device includes: Determine the elevation of the second measuring device; The elevation of the highest point of the measuring loop of the second measuring device in the coordinate system of the second measuring device is determined based on the rotation matrix from the second measuring device to the second inclinometer, the measurement data of the second inclinometer, and the coordinates of the second detection spot in the coordinate system of the second measuring device. The second elevation of the pipe ring is determined based on the elevation of the highest point of the pipe ring in the coordinate system of the second measuring device and the elevation of the second measuring device. The buoyancy information of the pipe ring is determined based on the first elevation and the second elevation of the pipe ring.

2. The monitoring method according to claim 1, characterized in that, The first measuring device further includes a first feature point and a first inclinometer; The second measuring device includes a second feature point; The first imaging unit is also used to image the second feature point to obtain a second feature point image; Determining the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system includes: The first rotation matrix and the first displacement matrix are determined based on the coordinates of the first feature point in the total station measurement coordinate system, the coordinates of the first feature point in the first measuring device coordinate system, the coordinates of the second feature point in the total station measurement coordinate system, the coordinates of the second feature point in the first measuring device coordinate system, the measurement data of the first inclinometer, and the rotation matrix of the first inclinometer relative to the first measuring device.

3. The monitoring method according to claim 1, characterized in that, Determining the second rotation matrix and the second displacement matrix from the tunnel boring machine coordinate system to the first measuring device coordinate system based on the first rotation matrix and the first displacement matrix includes: Obtain the third rotation matrix and the third displacement matrix from the engineering coordinate system to the tunnel boring machine coordinate system; The second rotation matrix and the second displacement matrix are determined based on the first rotation matrix, the first displacement matrix, the third rotation matrix, and the third displacement matrix.

4. The monitoring method according to claim 1, characterized in that, The second measuring device further includes a second feature point; The first imaging unit is used to image the second feature point to obtain a second feature point image; Determining the elevation of the second measuring device includes: Determine the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system; Determine the second rotation matrix and the second displacement matrix from the tunnel boring machine coordinate system to the first measuring device coordinate system based on the first rotation matrix and the first displacement matrix; The second coordinates of the second feature point in the tunnel boring machine coordinate system are determined based on the second rotation matrix, the second displacement matrix, the second image coordinates of the second feature point image in the first measuring device coordinate system, and the distance between the second feature point and the first measuring device. The elevation of the second measuring device is determined based on the second coordinates and the elevation of the tunnel boring machine.

5. The monitoring method according to claim 1, characterized in that, The buoyancy information of the pipe ring is determined based on the first elevation and the second elevation of the pipe ring; including: The buoyancy information is determined based on the difference between the first elevation and the second elevation of the pipe ring.

6. A pipe ring buoyancy monitoring device, characterized in that, include: A first elevation determination module for the pipe ring, wherein the first elevation determination module for the pipe ring is used to determine the first elevation of the pipe ring of the first measuring device; Determining the first elevation of the loop of the first measuring device includes: Determine the first rotation matrix and the first displacement matrix from the engineering coordinate system to the first measuring device coordinate system; Determine the second rotation matrix and the second displacement matrix from the tunnel boring machine coordinate system to the first measuring device coordinate system based on the first rotation matrix and the first displacement matrix; The first coordinates of the first detection spot in the tunnel boring machine coordinate system are determined based on the second rotation matrix, the second displacement matrix, the first image coordinates of the first spot image in the first measuring device coordinate system, and the distance between the first detection spot and the first laser emission unit. The elevation of the highest point of the measuring pipe ring in the tunnel boring machine coordinate system is determined based on the shape parameters of the pipe ring measured by the first measuring device and the first coordinate. The first elevation of the pipe ring is determined based on the elevation of the highest point of the pipe ring in the shield machine coordinate system measured by the first measuring device and the elevation of the shield machine; A second elevation determination module for the pipe ring is used to determine the second elevation of the pipe ring of the second measuring device; Determining the second elevation of the tube ring of the second measuring device includes: Determine the elevation of the second measuring device; The elevation of the highest point of the measuring loop of the second measuring device in the coordinate system of the second measuring device is determined based on the rotation matrix from the second measuring device to the second inclinometer, the measurement data of the second inclinometer, and the coordinates of the second detection spot in the coordinate system of the second measuring device. The second elevation of the pipe ring is determined based on the elevation of the highest point of the pipe ring in the coordinate system of the second measuring device and the elevation of the second measuring device. An ascent information determination module is used to determine the ascent information of the pipe ring.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the monitoring method for pipe ring buoyancy according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the monitoring method for the floating of the tube ring as described in any one of claims 1-5.

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