Shaft tunneling segment posture detection system and method

Abstract

The application provides a shaft tunneling segment posture detection system and method, an optoelectronic distance measurement module is installed on a tunneling control module, used for providing a light mark and measuring the distance between a shaft tunneling device and a segment at the same time, a vision module is installed on the tunneling control module, used for shooting a segment ring section image containing the light mark; a host computer module acquires the data of the optoelectronic distance measurement module and the image of the vision module, used for calculating the real-time center of the top of the installed segment ring before and after multiple excavation processes of the assembly space of a single segment ring, before assembly and after assembly. The application can get rid of the dependence on low-precision and long-distance measurement elements such as a pull rope sensor, realize high-precision and stable posture measurement of a tunneling machine main machine and / or a formed segment in a deep well complex environment, thereby providing reliable data support for construction quality, and ensuring that shaft construction is accurately and efficiently completed.

Description

Technical Field

[0001] This application relates to the field of tunnel boring machine (TBM) construction, and in particular to a sunken vertical shaft excavation system and method. Background Technology

[0002] To effectively alleviate traffic congestion and optimize urban spatial structure, the vigorous development of underground transportation facilities, such as subways and underground parking lots, has become an inevitable choice for modern urban development. In the construction of such underground facilities, the sunken shaft tunneling machine technology plays an irreplaceable and crucial role, and is widely used in projects such as subway station entrances and exits, ventilation shafts, and underground parking lot shaft excavation. This technology can safely and efficiently complete shaft excavation operations, providing strong technical support for the development and utilization of underground space.

[0003] In the construction process of a submerged shaft tunneling machine, the core steps include excavation and the sinking and assembly of precast tunnel segments. To ensure that key indicators such as the verticality and horizontal position of the shaft meet design requirements, the attitude of the formed tunnel segment rings must be monitored in real time and with precision. Only by effectively monitoring the attitude can construction quality be fundamentally controlled and project safety guaranteed.

[0004] To address this need, existing technologies have proposed several solutions. For example, invention application CN118933791A discloses a method for calculating the excavation depth and attitude deviation using a rope sensor, the base point of the lifting device, and a dual-axis inclinometer installed on a submerged shaft tunneling machine, combined with corresponding coordinates and the dimensions of the shaft tunneling machine. However, this method has significant limitations. First, the measurement accuracy of the rope sensor decreases significantly with increasing detection length and is easily affected by factors such as on-site vibration, the weight of the wire rope, and swaying, making it impossible to accurately calculate the actual three-dimensional coordinates of the submerged equipment main unit in the deep well. Second, the detection object of this method is mainly focused on the submerged shaft tunneling machine main unit, lacking an effective means of detecting the attitude of the already installed and positioned forming segment rings, while the attitude of the forming segments is the key to ultimately determining the quality of shaft formation. Due to the inability to obtain accurate reference coordinates, existing methods cannot accurately assess attitude parameters such as the verticality and center deviation of the segments, thus posing potential risks to the final quality control and acceptance of the entire shaft project.

[0005] Therefore, there is an urgent need in this field for a new method for detecting the posture of the formed segments of a sunken shaft tunneling machine in order to overcome the above-mentioned defects of the existing technology. Summary of the Invention

[0006] Purpose of the invention: This application provides a segment attitude detection system and method for vertical shaft excavation, which enables accurate detection of the attitude of assembled segments.

[0007] Technical solution: This application provides a segment attitude detection system for vertical shaft excavation, comprising: The tunneling control module is located around the shaft opening and is used to control the lifting and lowering of the shaft tunneling equipment. The segment sinking module is installed circumferentially at the shaft opening and is used to control the sinking attitude of the segments. The photoelectric ranging module is installed on the tunneling control module to provide optical markers and simultaneously measure the distance between the tunneling control module and the tunnel lining segments; A vision module, installed on the tunneling control module, is used to capture images of the segment ring cross-section containing the light markers; The host computer module acquires data from the photoelectric ranging module and images from the vision module to calculate the real-time center of the top of the installed segment ring and the actual angle of the installed segment ring before, after, and before and after multiple excavation processes in the assembly space of a single-ring segment.

[0008] In one feasible implementation, the host computer module obtains the center coordinates of the tunnel segment ring based on the position of the photoelectric ranging module's optical marker in the tunnel segment ring cross-section image provided by the vision module and the vertical distance between the photoelectric ranging module and the tunnel segment ring.

[0009] In one feasible implementation, during the installation phase of the vision modules, the projection of the center of each vision module in the captured image is calibrated to obtain the projection position of the center of the vision module in the image.

[0010] A method for detecting the attitude of tunnel segments during vertical shaft excavation includes the following steps: S100. Establish the vertical shaft coordinate system; S200. When starting the sinking shaft, obtain the deviation value of the center of the bottom cutting edge ring section of the installed segment ring relative to the shaft coordinate system, and calculate the first angle of the cutting edge ring section relative to the shaft coordinate system. S300. Obtain the deviation value of the initial center of the top of the installed segment ring relative to the vertical shaft coordinate system, and calculate the second angle of the installed segment ring relative to the vertical shaft coordinate system; subtract the second angle from the first angle to obtain the first angle deviation between the installed segment ring as a whole and the cutting edge. S400: Measure the distance between the photoelectric ranging module and the top of the installed segment ring, and calculate the third angle of the installed segment ring relative to the vertical shaft coordinate system; subtract the second angle from the third angle to obtain the second angle deviation of the installed segment ring; S500: The attitude data obtained in steps S200-S400 is used as the starting data of the sunken vertical shaft tunneling equipment. The host computer module drives the tunneling control module to excavate the segment assembly space. S600 Before a single excavation process, the photoelectric ranging module emits a light marker to the top of the installed segment ring, and the vision module captures an image of the top of the installed segment ring. The host computer module obtains the coordinates of the outer diameter point of the top of the installed segment ring based on the vertical distance between the photoelectric ranging module and the top of the installed segment ring and the position of the captured light marker, and calculates the real-time center coordinates of the top of the installed segment ring. S700, Repeat step S400 to calculate the real-time third angle of the installed segment ring relative to the vertical shaft coordinate system, and obtain the real-time first angle of the bottom cutting edge ring section of the installed segment ring relative to the vertical shaft coordinate system based on the second angle deviation and the first angle deviation, and calculate the real-time center coordinates of the cutting edge ring section. S800: Perform multiple excavation processes to complete the assembly space excavation of a single-ring segment. Before assembly, repeat step S600 to calculate the coordinates of the outer diameter point of the top of the installed segment ring and the real-time center coordinates of the top of the installed segment ring. Repeat step S400 to calculate the actual third angle of the installed segment ring relative to the vertical shaft coordinate system. Based on the second angle deviation and the first angle deviation, finally obtain the real-time first angle of the bottom cutting edge ring section of the installed segment ring relative to the vertical shaft coordinate system, and calculate the center coordinates of the cutting edge ring section. S900: Assemble the single-ring segment. After assembly, repeat step S600 to calculate the coordinates of the outer diameter point of the top of the installed segment ring and the real-time center of the top of the installed segment ring. Combine this with the real-time center of the top of the installed segment ring obtained in step S800 before assembly to calculate the elevation difference of the segment assembly, and then update the vertical distance between the top ring section and the cutting edge ring section of the installed segment ring. Repeat step S400 to calculate the real-time third angle of the installed segment ring relative to the vertical shaft coordinate system, update the first angle deviation and the second angle deviation, and calculate the real-time center coordinates of the cutting edge ring section.

[0011] S1000, Repeat steps S600-S900 to calculate the real-time center of the top of the installed segment ring and the actual angle of the installed segment ring before and after multiple excavation processes of the single-ring segment assembly space, before assembly and after assembly.

[0012] In one feasible implementation, step S100, establishing the vertical shaft design coordinate system, includes: With the vertical shaft design center as the origin of the coordinate system, the X-axis is located on the horizontal reference plane and points towards the segment sinking module, and the Y-axis is rotated 90° clockwise on the horizontal reference plane. A Cartesian coordinate system is then established.

[0013] In one feasible implementation, step S200, which involves obtaining the deviation value of the center of the cutting edge ring section relative to the vertical shaft coordinate system and calculating the first angle of the cutting edge ring section relative to the vertical shaft coordinate system, includes: Obtain the center coordinates of the cutting edge ring section and calculate its deviation relative to the vertical shaft coordinate system; combine the elevation and inner diameter of the cutting edge ring section to calculate the first angle of the cutting edge ring section relative to the vertical shaft coordinate system.

[0014] In one feasible implementation, step S300, which involves obtaining the deviation value of the initial center of the top of the installed segment ring relative to the shaft coordinate system and calculating the theoretical second angle of the installed segment ring relative to the shaft coordinate system, includes: Obtain the initial center coordinates of the top of the installed segment ring and calculate its deviation relative to the shaft coordinate system; combine the initial distance between the top ring section and the cutting edge ring section of the installed segment ring to calculate the second angle of the installed segment ring relative to the shaft coordinate system.

[0015] In one feasible implementation, step S600, the host computer module obtains the coordinates of the outer diameter point of the top of the installed segment ring based on the vertical distance between the photoelectric ranging module and the top of the installed segment ring, and the position of the captured light marker, and calculates the center coordinates of the top of the installed segment ring, including: Given the coordinates of the light marker point emitted by the photoelectric ranging module and the distance between the photoelectric ranging module and the installed segment ring, calculate the point closest to the outer circle of the top ring section of the installed segment ring, and denot it as the top outer diameter point of the installed segment ring; based on the coordinates of each outer diameter point at the top of the installed segment ring, use the fitted circle algorithm to calculate the center coordinates of the top ring section of the installed segment ring.

[0016] In one feasible implementation, step S700, updating the real-time center coordinates of the cutting edge annular section, includes: Based on the real-time center of the top circular section of the installed segment ring, calculate the deviation of the center coordinates of the top circular section of the installed segment ring relative to the vertical shaft coordinate system. By combining the real-time second angle of the installed segment ring relative to the vertical shaft coordinate system, the deviation value of the center of the bottom ring section of the cutting edge relative to the vertical shaft coordinate system is obtained. Finally, based on the real-time center of the top annular section of the installed segment ring and the deviation of the center of the bottom annular section of the cutting edge relative to the vertical shaft coordinate system, the real-time center coordinates of the cutting edge annular section are obtained.

[0017] In one feasible implementation, step S900, which involves repeating step S400 to calculate the real-time third angle of the installed segment ring relative to the shaft coordinate system and updating the first angle deviation and the second angle deviation, includes: The second angle deviation, the real-time third angle of the installed segment ring relative to the shaft coordinate system calculated in this step, and the real-time third angle of the installed segment ring relative to the shaft coordinate system calculated in step S800 are accumulated to update the second angle deviation, and the first angle deviation is updated accordingly.

[0018] Beneficial effects: This invention can eliminate the reliance on low-precision, long-distance measuring components such as pull-rope sensors, and achieve high-precision and stable attitude measurement of the tunnel boring machine and / or formed segments in the complex environment of deep wells, thereby providing reliable data support for construction quality and ensuring the accurate and efficient completion of shaft construction. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the segment attitude detection system for vertical shaft excavation according to the present invention; Figure 2 A schematic diagram of geometric calculations in images captured by the vision module. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of this application.

[0021] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0022] This invention first provides a brief introduction to the vertical shaft sinking and excavation construction method. The core principle of the construction is to pre-install a shaft structure with a rigid cutting edge at the bottom on the ground. The shaft structure is specifically a steel segment ring with a sharp cutting edge at the bottom to facilitate cutting into the mud and reduce sinking resistance. Concrete segment rings are assembled on top of the shaft structure. The inside of the segment rings is filled with mud, and the mud water level is higher than the groundwater level to maintain water and soil balance.

[0023] Jacks are installed around the top of the segment ring to apply downward pressure, aiding in its sinking into the mud and ensuring a smooth and vertical descent. Additionally, stable supports are evenly installed around the circumference of the segment ring. These supports primarily position and support the subsequently installed tunneling machine (TBM) boom, ensuring its stable operation. The main body of the TBM is then hoisted and secured to the supports. This main body, the core of the excavation, is typically equipped with one or more rotatable, toothed booms for breaking up the rock and soil within the shaft.

[0024] After installing the tunneling control module and segment sinking module, excavation begins. The tunneling machine's robotic arm rotates and breaks up the rock and soil inside the shaft, digging downwards. The excavated rock and soil are mixed with the mud and carried out. The tunneling control module is used to adjust the working height and posture of the tunneling machine. As the rock and soil below the shaft structure are continuously excavated, under the combined action of the downward pressure applied by the segment sinking module and the weight of the shaft itself, the entire shaft structure begins to sink smoothly and as a whole. Segment assembly typically requires multiple excavation processes.

[0025] When the previous section of the wellbore sinks to near the ground, a new section of segment ring is attached to its top. Each segment ring is assembled from segments. Then, the excavation and sinking continue, and this cycle continues until the designed depth is reached.

[0026] Submerged shaft tunneling machine technology plays a crucial role in underground infrastructure construction. Its core construction processes include excavation and the sinking and assembly of precast tunnel segments. To ensure that key indicators such as shaft verticality and horizontal positioning meet requirements, the posture of the formed tunnel segment rings must be monitored in real-time and with precision to effectively control construction quality and safety.

[0027] Existing technologies propose using a drawstring sensor, a lifting device base point, and a dual-axis inclinometer to calculate the tunneling depth and attitude deviation by combining coordinates and equipment dimensions. However, this method has significant limitations: firstly, the accuracy of the drawstring sensor decreases significantly with increasing measurement length, and it is easily affected by on-site vibration, the weight of the wire rope, and swaying, making it difficult to accurately obtain the actual three-dimensional coordinates of the main unit of the submerged shaft tunneling machine in the deep well; secondly, this method mainly targets the main unit of the submerged shaft tunneling machine and lacks an effective means of detecting the attitude of the formed segment rings. The attitude of the formed segment rings directly determines the final quality of the shaft formation. Due to the inability to obtain precise reference coordinates, existing methods struggle to accurately assess parameters such as segment verticality and center offset, posing potential risks to project quality control and acceptance.

[0028] Based on this, the present invention provides a segment attitude detection system for vertical shaft excavation, which can accurately calculate the attitude of the formed segments and ensure the quality of vertical shaft construction.

[0029] like Figure 1As shown, the segment attitude detection system includes a tunneling control module 1, a segment sinking module 3, an electro-optical ranging module 6, a vision module 7, and a host computer module.

[0030] The tunneling control module 1 is located around the shaft opening and is used to control the lifting and lowering of the shaft tunneling equipment.

[0031] Generally, the tunneling control module 1 is constructed as a main hoisting system evenly distributed around the wellhead. The main unit 2 is the core working unit of the sunken vertical shaft tunneling equipment, responsible for excavating the rock and soil below the steel pipe segment 4. The entire tunneling equipment is sunk into the vertical shaft to be excavated, and the tunneling mechanism excavates the rock and soil downwards and continuously feeds it to form the assembly area of ​​the pipe segment 4.

[0032] For example, the number of host lifting systems in this invention is set to four, and the lines connecting adjacent host lifting systems to the center of the shaft form a 90° angle. The included angle facilitates the establishment rules of the vertical shaft coordinate system and the subsequent calculation of the orientation of the tunnel segments.

[0033] The segment sinking module 3 is located around the shaft opening and is used to control the sinking attitude of the segment 4.

[0034] For example, the segment sinking module 3 uses a tension cylinder device. The steel wire rope on the tension cylinder device is directly connected to the cutting edge 5 at the bottom of the segment 4 to control the sinking depth and tilt direction of the segment 4. After the new ring segment 4 is assembled, the stroke of the steel wire rope is controlled to lower it, so that the connected ring segment 4 and the formed well shaft are treated as a whole and moved downward by one step.

[0035] Accordingly, the present invention provides four tension cylinder devices, with adjacent tension cylinder devices forming a 90° angle with the center of the shaft. Angle.

[0036] The photoelectric ranging module 6 is installed on the tunneling control module 1 to provide optical identification and simultaneously measure the distance between the tunneling control module 1 and the tunnel segment 4.

[0037] In some examples, the measurement methods of the photoelectric ranging module 6 may include line laser scanning, structured light scanning, laser tracking, lidar, etc. In this embodiment, the photoelectric ranging module 6 is disposed on the top of the tunneling control module 1 and emits light vertically downwards toward the annular cross-section of the tunnel segment 4 to measure the distance between the tunneling control module 1 and the tunnel segment 4.

[0038] The vision module 7 is installed on the tunneling control module 1 and is used to capture cross-sectional images of the tunnel segment 4 containing the light markers of the photoelectric ranging module 6.

[0039] In some examples, the measurement methods of the vision measurement instrument may include monocular vision measurement, binocular vision measurement, multi-view vision measurement, photometric stereo vision, etc. In this embodiment, the vision module 7 is set on top of the tunneling control module 1, and captures images of the annular cross-section of the tunnel segment 4 vertically downward to detect changes in the position of the tunnel segment 4.

[0040] It should be noted that the photoelectric ranging module 6 and the vision module 7 are configured in a one-to-one correspondence, that is, one photoelectric ranging module 6 is matched with one vision module 7. Therefore, each tunneling control module 1 is equipped with at least one set of photoelectric ranging module 6 and at least one set of vision module 7. The number of photoelectric ranging modules 6 and vision modules 7 is not less than the number of host hoisting systems.

[0041] The host computer module connects to the photoelectric ranging module 6 and the vision module 7 to acquire data from the photoelectric ranging module 6 and images from the vision module 7. This data is used to calculate the real-time center of the top of the installed segment ring and the actual angle of the installed segment ring before, after, before and after multiple excavation processes in the assembly space of the single-ring segment 4.

[0042] Based on the above-described segment attitude detection system, the present invention also provides a segment attitude detection method using the above system, as detailed below: For example, the present invention is described with four sets of components adapted to each other: the host lifting system, the tension cylinder device, the photoelectric ranging module 6, and the vision module 7. However, it is understood that the number of these components is not limited to this. Theoretically, the purpose of the present invention can be achieved when at least three sets are configured.

[0043] S100. Establish the vertical shaft coordinate system; The shaft coordinate system is the core coordinate system used to describe the geometric characteristics of the shaft itself and to perform attitude deviation analysis. It is generally set as a spatial rectangular coordinate system, with the shaft design center as the origin of the coordinate system, two mutually perpendicular directions in the horizontal plane as the X-axis and Y-axis, and the direction perpendicular to the horizontal plane (i.e., the vertical direction) as the Z-axis.

[0044] In this embodiment, the direction pointing to any one of the segment sinking modules 3 on the horizontal reference plane is the X-axis of the shaft coordinate system, and the direction of the Y-axis is the direction of the adjacent segment sinking module 3 when rotated 90° clockwise on the horizontal reference plane. A Cartesian coordinate system is thus established.

[0045] S200. When starting the sinking shaft, obtain the deviation value of the center of the bottom cutting edge 5 circular ring section of the installed segment ring relative to the shaft coordinate system, and calculate the first angle of the cutting edge 5 circular ring section relative to the shaft coordinate system. The center of the circular section of cutting edge 5 can be obtained by measurement. At the bottom of the shaft, a total station is used to first measure multiple coordinates of the same circular section of cutting edge 5, and then the initial center coordinates of the circular section of cutting edge 5 are calculated. .

[0046] The aforementioned center coordinates refer to the coordinates of the center point of the 5-ring section in the vertical shaft coordinate system. Based on this, the deviation of the center of the 5-ring section relative to the vertical shaft coordinate system generally refers to the horizontal deviation of the center coordinates in the vertical shaft coordinate system, i.e., the deviation in the X-axis and Y-axis directions. , It can be determined from the initial center coordinates. Calculated relative to the origin of the vertical shaft coordinate system.

[0047] The first angle of the circular section of cutting edge 5 relative to the vertical shaft coordinate system can be calculated by combining the elevation and inner diameter of the circular section of cutting edge 5. Specifically, it is calculated based on the elevation of the same circular section at the bottom of cutting edge 5 in the positive X-axis direction. elevation in the negative direction The inner diameter of the 5-ring cross-section of the cutting edge Calculate the first angle of the cross-section of the 5th circular cutting edge in the X-axis direction. Based on the elevation of the same circular cross-section at the bottom of cutting edge 5 in the positive Y-axis direction. elevation in the negative direction The inner diameter of the 5-ring cross-section of the cutting edge Calculate the first angle of the cross-section of the 5th circular cutting edge in the Y-axis direction. :

[0048]

[0049] It should be noted that the elevation of the 5-ring section of the cutting edge in the X-axis or Y-axis direction refers to the elevation of the projection of the 5-ring section of the cutting edge on the Z-axis, and the elevation of the two ends of the projection on the Z-coordinate axis.

[0050] S300. Obtain the deviation value of the initial center of the top of the installed segment ring relative to the vertical shaft coordinate system, and calculate the second angle of the entire installed segment ring relative to the vertical shaft coordinate system; subtract the second angle from the first angle to obtain the first angle deviation between the entire installed segment ring and the cutting edge 5. Similarly, the initial center coordinates of the top of the installed segment ring can be obtained through measurement. Multiple coordinates of the same circular cross-section at the top of the installed segment ring are measured on the ground using a total station, and the initial center coordinates of the circular cross-section at the top of the installed segment ring are calculated based on the measured coordinates. Based on the initial center coordinates, calculate the deviations relative to the X-axis and Y-axis directions of the shaft coordinate system. , .

[0051] Based on the center coordinates of the circular cross-section of the cutting edge 5 obtained in step S200 and the initial center coordinates of the top annular section of the installed segment ring. The initial distance between the top of the installed segment ring and the cutting edge 5 was calculated. Calculate the second angle of the installed segment ring relative to the vertical shaft coordinate system:

[0052]

[0053] In the formula, This indicates the second angle of the top of the installed segment ring in the X-axis direction. This indicates the second angle of the top of the installed segment ring in the Y-axis direction.

[0054] The difference between the second angle and the first angle is used to obtain the first angle deviation, which represents the tilt angle of the entire installed segment ring relative to the cross-section of the cutting edge 5 ring:

[0055]

[0056] In the formula, These represent the first angular deviations of the installed segment ring and the cross-section of the cutting edge 5 ring on the X and Y axes, respectively.

[0057] S400, measure the distance between the photoelectric ranging module 6 and the top of the installed segment ring, calculate the third angle of the installed segment ring as a whole relative to the vertical shaft coordinate system; subtract the second angle from the third angle to obtain the second angle deviation of the installed segment ring.

[0058] In some examples, each photoelectric ranging module 6 has a vertical distance corresponding to the top of the installed segment ring, which represents the shortest distance obtained by starting from the photoelectric ranging module 6 and heading vertically towards the top of the installed segment 4.

[0059] For example, the photoelectric ranging module 6 measures the distance to the top circular section of the installed segment ring, including the distance in the positive X-axis direction of the shaft coordinate system. Distance in the negative direction Distance in the positive Y-axis direction of the vertical shaft coordinate system Distance in the negative direction The above distances can be measured using any distance measuring instrument, without any restrictions.

[0060] Calculating the third angle of the installed segment ring relative to the shaft coordinate system requires combining the distance between the ranging instrument and the photoelectric ranging module 6:

[0061]

[0062] In the formula, This indicates the third angle of the top circular section of the installed segment ring in the X-axis direction. This indicates the third angle of the top circular section of the installed segment ring in the Y-axis direction; , These represent the distance between the two photoelectric ranging modules 6 in the X-axis direction and the distance between the two photoelectric ranging modules 6 in the Y-axis direction, respectively.

[0063] The difference between the third angle and the second angle is used to obtain the second angle deviation of the installed segment ring, which represents the deviation of the overall tilt angle of the installed segment ring obtained by the two measurement methods:

[0064]

[0065] In the formula, These represent the second angular deviations of the installed segment 4 relative to the X-axis and Y-axis of the shaft coordinate system, respectively.

[0066] S500, The attitude data obtained in steps S200-S400 is used as the starting data of the sunken vertical shaft excavation equipment. The host computer module drives the tunneling control module 1 to excavate the space for assembling the segments 4.

[0067] S600. Before a single excavation process, the photoelectric ranging module 6 emits a light marker to the top of the installed segment ring, and the vision module 7 captures an image of the top of the installed segment ring. The host computer module obtains the coordinates of the outer diameter point of the top of the installed segment ring based on the vertical distance between the photoelectric ranging module 6 and the top of the installed segment ring and the position of the captured light marker, and calculates the real-time center coordinates of the top of the installed segment ring.

[0068] First, use a total station to measure the three-dimensional coordinates of the optical markers emitted by the photoelectric distance measuring module 6. Taking the positive X-axis as the starting point, the three-dimensional coordinates of the four optical markers emitted by the photoelectric distance measuring module 6 are denoted as follows: , , , This operation only requires one measurement in the initial stage.

[0069] For example, when the photoelectric ranging module 6 uses a laser rangefinder and the vision module 7 uses a monocular camera, the laser rangefinder emits a laser to the top circular cross-section of the installed segment ring, and the monocular camera captures an image of the top of the segment 4 to identify the position of the laser point of the laser rangefinder on the top circular cross-section of the installed segment ring.

[0070] The host computer module calculates the coordinates of the outer diameter point at the top of the installed segment 4 based on the position of the laser point in the image captured by the monocular camera and the vertical distance between the laser rangefinder and the top of the installed segment ring. Finally, it uses a fitted circle algorithm to calculate the real-time center coordinates of the cross-section of the top ring of the installed segment 4.

[0071] Taking a laser rangefinder in the negative Y-axis direction as an example, the coordinates of the center of the laser point of the laser rangefinder are known to be... The laser rangefinder measures the vertical distance from the top circular section of the installed segment ring to... The outer circle of the top ring section of the installed segment ring is identified, and the point closest to the outer circle (i.e., the intersection of the diameter of segment 4 passing through the center of the laser point and the outer circle) is obtained. This point is recorded as the outer diameter point of the installed segment ring. Connecting the center of the laser point to the outer diameter point, we have:

[0072] During the installation phase of vision module 7, it is necessary to calibrate the projection of the center of vision module 7 at different installation positions onto the captured images to determine the position of the center of each vision module 7 relative to the vertical coordinate system in the captured images. For example, the projection direction is the vertical direction, i.e., the Z-axis of the vertical coordinate system. Figure 2 As shown, taking a monocular camera set in the negative Y-axis direction as an example, the crosshairs in the figure show the calibration results of the monocular camera in the captured image, and the center of the crosshairs indicates the position of the center projection of the monocular camera in the image.

[0073] It should be noted that the calibration results of vision module 7 in the captured images can be completed and recorded during the installation phase, showing the transformation relationship between the center of vision module 7 and the X and Y axes of the vertical shaft coordinate system. This transformation relationship can be displayed in real time in the captured images in the form of crosshairs, facilitating subsequent processing and calculations. To further simplify the calculations, the crosshair direction in the image is consistent with the X and Y axis directions of the vertical shaft coordinate system.

[0074] Determine the relative position of the outer diameter point of the installed segment ring and the center of the photoelectric ranging module 6 in the image captured by the vision module 7, and calculate the position of the outer diameter point of the segment 4.

[0075] Specifically, based on the position of the laser point of the laser rangefinder in the image, using it as the center, another crosshair is marked along the direction of the aforementioned crosshair and set as the auxiliary crosshair. Figure 2 (Represented by dashed lines). Since the calibration results of each vision module 7 in its captured images are displayed as solid-line crosshairs, dashed lines parallel to the solid-line crosshairs can be easily generated as auxiliary crosshairs. Next, an image recognition method (based on the ratio coefficient between pixels at different distances and physical dimensions) is used to calculate the coordinate components of the laser point center of the laser rangefinder and the outer diameter point of the nearest segment 4 in the auxiliary coordinate system along the X and Y axes. , It can calculate the coordinates of the outer diameter point of segment 4 at the corresponding location.

[0076] For example, the coordinates of the center of the laser point of the laser rangefinder are known. Coordinate components of the outer diameter point of the installed segment ring in the X and Y axes of the auxiliary coordinate system , Calculate the coordinates of the outer diameter point of the installed segment ring. : If the outer diameter point of the installed segment ring is located in the first quadrant of the auxiliary coordinate system, then , ; If the outer diameter point of the installed segment ring is located in the second quadrant of the auxiliary coordinate system, then , ; If the outer diameter point of the installed segment ring is located in the third quadrant of the auxiliary coordinate system, then , ; If the outer diameter point of the installed segment ring is located in the fourth quadrant of the auxiliary coordinate system, then , ; Specifically, if the outer diameter point of the installed segment ring coincides with the coordinate axis or origin of the auxiliary coordinate system, when , ;when , .

[0077] Based on the above method, the coordinates of the outer diameter points of the four installed segment rings can be obtained. , , , The three-dimensional coordinates of the real-time center of the top circular section of the installed segment ring can be obtained by using a fitting circle algorithm. The algorithm for fitting a circle can use any conventional algorithm that can fit the coordinates of the circle center, such as the least squares method; no specific restrictions are imposed here.

[0078] S700, repeat step S400 to calculate the real-time third angle of the installed segment ring relative to the vertical shaft coordinate system, and obtain the real-time first angle of the bottom cutting edge 5 circular section of the installed segment ring relative to the vertical shaft coordinate system based on the second angle deviation and the first angle deviation, and calculate the real-time center coordinates of the cutting edge 5 circular section.

[0079] Repeat step S400 to calculate the real-time third angle of the entire installed segment ring relative to the shaft coordinate system. The specific process is the same as step S400 and will not be repeated here. The real-time third angle is expressed as the real-time third angle of the top circular section of the installed segment ring in the X-axis direction. Real-time third angle in the Y-axis direction Based on the second angle deviation in step S400, the real-time second angle of the entire installed segment ring is calculated. , Next, based on the first angle deviation in step S300, calculate the real-time first angle of the annular section of the cutting edge 5. , The real-time first angle guides subsequent attitude control.

[0080] In some examples, the center coordinates of the cutting edge 5 annular section are calculated using the following method, based on the real-time center coordinates of the top annular section of the installed segment ring. Calculate the deviation of the center coordinates of the top circular section of the installed segment ring relative to the vertical shaft coordinate system, i.e., the deviation in the X-axis and Y-axis directions. , Therefore, the deviation of the center of the bottom annular section of cutting edge 5 relative to the vertical shaft coordinate system is calculated. , By combining the real-time center coordinates of the top annular section of the installed segment ring and the deviation value of the center of the bottom annular section of cutting edge 5, the real-time center point coordinates of the annular section of cutting edge 5 are obtained.

[0081] , , .

[0082] S800: Perform multiple excavation processes to complete the assembly space excavation for single-ring segment 4. Before assembly, repeat step S600 to calculate the coordinates of the outer diameter point of the top of the installed segment ring and the real-time center coordinates of the top of the installed segment ring. Repeat step S400 to calculate the real-time third angle of the installed segment ring relative to the vertical shaft coordinate system. Based on the second angle deviation and the first angle deviation, finally obtain the real-time first angle of the bottom cutting edge 5 circular cross-section of the installed segment ring relative to the vertical shaft coordinate system, and calculate the real-time center coordinates of the cutting edge 5 circular cross-section.

[0083] For example, before assembly, the coordinates of the outer diameter point and center coordinates of the top of the installed segment ring are obtained using the vision module 7 and the photoelectric ranging module 6. The specific process is described in step S600, and will not be repeated here. The coordinates of the obtained outer diameter point are represented as follows: , , , The center coordinates of the top of the installed segment ring are represented as follows: .

[0084] For example, repeat step S400 to calculate the real-time third angle of the installed segment ring relative to the shaft coordinate system. This will not be elaborated further here. The real-time third angle is expressed as the real-time third angle of the top circular section of the installed segment ring in the X-axis direction. Real-time third angle in the Y-axis direction Based on the second angle deviation in step S400, the real-time second angle of the entire installed segment 4 is calculated. , Next, based on the first angle deviation in step S300, calculate the real-time first angle of the annular section of the cutting edge 5. , .

[0085] In some examples, the real-time center coordinates of the annular section of the cutting edge 5 are calculated. The specific process is described in step S700, based on the real-time center coordinates of the top annular section of the installed segment ring. Calculate the deviation of the center coordinates of the top circular section of the installed segment ring relative to the vertical shaft coordinate system. , Therefore, the deviation of the center of the bottom annular section of cutting edge 5 relative to the vertical shaft coordinate system is calculated. , Finally, the real-time center point coordinates of the circular section of the cutting edge 5 were obtained. .

[0086] S900: Assemble the single-ring segment 4. After assembly, repeat step S600 to calculate the coordinates of the outer diameter point of the top of the installed segment ring and the real-time center of the top of the installed segment ring. Combined with the real-time center of the top of the installed segment ring obtained in step S800 before assembly, calculate the elevation difference of the assembled segment 4, and then update the vertical distance between the top circular section of the installed segment ring and the circular section of the cutting edge 5. Repeat step S700 to calculate the real-time third angle of the installed segment ring relative to the vertical shaft coordinate system, update the first angle deviation and the second angle deviation, and calculate the real-time center coordinates of the circular section of the cutting edge 5.

[0087] For example, after assembly, the vision module 7 and the photoelectric ranging module 6 are used to obtain the coordinates of the outer diameter point and the center coordinates of the top of the installed segment ring. The specific process is described in step S600, and will not be repeated here. The coordinates of the obtained outer diameter point are represented as follows: , , , The center coordinates of the top of the installed segment ring are represented as follows: Furthermore, based on the center coordinates of the top of the installed segment ring, the deviation value of the center of the top of the installed segment ring relative to the vertical shaft coordinate system is obtained, specifically the deviation values ​​relative to the X-axis and Y-axis directions of the vertical shaft coordinate system. ,

[0088] For example, repeat step S400 to calculate the real-time third angle of the installed segment ring relative to the shaft coordinate system. This will not be elaborated further here. The result is expressed as the real-time third angle of the top circular section of the installed segment ring in the X-axis direction. Real-time third angle in the Y-axis direction .

[0089] Based on the coordinates of the top center of the installed segment ring before and after the assembly of segment 4, the elevation difference of segment 4 assembly is calculated: Given the real-time center of the top of the installed segment ring before assembly in step S800, and the real-time center of the top of the installed segment ring after assembly in step S900, the elevation difference is obtained by subtracting the coordinates of the two centers in the direction that represents elevation. It can be understood that step S800 obtains the coordinates of the top center of segment 4 before assembly, i.e., the center of the top of the lower segment ring. Step S900 obtains the coordinates of the top center of the assembled segment 4, that is, the top center of the assembled segment ring. The Z-axis direction of the two coordinates is also the elevation direction. Subtracting the Z-axis coordinates will give the elevation difference before and after the assembly of the single-ring segment 4.

[0090]

[0091] The initial distance between the top of the superimposed segment ring and the cutting edge 5 Calculate the vertical distance between the top circular section of the segment ring and the circular section of the cutting edge 5.

[0092]

[0093] For example, the real-time third angle of the installed segment ring relative to the vertical shaft coordinate system is calculated. The specific process is described in step S400, which will not be repeated here. The result is expressed as the real-time third angle of the top circular section of the installed segment ring in the X-axis direction. Real-time third angle in the Y-axis direction .

[0094] The second angle deviation, the real-time third angle of the installed segment ring relative to the shaft coordinate system calculated in this step, and the real-time third angle of the installed segment ring relative to the shaft coordinate system calculated in step S800 are added together to update the second angle deviation. , Update the first angle deviation , .

[0095] Based on the updated data, repeat step S700 to calculate the real-time center coordinates of the circular section of the cutting edge 5.

[0096] S1000, Repeat steps S600-S900 to calculate the real-time center of the top of the installed segment ring and the actual angle of the installed segment ring before and after the multiple excavation processes of the assembly space of single-ring segment 4, before and after assembly.

[0097] The above detailed embodiments further illustrate the purpose, technical solution, and beneficial effects of the embodiments of this application. It should be understood that the above are merely specific embodiments of the embodiments of this application and are not intended to limit the protection scope of the embodiments of this application. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solutions of the embodiments of this application should be included within the protection scope of the embodiments of this application.

Claims

1. A segment attitude detection system for vertical shaft excavation, characterized in that, include: The tunneling control module is located around the shaft opening and is used to control the lifting and lowering of the shaft tunneling equipment. The segment sinking module is installed circumferentially at the shaft opening and is used to control the sinking attitude of the segments. The photoelectric ranging module is installed on the tunneling control module to provide optical markers and simultaneously measure the distance between the tunneling control module and the tunnel lining segments; A vision module, installed on the tunneling control module, is used to capture images of the segment ring cross-section containing the light markers; The host computer module acquires data from the photoelectric ranging module and images from the vision module to calculate the real-time center of the top of the installed segment ring and the actual angle of the installed segment ring before, after, and before and after multiple excavation processes in the assembly space of a single-ring segment.

2. The segment attitude detection system for vertical shaft excavation according to claim 1, characterized in that, The host computer module obtains the center coordinates of the tunnel segment ring based on the position of the optical marker of the photoelectric ranging module in the cross-sectional image of the tunnel segment ring provided by the vision module and the vertical distance between the photoelectric ranging module and the tunnel segment ring.

3. The segment attitude detection system for vertical shaft excavation according to claim 2, characterized in that, During the installation phase of the vision modules, the projection of the center of each vision module in the captured image is calibrated to obtain the projection position of the center of the vision module in the image.

4. A method for detecting the attitude of tunnel segments during vertical shaft excavation, characterized in that, Includes the following steps: S100. Establish the vertical shaft coordinate system; S200. When starting the sinking shaft, obtain the deviation value of the center of the bottom cutting edge ring section of the installed segment ring relative to the shaft coordinate system, and calculate the first angle of the cutting edge ring section with respect to the shaft coordinate system. S300. Obtain the deviation value of the initial center of the top of the installed segment ring relative to the vertical shaft coordinate system, and calculate the second angle of the installed segment ring relative to the vertical shaft coordinate system; subtract the second angle from the first angle to obtain the first angle deviation between the installed segment ring as a whole and the cutting edge. S400: Measure the distance between the photoelectric ranging module and the top of the installed segment ring, and calculate the third angle of the installed segment ring relative to the vertical shaft coordinate system; subtract the second angle from the third angle to obtain the second angle deviation of the installed segment ring; S500: The attitude data obtained in steps S200-S400 is used as the starting data of the sunken vertical shaft tunneling equipment. The host computer module drives the tunneling control module to excavate the segment assembly space. S600 Before a single excavation process, the photoelectric ranging module emits a light marker to the top of the installed segment ring, and the vision module captures an image of the top of the installed segment ring. The host computer module obtains the coordinates of the outer diameter point of the top of the installed segment ring based on the vertical distance between the photoelectric ranging module and the top of the installed segment ring and the position of the captured light marker, and calculates the real-time center coordinates of the top of the installed segment ring. S700, Repeat step S400 to calculate the real-time third angle of the installed segment ring relative to the vertical shaft coordinate system, and obtain the real-time first angle of the bottom cutting edge ring section of the installed segment ring relative to the vertical shaft coordinate system based on the second angle deviation and the first angle deviation, and calculate the real-time center coordinates of the cutting edge ring section. S800: Perform multiple excavation processes to complete the assembly space excavation of a single-ring segment. Before assembly, repeat step S600 to calculate the coordinates of the outer diameter point of the top of the installed segment ring and the real-time center coordinates of the top of the installed segment ring. Repeat step S400 to calculate the actual third angle of the installed segment ring relative to the vertical shaft coordinate system. Based on the second angle deviation and the first angle deviation, finally obtain the real-time first angle of the bottom cutting edge ring section of the installed segment ring relative to the vertical shaft coordinate system, and calculate the center coordinates of the cutting edge ring section. S900: Assemble the single-ring segment. After assembly, repeat step S600 to calculate the coordinates of the outer diameter point of the top of the installed segment ring and the real-time center of the top of the installed segment ring. Combine this with the real-time center of the top of the installed segment ring obtained in step S800 before assembly to calculate the elevation difference of the segment assembly, and then update the vertical distance between the top ring section and the cutting edge ring section of the installed segment ring. Repeat step S400 to calculate the real-time third angle of the installed segment ring relative to the vertical shaft coordinate system, update the first angle deviation and the second angle deviation, and calculate the real-time center coordinates of the cutting edge ring section. S1000, Repeat steps S600-S900 to calculate the real-time center of the top of the installed segment ring and the actual angle of the installed segment ring before and after multiple excavation processes of the single-ring segment assembly space, before assembly and after assembly.

5. The method for detecting the attitude of tunnel segments during vertical shaft excavation according to claim 4, characterized in that, Step S100, establishing the vertical shaft design coordinate system, includes: With the vertical shaft design center as the origin of the coordinate system, the X-axis is located on the horizontal reference plane and points towards the segment sinking module, and the Y-axis is rotated 90° clockwise on the horizontal reference plane. A Cartesian coordinate system is then established.

6. The method for detecting the attitude of tunnel segments during vertical shaft excavation according to claim 4, characterized in that, Step S200, which involves obtaining the deviation value of the center of the cutting edge ring section relative to the vertical shaft coordinate system and calculating the first angle of the cutting edge ring section relative to the vertical shaft coordinate system, includes: Obtain the center coordinates of the cutting edge ring section and calculate its deviation relative to the vertical shaft coordinate system; combine the elevation and inner diameter of the cutting edge ring section to calculate the first angle of the cutting edge ring section relative to the vertical shaft coordinate system.

7. The method for detecting the attitude of tunnel segments during vertical shaft excavation according to claim 4, characterized in that, Step S300, which involves obtaining the deviation value of the initial center of the top of the installed segment ring relative to the shaft coordinate system and calculating the theoretical second angle of the installed segment ring relative to the shaft coordinate system, includes: Obtain the initial center coordinates of the top of the installed segment ring and calculate its deviation relative to the shaft coordinate system; combine the initial distance between the top ring section and the cutting edge ring section of the installed segment ring to calculate the second angle of the installed segment ring relative to the shaft coordinate system.

8. The method for detecting the attitude of tunnel segments during vertical shaft excavation according to claim 4, characterized in that, Step S600, the host computer module obtains the coordinates of the outer diameter point of the top of the installed segment ring based on the vertical distance between the photoelectric ranging module and the top of the installed segment ring, and the position of the captured light marker, and calculates the center coordinates of the top of the installed segment ring, including: Given the coordinates of the light marker point emitted by the photoelectric ranging module and the distance between the photoelectric ranging module and the installed segment ring, calculate the point closest to the outer circle of the top ring section of the installed segment ring, and denot it as the top outer diameter point of the installed segment ring; based on the coordinates of each outer diameter point at the top of the installed segment ring, use the fitted circle algorithm to calculate the center coordinates of the top ring section of the installed segment ring.

9. The method for detecting the attitude of tunnel segments during vertical shaft excavation according to claim 4, characterized in that, Step S700, which involves updating the real-time center coordinates of the cutting edge annular section, includes: Based on the real-time center of the top circular section of the installed segment ring, calculate the deviation of the center coordinates of the top circular section of the installed segment ring relative to the vertical shaft coordinate system. By combining the real-time second angle of the installed segment ring relative to the vertical shaft coordinate system, the deviation value of the center of the bottom ring section of the cutting edge relative to the vertical shaft coordinate system is obtained. Finally, based on the real-time center of the top annular section of the installed segment ring and the deviation of the center of the bottom annular section of the cutting edge relative to the vertical shaft coordinate system, the real-time center coordinates of the cutting edge annular section are obtained.

10. The method for detecting the attitude of tunnel segments during vertical shaft excavation according to claim 4, characterized in that, Step S900, which repeats step S400, calculates the real-time third angle of the installed segment ring relative to the shaft coordinate system and updates the first angle deviation and the second angle deviation, including: The second angle deviation, the real-time third angle of the installed segment ring relative to the shaft coordinate system calculated in this step, and the real-time third angle of the installed segment ring relative to the shaft coordinate system calculated in step S800 are accumulated to update the second angle deviation, and the first angle deviation is updated accordingly.

Images