Device for detecting posture change of front shield of double-shield equipment

Abstract

The utility model discloses a front shield attitude change detection device for double-shield equipment, which comprises a duct piece, a tail shield is arranged at the front end of the duct piece, a support shield is mounted at the front end of the tail shield, a front shield body is mounted at the front end of the support shield, and two groups of auxiliary propulsion oil cylinders are symmetrically mounted between the tail shield and the support shield. Two sets of main pushing oil cylinders are symmetrically installed at the front end of the supporting shield and the front end of the front shield body. The monocular camera can shoot the first mirror surface side identification points on the periphery of the plane mirror in real time, and the translation amount of the front shield body can be obtained through the position change of the first mirror surface side identification points on the black plane mirror; meanwhile, the monocular camera can also shoot the camera side vertical identification points on the body and the first mounting bracket of the monocular camera, when the front shield body rotates, the camera side vertical identification points can move greatly, and the rotation angle of the front shield body relative to the supporting shield can be calculated through a standard image recognition and processing technology.

Description

Technical Field

[0001] The utility model relates to the technical field of double-shield tunnel boring machines, in particular to a device for detecting changes in the posture of a front shield of a double-shield device. Background Art

[0002] To illustrate the current challenges facing dual-shield TBM guidance systems, let's first explain the basic working principles of conventional shield guidance systems. Conventional shield machines generate forward propulsion by applying thrust cylinders to the tunnel segments, thereby advancing the entire machine. The shield machine's guidance system consists of a fixed total station and a rearview prism, forming the basic measurement unit. Under program control, these units monitor and measure measurement targets installed within the rear shield, typically including a prism and an inclinometer. However, to ensure the machine's turning performance, an articulated cylinder is typically deployed. If the machine turns, the geometric relationship between the front shield and the center shield distorts. The difference in travel between the hinges can be used to determine the deflection angle of the front shield relative to the center shield. This deflection angle can then be used to infer the coordinates of the front shield. Generally, this difference in travel is small and is a conventional approximation, which does not affect the accuracy of the final guidance result. Therefore, a device is needed to detect changes in the attitude of the front shield in dual-shield equipment. Summary of the Invention

[0003] The purpose of the utility model is to provide a device for detecting the posture change of the front shield of a double shield device. In order to accurately measure the relative posture relationship between the support shield and the front shield body, a measuring device with simple design, practicality and high sensitivity is provided to solve the technical problems mentioned in the background technology.

[0004] To achieve the above-mentioned object, the present invention provides the following technical solution: a device for detecting the posture change of the front shield of a double-shield device, comprising a segment, a tail shield provided at the front end of the segment, a support shield installed at the front end of the tail shield, a front shield body installed at the front end of the support shield, two sets of auxiliary propulsion cylinders symmetrically installed between the tail shield and the support shield, and two sets of main propulsion cylinders symmetrically installed at the front ends of the support shield and the front shield body;

[0005] A monocular camera is installed inside the support shield, and a black plane mirror is installed inside the front shield body at a position corresponding to the monocular camera.

[0006] Preferably, a rear-view prism is installed on one side of the inner wall of the tube segment, and a total station is installed inside the tube segment in front of the rear-view prism.

[0007] Preferably, a target is installed at the tail end of the support shield, and the rearview prism, total station and target are installed correspondingly.

[0008] Preferably, a first mounting bracket is installed inside the support shield, the monocular camera is installed at the center position of the front side of the first mounting bracket, and several groups of camera side vertical marking points are installed equidistantly on both sides of the monocular camera in front of the first mounting bracket.

[0009] Preferably, a second mounting bracket is installed inside the front shield body, the black plane mirror is installed on the rear side of the second mounting bracket, and a plurality of groups of first mirror side marking points are provided on the surface of the second mounting bracket.

[0010] Compared with the prior art, the beneficial effects of the present invention are:

[0011] By installing a black plane mirror with a visual recognition mark on the front shield body, and installing a high-frame rate near-infrared monocular camera with a bracket with a visual recognition mark at the corresponding support shield position, the monocular camera can capture the first mirror side marking point around the plane mirror in real time. The translation of the front shield body can be obtained by the position change of the first mirror side marking point on the black plane mirror; at the same time, the monocular camera can also capture the camera side vertical marking point on its body and its own first mounting bracket. When the front shield body rotates, the camera side vertical marking point will move significantly. The rotation angle of the front shield body relative to the support shield can be calculated through standard image recognition and processing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the structure of the utility model;

[0013] Figure 2 This is a schematic diagram of the corner state of the utility model;

[0014] Figure 3 This is a schematic diagram of the installation structure of the monocular camera of the utility model;

[0015] Figure 4 This is a schematic diagram of the structure of the black-surface flat mirror of the utility model;

[0016] Figure 5 This is a schematic diagram of the monocular camera of the utility model in use.

[0017] In the figure: 1. Segment; 2. Rearview prism; 3. Total station; 4. Tail shield; 5. Auxiliary propulsion cylinder; 6. Support shield; 7. Target; 8. Main propulsion cylinder; 9. Front shield; 10. First mounting bracket; 11. Monocular camera; 12. Vertical marking point on the camera side; 13. Second mounting bracket; 14. Black plane mirror; 15. Marking point on the first mirror side; 16. Marking point on the second mirror side. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] The utility model provides: a detection device for the posture change of the front shield of a double shield device, such as Figure 1-Figure 5 As shown, it includes a segment 1, a tail shield 4 is provided at the front end of the segment 1, a support shield 6 is installed at the front end of the tail shield 4, a front shield body 9 is installed at the front end of the support shield 6, two groups of auxiliary propulsion cylinders 5 are symmetrically installed between the tail shield 4 and the support shield 6, and two groups of main propulsion cylinders 8 are symmetrically installed at the front ends of the support shield 6 and the front shield body 9; a monocular camera 11 is installed inside the support shield 6, and a black plane mirror 14 is installed inside the front shield body 9 at the position corresponding to the monocular camera 11. During use, the original main propulsion cylinder 8 becomes an auxiliary propulsion cylinder, and the auxiliary propulsion cylinder 5 becomes the main propulsion cylinder. The support shield 6 and the front shield body 9 can achieve simultaneous propulsion and segment 1 assembly. Under suitable working conditions, it can greatly improve the excavation efficiency. The front shield body 9 can have more complex geometric relationship distortions such as translation and rotation relative to the support shield 6. The actual equipment generally does not exceed 5 degrees.

[0020] Preferably, a rearview prism 2 is installed on one side of the inner wall of the segment 1, a total station 3 is installed inside the segment 1 in front of the rearview prism 2, a target 7 is installed at the tail end of the support shield 6, the rearview prism 2, the total station 3 and the target 7 are installed correspondingly, and the total station 3 and the rearview prism 2 constitute a basic measurement unit, which monitors and measures the measurement target 7 installed in the rear shield body under the control of the program. The measurement target 7 generally includes a prism and an inclinometer, which is used to cooperate with the basic working range of the control guidance system. The center coordinates of the shield body where the target 7 is located, that is, the coordinates of the middle support shield 6, can be obtained through fixed spatial relationships and geometric calculations. In the absence of a corner, the center coordinates of the front shield 9 can be obtained by extended calculation.

[0021] Furthermore, a first mounting bracket 10 is installed inside the support shield 6, and a monocular camera 11 is installed at the center of the front side of the first mounting bracket 10. Several groups of camera-side vertical marking points 12 are installed equidistantly on both sides of the monocular camera 11 on the front side of the first mounting bracket 10. A second mounting bracket 13 is installed inside the front shield body 9, and a black plane mirror 14 is installed on the rear side of the second mounting bracket 13. Several groups of first mirror-side marking points 15 are set on the surface of the second mounting bracket 13. Based on the posture of the support shield obtained by the guidance system, the precise posture of the front shield body is calculated. In theory, when the angle of the front shield body changes, the position of the marking points on the mirror surface will show relative distortion. However, in practice, when the angle change is small, it is difficult to detect the angle change through image recognition alone. However, the vertical indicator points on the camera side will multiply this effect when the mirror surface rotates, making it easier for the camera to recognize it. Multiple vertical indicator lights can be installed and can be controlled separately. The purpose is to solve the problem that when the angle is too large, the image in the mirror surface will move out of the shooting range.

[0022] like Figure 5 As shown, when the black plane mirror 14 mounted on the front shield body 9 rotates, the first mirror side marking point 15 moves, and the monocular camera 11 can capture this change. According to the change in the position of the black plane mirror 14 in the image, the size of the rotation angle can be detected very sensitively;

[0023] like Figure 1 and Figure 2 As shown, the monocular camera 11 is installed in the support shield 6, and the black plane mirror 14 is installed in the front shield body 9. In the initial state, the two are in a centered state. The image collected by the monocular camera 11 includes its own image in the black plane mirror 14. In order to eliminate other interfering objects, the black plane mirror 14 is coated with black. All marker lights are near-infrared lights, and the exposure value is at a low level to further eliminate interference.

[0024] like Figure 4 As shown, the camera side vertical marking points 12 on both sides of the monocular camera 11 are lit by program control, and the monocular camera 11 is triggered to shoot at the same time. For example, a high-contrast marking point of the mirror itself appears in a certain frame. At this time, the first mirror side marking point 15 is turned off and the camera side marking point 12 is turned on. Vertical strip-like marking points will appear in the image. If the mirror marking point 15 moves, it can be directly reflected as the translation of the front shield body 9; similarly, if the camera side vertical marking point 12 moves, it is caused by the rotation of the front shield body 9.

[0025] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for detecting the posture change of the front shield of a double shield device, characterized by: The invention comprises a pipe segment (1), wherein a tail shield (4) is provided at the front end of the pipe segment (1), a support shield (6) is installed at the front end of the tail shield (4), a front shield body (9) is installed at the front end of the support shield (6), two groups of auxiliary propulsion cylinders (5) are symmetrically installed between the tail shield (4) and the support shield (6), and two groups of main propulsion cylinders (8) are symmetrically installed at the front ends of the support shield (6) and the front shield body (9); A monocular camera (11) is installed inside the support shield (6), and a black plane mirror (14) is installed inside the front shield body (9) at a position corresponding to the monocular camera (11).

2. The device for detecting the posture change of the front shield of a double shield device according to claim 1, characterized in that: A rear-view prism (2) is installed on one side of the inner wall of the tube segment (1), and a total station (3) is installed inside the tube segment (1) in front of the rear-view prism (2).

3. The device for detecting the posture change of the front shield of a double shield device according to claim 2, characterized in that: A target point (7) is installed at the tail end of the support shield (6), and the rearview prism (2), the total station (3) and the target point (7) are installed correspondingly.

4. The device for detecting the posture change of the front shield of a double shield device according to claim 3, characterized in that: A first mounting bracket (10) is installed inside the support shield (6), the monocular camera (11) is installed at the center position of the front side of the first mounting bracket (10), and a plurality of groups of camera side vertical marking points (12) are installed at equal distances on both sides of the monocular camera (11) on the front side of the first mounting bracket (10).

5. The device for detecting the posture change of the front shield of a double shield device according to claim 4, characterized in that: A second mounting bracket (13) is installed inside the front shield (9), the black plane mirror (14) is installed on the rear side of the second mounting bracket (13), and a plurality of groups of first mirror side marking points (15) are provided on the surface of the second mounting bracket (13).

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