CN102445157A - Shield gap measuring system - Google Patents
Shield gap measuring system Download PDFInfo
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- CN102445157A CN102445157A CN2011102813065A CN201110281306A CN102445157A CN 102445157 A CN102445157 A CN 102445157A CN 2011102813065 A CN2011102813065 A CN 2011102813065A CN 201110281306 A CN201110281306 A CN 201110281306A CN 102445157 A CN102445157 A CN 102445157A
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- shield
- camera
- shield tail
- smart camera
- clearance measurement
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Abstract
The invention discloses a shield gap measuring system, which is used for measuring a shield tail gap between the outer diameter outline of a duct piece and the inner diameter outline of a shield tail shell. In the system, a propelling jack is arranged at a position against which the end part of the duct piece can be pressed. The shield tail gap measuring system comprises an intelligent camera which is connected with a PLC (Programmable Logic Controller) system through a data line, wherein the intelligent camera is arranged on a camera bracket; and the camera bracket is fixed on the propelling jack. The invention further provides a method for measuring a shield gap. The method comprises the following steps of: (1) measuring and judging by using a robot instead of human eyes, and converting a shot target into image signals by using the intelligent camera; (2) transmitting the image signals to a special image processing system, and converting the image signals into digital signals according to pixel distribution, a color and brightness information; and (3) acquiring the characteristics of the target by calculating these digital signal with the image processing system. Due to the adoption of the shield gap measuring method, shield tail gaps can be measured accurately.
Description
Technical field
The present invention relates to a kind of shield structure clearance measurement system, particularly a kind of contactless shield tail clearance measurement system belongs to the tunnel machine field.
Background technology
Shield tail clearance measurement system is used to measure the clearance distance between lining cutting ring external diameter and the shield structure housing internal diameter.In construction, can use shield tail clearance measurement system to measure the size in shield tail gap in good time, judging the relative position between section of jurisdiction and the shield tail, and combine, reach the purpose of Comprehensive Control attitude of shield machine with other shield machine Push Technology parameters.The shield tail clearance measurement system that in the shield structure, generally adopts at present is an optical measuring system, and this cover system comprises 5 laser measurement sensors, is installed on the fixed position of assembling machine.Assembling machine can be moved to require in the section of jurisdiction local and the distance of piecing together good section of jurisdiction is measured.Then assembling machine continues to move forward, and measures the distance of shield tail.Calculate the net value between twice measurement, the net value data that obtain are shown or are transferred in the SLS-T guidance system.Though this optical measuring system is generally used on the shield structure, because the restriction of its working method can't be installed on the shield structure of equipment disc type assembling machine.A kind of in addition shield tail clearance measurement system is mounted near the position of lifting jack base plate (boots plate), relies on air valve group and obliquity sensor work, can use touch-screen or portable shield tail spacing control box on the guidance panel to control.But its protective of this system is relatively poor.Advance on the lifting jack because this system is installed in, and on-the-spot working condition is abominable, usually can be owing to being infected with after mud or the water, device fails and can't operate as normal; It is bigger to add its measurement mechanism profile, bring bigger difficulty for installation and use, and because this system that limits of physical dimension is not suitable for metro shield.
Summary of the invention
The technical matters that the present invention will solve provides a kind of method of shield tail clearance measurement, and it can accurately measure shield tail gap.
The method of shield tail clearance measurement of the present invention comprises step:
1) utilizing machine to replace human eye to measure and judge, will be picture signal by the picked-up Target Transformation through a smart camera;
2) give special-purpose image processing system with said image signal transmission,, transform into digital signal according to pixel distribution, color, monochrome information;
3) image processing system carries out computing to these digital signals and obtains clarification of objective.
The present invention also provides a kind of shield tail clearance measurement system; Shield tail clearance measurement system of the present invention; It is used to measure the shield tail gap between section of jurisdiction external diameter profile and the shield tail housing internal diameter profile, and the position that can replace the end of section of jurisdiction is provided with the propelling lifting jack, comprises a smart camera that links to each other through data line with a PLC control system; This smart camera is installed on the camera support, and this camera support is fixed on the said propelling lifting jack; When advancing lifting jack to replace the end of section of jurisdiction, said shield tail gap can be taken in the smart camera present position.
Said camera support is installed in the base plate position of said propelling lifting jack.
The setting angle of the relative camera support of smart camera is 0 °～45 °.
Because shield tail clearance measurement system of the present invention mainly is made up of minimum in the world integral intelligent camera, the checkout equipment volume is little, and is few to the restriction of installation site, can adapt to the shield structure of various diameters; The data frequency in the shield tail gap of gathering simultaneously is fast, control accuracy is high.
Description of drawings
Fig. 1 is the main synoptic diagram of looking in installation site of the present invention;
Fig. 2 is installation site of the present invention schematic side view;
Fig. 3 is the partial enlarged drawing of Fig. 2.
Embodiment
Referring to Fig. 1, Fig. 2 and Fig. 3; Shield tail clearance measurement system of the present invention comprises a smart camera 10, because this smart camera 10 can accurately be surveyed object on different background; Variation for brightness, rotation and size can accurately detect; For the anamorphose that skewed surface, visual angle and camera lens are caused, all can utilize truing tool to proofread and correct, thereby can obtain accurate position and area value.
When carrying out the assembly unit of section of jurisdiction 90, advance lifting jack 60 retractions, smart camera 10 stops to detect.
So-called vision technique utilizes machine to replace human eye to measure and judge exactly; Through image-forming component (being smart camera) will be picture signal by the picked-up Target Transformation; And be transferred to special-purpose image processing system; According to information such as pixel distribution, color, brightness, transform into digital signal, picture system carries out various computings to these signals again and obtains clarification of objective.
The smart camera that adopts among the present invention is camera, processor, illumination, optics and I/O element to be integrated in a degree of protection reach in the IP67 rank shell; Maximum setting angle reaches 45 °; Have characteristics such as compact size, precision height, good reliability, be applicable to the environment that working condition is relatively poor.
System utilizes vision technique at first to detect the border of section of jurisdiction in the photo; Get a point then as one of shield tail clearance measurement benchmark; Software is analyzed image afterwards; Calculate that reference point to shield tail is with reference to the distance on border on the section of jurisdiction, these data are pixel value, and what obtain after system converts again promptly is shield tail gap numerical value.
Picture after the utilization smart camera special software analysis image.The shield tail that can clearly see setting in the picture is with reference to the reference point of border and the section of jurisdiction that searches out automatically.
With special software software is bridge, is used the relevant PLC programming software, and through ethernet communication protocol, the communication of accomplishing PLC and smart camera is connected.
PLC control smart camera carries out work, and smart camera is transferred to special software with the image that absorbs and carries out computing, and the result who obtains writes among the PLC, is presented at then on the corresponding configuration software, and corresponding data is controlled.
The present invention has substantive distinguishing features and marked improvement, and through contactless method, the utilization vision technique is measured, controlled shield tail gap, and has set up the shield tail clearance measurement system of a sets of data collection, real-time Transmission, intellectual analysis.Equipment volume is little simultaneously, can adapt to the shield structure of various diameters.The data frequency in the shield tail gap of gathering is fast, control accuracy is high.
The above only is preferred embodiment of the present invention; Not being that the present invention is done any pro forma restriction, though the present invention with the preferred embodiment exposure as above, yet is not in order to limit the present invention; Anyly be familiar with the professional and technical personnel; In the scope that does not break away from technical scheme of the present invention, make a little change or be modified to the equivalent embodiment of equivalent variations when the technology contents of above-mentioned announcement capable of using, be the content that does not break away from technical scheme of the present invention in every case;, all still belong in the scope of technical scheme of the present invention any simple modification, equivalent variations and modification that above embodiment did according to technical spirit of the present invention.
Claims (5)
1. shield structure clearance measurement system; It is used to measure the shield tail gap between section of jurisdiction external diameter profile and the shield tail housing internal diameter profile; The position that can replace the end of section of jurisdiction is provided with the propelling lifting jack; It is characterized in that comprising a smart camera that links to each other through data line with a PLC control system, this smart camera is installed on the camera support, and this camera support is fixed on the said propelling lifting jack; When advancing lifting jack to replace the end of section of jurisdiction, said shield tail gap can be taken in the smart camera present position.
2. shield structure clearance measurement system as claimed in claim 1 is characterized in that: said smart camera is camera, processor, illumination, optics and I/O element to be integrated in a degree of protection reach in other shell of IP67 level.
3. shield structure clearance measurement system as claimed in claim 2 is characterized in that: said camera support is installed in the base plate position of said propelling lifting jack.
4. shield structure clearance measurement system as claimed in claim 3 is characterized in that: the setting angle of the relative camera support of smart camera is 0 °～45 °.
5. the method for a shield structure clearance measurement is characterized in that comprising step:
1) utilizing machine to replace human eye to measure and judge, will be picture signal by the picked-up Target Transformation through a smart camera;
2) give special-purpose image processing system with said image signal transmission,, transform into digital signal according to pixel distribution, color, monochrome information;
3) image processing system carries out computing to these digital signals and obtains clarification of objective.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102813065A CN102445157A (en) | 2011-09-21 | 2011-09-21 | Shield gap measuring system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011102813065A CN102445157A (en) | 2011-09-21 | 2011-09-21 | Shield gap measuring system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102445157A true CN102445157A (en) | 2012-05-09 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011102813065A Pending CN102445157A (en) | 2011-09-21 | 2011-09-21 | Shield gap measuring system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104989423A (en) * | 2015-06-11 | 2015-10-21 | 同济大学 | Visual single-circle shield tunneling synchronous grouting slurry diffusion mode study platform and application of platform |
| CN105571555A (en) * | 2015-12-14 | 2016-05-11 | 武汉船用机械有限责任公司 | Measuring device of shield tail gap of shield tunneling machine and measuring method thereof |
| CN106123795A (en) * | 2016-08-24 | 2016-11-16 | 湖南科天健光电技术有限公司 | Gap of the shield tail measuring method based on structural light three-dimensional detection technique and device |
| CN106989683A (en) * | 2017-04-20 | 2017-07-28 | 同济大学 | A kind of shield tail clearance of shield machine vision measuring method |
| CN110579176A (en) * | 2018-06-11 | 2019-12-17 | 日立造船株式会社 | Shield tail gap measuring device, shield tunneling machine and shield tail gap measuring method |
| CN110954003A (en) * | 2019-12-14 | 2020-04-03 | 南京城市地下空间工程研究院有限公司 | Shield tail clearance measurement system based on high resolution camera image acquisition and processing |
| CN111189401A (en) * | 2020-01-10 | 2020-05-22 | 中国矿业大学(北京) | Calibration method for shield tail clearance measurement, and shield tail clearance real-time automatic measurement method and system |
| CN112033293A (en) * | 2020-08-12 | 2020-12-04 | 上海隧道工程有限公司 | Method for automatically tracking effective boundary characteristic points of duct piece in machine vision shield tail clearance detection |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101251367A (en) * | 2008-04-02 | 2008-08-27 | 上海隧道工程股份有限公司 | Real-time measurement system for shield excavation attitude |
| JP2010189914A (en) * | 2009-02-18 | 2010-09-02 | Fujita Corp | Tail clearance measuring apparatus |
-
2011
- 2011-09-21 CN CN2011102813065A patent/CN102445157A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101251367A (en) * | 2008-04-02 | 2008-08-27 | 上海隧道工程股份有限公司 | Real-time measurement system for shield excavation attitude |
| JP2010189914A (en) * | 2009-02-18 | 2010-09-02 | Fujita Corp | Tail clearance measuring apparatus |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104989423A (en) * | 2015-06-11 | 2015-10-21 | 同济大学 | Visual single-circle shield tunneling synchronous grouting slurry diffusion mode study platform and application of platform |
| CN105571555A (en) * | 2015-12-14 | 2016-05-11 | 武汉船用机械有限责任公司 | Measuring device of shield tail gap of shield tunneling machine and measuring method thereof |
| CN105571555B (en) * | 2015-12-14 | 2018-07-31 | 武汉船用机械有限责任公司 | A kind of measuring device and its measurement method of shield tail clearance of shield machine |
| CN106123795A (en) * | 2016-08-24 | 2016-11-16 | 湖南科天健光电技术有限公司 | Gap of the shield tail measuring method based on structural light three-dimensional detection technique and device |
| CN106123795B (en) * | 2016-08-24 | 2019-12-17 | 湖南科天健光电技术有限公司 | Shield tail clearance measuring method and device based on structured light three-dimensional detection technology |
| CN106989683A (en) * | 2017-04-20 | 2017-07-28 | 同济大学 | A kind of shield tail clearance of shield machine vision measuring method |
| CN110579176A (en) * | 2018-06-11 | 2019-12-17 | 日立造船株式会社 | Shield tail gap measuring device, shield tunneling machine and shield tail gap measuring method |
| CN110579176B (en) * | 2018-06-11 | 2022-07-22 | 地中空间开发株式会社 | Shield tail gap measuring device, shield tunneling machine and shield tail gap measuring method |
| CN110954003A (en) * | 2019-12-14 | 2020-04-03 | 南京城市地下空间工程研究院有限公司 | Shield tail clearance measurement system based on high resolution camera image acquisition and processing |
| WO2021114650A1 (en) * | 2019-12-14 | 2021-06-17 | 南京城市地下空间工程研究院有限公司 | Tailskin clearance measurement system based on high-resolution camera image collection and processing |
| CN111189401A (en) * | 2020-01-10 | 2020-05-22 | 中国矿业大学(北京) | Calibration method for shield tail clearance measurement, and shield tail clearance real-time automatic measurement method and system |
| CN112033293A (en) * | 2020-08-12 | 2020-12-04 | 上海隧道工程有限公司 | Method for automatically tracking effective boundary characteristic points of duct piece in machine vision shield tail clearance detection |
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Effective date of registration: 20151217 Address after: 200232 Shanghai city Xuhui District Wanping Road No. 1099 5 floor Applicant after: Shanghai Tunnel Engineering Co., Ltd. Applicant after: Shanghai Tunnel Engineering Co., Ltd. Address before: 200082 No. 118, Dalian Road, Shanghai, Yangpu District Applicant before: Shanghai Tunnel Engineering Co., Ltd. |
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Application publication date: 20120509 |