CN105115499A - Guide system applied to double-shield tunneling machine and positioning method - Google Patents
Guide system applied to double-shield tunneling machine and positioning method Download PDFInfo
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- CN105115499A CN105115499A CN201510566420.0A CN201510566420A CN105115499A CN 105115499 A CN105115499 A CN 105115499A CN 201510566420 A CN201510566420 A CN 201510566420A CN 105115499 A CN105115499 A CN 105115499A
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 230000005641 tunneling Effects 0.000 title claims abstract description 8
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 238000010276 construction Methods 0.000 claims abstract description 13
- 239000000284 extract Substances 0.000 claims abstract description 3
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000003384 imaging method Methods 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims description 4
- 238000001914 filtration Methods 0.000 claims description 3
- 238000003709 image segmentation Methods 0.000 claims description 2
- 230000002035 prolonged effect Effects 0.000 abstract 1
- 239000011435 rock Substances 0.000 description 6
- 239000000428 dust Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005273 aeration Methods 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Environmental & Geological Engineering (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a guide system applied to a double-shield tunneling machine and a positioning method. The guide system is characterized by comprising a rear-view prism mounted on a duct piece wall, a total station mounted on the duct piece wall, an industrial computer mounted in a cab and provided with a guide system, a CCD measurement camera mounted on a support shield, LED standard characteristic points mounted on a front shield, and a laser target mounted on a tail shield. During the tunnel piercing construction, the CCD measurement camera extracts the variation of the light spot positions of the LED standard characteristic points, and compares the positions with the original positions calibrated in the CCD measurement camera, and thus the accurate position relation between the support shield and the front shield can be obtained. The guide system has the advantages that the laser beams sent by the total station directly irradiate the laser target mounted on the tail shield, and a special laser measurement window channel does not need to be reserved between the support shield and the tail shield, so that the measurement distance of the guide system is greatly prolonged, the station change frequency is reduced, and the construction efficiency is improved.
Description
Technical field
The present invention relates to one be applied to the guidance system of Double shield TBM (hereinafter referred to as " TBM ") and use the measuring method of this system, be mainly used in guiding during rock tunnel(ling) machine construction.
Background technology
Along with track traffic industry is greatly developed, double-shielded TBM is widely applied in hard rock geology constructing tunnel.The guidance system of double-shielded TBM application is both at home and abroad all be directly installed on by measurement target on TBM anterior shield body at present, is carried out driving guiding and the attitude rectification of TBM by Measurement channel.But due to the vibrations of double-shielded TBM anterior shield body in driving and the impact that flexibly connects between anterior shield and a pole, the guiding accuracy of TBM also exists very large deviation in the tunneling construction of reality, even there is serious " blind push away " phenomenon.
Double-shielded TBM can realize hard rock tunnel excavation, muck removal, the working continuously of supporting, and because of its safety, efficient, performance reliably, has been widely used in the engineerings such as water conservancy and hydropower, mining, track traffic, municipal administration, national defence now.Its main frame is made up of (see Fig. 1) cutterhead 1, anterior shield 2, flexible shield 4, a pole 6 and tail shield 8 four part.Guidance system, just as the eyes of TBM, instructs TBM to advance along Tunnel Design axis when tunneling construction, improves constructing tunnel efficiency and constructing tunnel quality.At present the domestic and international guidance system for TBM primarily of the laser target 7 be arranged on anterior shield 2, be arranged on total powerstation 11 on tunnel duct piece wall 9 and rearscope 12 and the industrial computer 10 4 part composition of guidance system control software design be installed.The laser beam that the measurement of guidance system sends with the total powerstation 11 be arranged on tunnel duct piece wall 9 is for benchmark, when being irradiated to the laser target 7 be arranged on TBM anterior shield 2 when giving off laser beam compared with the axis of laser target 7, show that anterior shield 2 is relative to the roll angle of total powerstation 11, the angle of pitch and rotation angle.The air line distance of laser target 7 and total powerstation 11 is calculated by rearscope 12.These all data by cable transmission on the computer 10 installing guidance system control software design, these data are compared with the Tunnel Design axis data of input industrial computer 10, thus calculate the difference that TBM cutterhead 1 tunnels center and Tunnel Design axis centre, and difference is shown on screen.TBM bridge operation personnel regulate the driving attitude of TBM by the size of difference, to reach the driving axis that the makes tunnel object consistent with Tunnel Design axis.
Anterior shield 2 and the flexible shield 4 of TBM are linked together by hinged oil cylinder, and anterior shield 2 is not fixed relative to the spatial relation of flexible shield 4 in this case.In order to guarantee to manifest really the attitude that TBM tunnels in real time, TBM is advanced along Tunnel Design axis, laser target 7 must be arranged on attitude anterior shield 2 could reacted the most really cutterhead 1 and tunnel.And in the measuring process of whole guidance system, the main points of most critical are that the laser beam that total powerstation 11 sends will be radiated on the laser target 7 of anterior shield 2, the transmission of light is rectilinear propagation, must just can meet the demands enough greatly so run through by tail shield 8 the measurement form that pole 6 and flexible shield 4 arrive anterior shield 2 in TBM main frame.
Double-shielded TBM is mainly constructed for hard rock tunnel, and the dust produced when cutterhead tunnels can be larger.In order to ensure the construction environment of workman, the oxygen level reducing dust and increase in construction tunnel, double-shielded TBM has installed dust removal by ventilation and twice aeration two cover system when designing.In this case two airducts (not shown in Fig. 1) have just been installed in the left and right sides of the rear supporting chassis of TBM.The measurement space of double-shielded TBM is made to become narrower relative to other rock tunnel(ling) machine.Meanwhile, when Urban Metro Construction, in order to hide above-ground structures and existing tunnel, tight-turning subway tunnel design is more and more extensive.Little dual superposes the little measurement form designed with double-shielded TBM of tunnel axis design radius of turn, the laser beam that total powerstation 11 is sent and being easily blocked between flexible shield 4, cannot record the attitude of anterior shield 2.This is current both domestic and external pair of shield guidance system ubiquity phenomenon when subway hard rock tunnel is constructed.When measuring the attitude of anterior shield body, just must move forward total powerstation 11 on section of jurisdiction wall 9 and rear view window prism 12, to ensure to measure the unobstructed of form.In this case, change standing-meeting frequently on the one hand and expend time in, reduce the efficiency of constructing tunnel, increase time cost, change station frequently simultaneously, check and correction driving axis and design axis data, can increase data error, affect the quality of construction tunnel again.
Summary of the invention
The invention provides a kind of novel double-shielded TBM guidance system and measuring method, mainly in order to improve double-shielded TBM guiding accuracy in tunneling construction, reduce measure time change station frequency, enable guidance system determine the real-time attitude of TBM accurately, efficiently tunnel fast.By in application-oriented for relative visual measuring system system, laser target is arranged on the tail shield of TBM, the attitude of anterior shield body is obtained by the method for relative measurement, to reduce due to the narrow and small impact on double-shielded TBM guidance system of Measurement channel, increase the measuring distance of total powerstation, finally reach the object improving operating efficiency and constructing tunnel quality.
Technical scheme of the present invention is: a kind of guidance system being applied to Double shield TBM, comprise the rearscope be arranged on the wall of section of jurisdiction, be arranged on the total powerstation on the wall of section of jurisdiction and be arranged on, in pilothouse, the industrial computer of guidance system has been installed, it is characterized in that, also comprise the laser target that the CCD be arranged on a pole measures camera, is arranged on the LED standard unique point on anterior shield and is arranged on tail shield, CCD measures camera and carries out data transmission between total powerstation and industrial computer.
Described LED standard unique point is by 9 or the rectangular plane be distributed in about square metre of 12 LED unique points.
Apply an orientation method for described guidance system, it is characterized in that, comprise the following steps:
(1) Tunnel Design axis data are transferred in the industrial computer of guidance system, set up earth coordinates by total powerstation and rearscope; By being arranged on the LED standard unique point on anterior shield and the CCD measurement camera on a pole, set up CCD camera coordinate system and LED standard unique point coordinate system;
(2) when TBM is at set of tunneling construction, by being arranged on the laser target on tail shield, with total station survey location, TBM tail shield attitude is determined; The CCD be arranged on a pole measures the image that camera obtains LED standard unique point on anterior shield, and to Image Segmentation Using and filtering, extracts the imaging facula of LED standard unique point; By imaging facula compared with predefined coordinate system, thus determine anterior shield and a pole relative position relation, and relative position relation data are transferred in industrial computer;
(3) because a pole and tail shield relative position relation are fixed, calculated by coordinate system locus, and compare with TBM tail shield pose, thus draw TBM anterior shield position and attitude.
The concrete localization method of described step (3) is:
A, because the pole of double-shielded TBM and tail shield exist relatively-stationary position relationship, in advance the data of this position relationship are input in industrial computer;
B, measured the LED standard unique point of camera and anterior shield by pole CCD, anterior shield is transferred on the industrial computer of pilothouse relative to the attitude data (rotation angle, the angle of pitch and pitch angle) of a pole; Meanwhile, be arranged on total powerstation on the wall of section of jurisdiction by laser beam irradiation on the laser target of tail shield, the attitude data (relative to Tunnel Design axis) of tail shield is also transferred in industrial computer by cable.
C, relative to the attitude data of design axis, accurately calculate the real-time attitude of anterior shield, and be presented on industrial computer relative to pole, a pole relative to tail shield and tail shield by anterior shield.
Advantage of the present invention is: with the double-shielded TBM guidance system of current both at home and abroad main flow to comparing, the laser beam that in the present invention, total powerstation sends shine directly into be arranged on tail shield laser target on, no longer need reserved special laser measurement form passage in the middle of pole and tail shield.The measuring distance of guidance system can be increased so greatly, reduce and change station frequency, improve operating efficiency.Simultaneously because laser measurement form need not be reserved when doing TBM design on a pole, the steel body material type selecting of a pole can save cost.
Accompanying drawing explanation
Fig. 1 is the axial cross-sectional schematic of general structure that prior art is arranged on the guidance system on shield machine;
Fig. 2 is the axial cross-sectional schematic of general structure that the present invention is arranged on the guidance system on shield machine;
Fig. 3 is the A-A cut-open view of Fig. 2;
Fig. 4 is the B-B cut-open view of Fig. 2;
Fig. 5 is the C-C cut-open view of Fig. 2.
Embodiment
See Fig. 2 ~ Fig. 5, guidance system of the present invention comprises the rearscope 12 be arranged on section of jurisdiction wall 9, is arranged on the total powerstation 11 of on the wall of section of jurisdiction 9, the industrial computer 10 having installed guidance system be arranged in pilothouse, the CCD be arranged on a pole 6 measure camera 5, be arranged on the LED standard unique point 3 on anterior shield 2 and the laser target 7, CCD be arranged on tail shield 8 is measured camera 5 and is connected with industrial computer 10 by data line with total powerstation 11.
The present invention utilizes CCD to measure camera 5 and realizes carrying out real-time high-precision location survey when short distance.Its principle obtains the image of surrounding scenes by camera, utilizes some natural or artificial features in scenery, obtains the environmental model of surrounding thus realize the accurate location of camera by the method for image procossing.Concrete localization method: first define CCD camera coordinate system, LED standard unique point coordinate system and earth coordinates.Measure camera to obtain after image, carry out the pre-service (image filtering and Iamge Segmentation are routine techniques) of image, by pretreated image standard feature point and predefine coordinate system compared and position.TBM, when application-oriented system is measured, first measures the LED standard unique point 3 of camera 5 and anterior shield 2 by a pole CCD, be transferred on the industrial computer 10 of pilothouse by the attitude data (rotation angle, the angle of pitch and pitch angle) of anterior shield 2 relative to a pole 6.Meanwhile, be arranged on total powerstation 11 on section of jurisdiction wall 9 by laser beam irradiation on the laser target 7 of tail shield 8, the attitude data (relative to Tunnel Design axis) of tail shield 8 is also transferred in industrial computer 10 by cable.Because the pole 6 of double-shielded TBM and tail shield 8 exist relatively-stationary position relationship, in advance the data of this position relationship are input in industrial computer 10, like this by anterior shield 2 relative to pole 6, a pole 6 relative to tail shield 8 and tail shield 8 attitude data relative to design axis, just accurately can calculate the real-time attitude of anterior shield 2, and be presented on industrial computer 10.
Key problem in technology point of the present invention has two: one to be the parameter calibration that the extraction of LED feature 3 and CCD measure in camera 5.When TBM is at set of tunneling construction, CCD measures camera 5 by extracting the change of LED standard unique point 3 facula position that anterior shield 2 is installed, and measure at CCD the position demarcated in camera 5 with beginning to compare, thus draw the precise positional relationship (defining method of position relationship is prior art, but on TBM is first Application) of a pole 6 and anterior shield 2; Two is the foundation (prior art) that multiple locus coordinate system transmits mathematical model.Guidance system, when measuring, needs to set up multiple coordinate system, comprises LED standard unique point coordinate system, CCD measures camera coordinates system, earth coordinates (Tunnel Design axis), and determine the relative position of laser target 7.By the mathematical model established, the space coordinates of relative position relation are progressively superposed transmission, thus calculate the difference of TBM cutterhead driving center and Tunnel Design axis centre, make TBM driver operate TBM and carry out pose adjustment, advance along Tunnel Design axis.
Claims (4)
1. one kind is applied to the guidance system of Double shield TBM, comprise the rearscope be arranged on the wall of section of jurisdiction, be arranged on the total powerstation on the wall of section of jurisdiction and be arranged on, in pilothouse, the industrial computer of guidance system has been installed, it is characterized in that, also comprise the laser target that the CCD be arranged on a pole measures camera, is arranged on the LED standard unique point on anterior shield and is arranged on tail shield, CCD measures camera and carries out data transmission between total powerstation and industrial computer.
2. the guidance system being applied to Double shield TBM according to claim 1, is characterized in that, described LED standard unique point is by 9 or the rectangular plane be distributed in about square metre of 12 LED unique points.
3. application rights requires an orientation method for the guidance system described in 1, it is characterized in that, comprises the following steps:
(1) Tunnel Design axis data are transferred in the industrial computer of guidance system, set up earth coordinates by total powerstation and rearscope; By being arranged on the LED standard unique point on anterior shield and the CCD measurement camera on a pole, set up CCD camera coordinate system and LED standard unique point coordinate system;
(2) when TBM is at set of tunneling construction, by being arranged on the laser target on tail shield, with total station survey location, TBM tail shield attitude is determined; The CCD be arranged on a pole measures the image that camera obtains LED standard unique point on anterior shield, and to Image Segmentation Using and filtering, extracts the imaging facula of LED standard unique point; By imaging facula compared with predefined coordinate system, thus determine anterior shield and a pole relative position relation, and relative position relation data are transferred in industrial computer;
(3) because a pole and tail shield relative position relation are fixed, calculated by coordinate system locus, and compare with TBM tail shield pose, thus draw TBM anterior shield position and attitude.
4. application rights according to claim 3 requires the orientation method of the guidance system described in 1, and it is characterized in that, the concrete localization method of described step (3) is:
A, because the pole of double-shielded TBM and tail shield exist relatively-stationary position relationship, in advance the data of this position relationship are input in industrial computer;
B, measured the LED standard unique point of camera and anterior shield by pole CCD, anterior shield is transferred on the industrial computer of pilothouse relative to the attitude data (rotation angle, the angle of pitch and pitch angle) of a pole; Meanwhile, be arranged on total powerstation on the wall of section of jurisdiction by laser beam irradiation on the laser target of tail shield, the attitude data (relative to Tunnel Design axis) of tail shield is also transferred in industrial computer by cable;
C, relative to the attitude data of design axis, accurately calculate the real-time attitude of anterior shield, and be presented on industrial computer relative to pole, a pole relative to tail shield and tail shield by anterior shield.
Priority Applications (1)
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| CN201510566420.0A CN105115499B (en) | 2015-09-09 | 2015-09-09 | Guidance system and localization method applied to Double shield TBM |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510566420.0A CN105115499B (en) | 2015-09-09 | 2015-09-09 | Guidance system and localization method applied to Double shield TBM |
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| CN105115499A true CN105115499A (en) | 2015-12-02 |
| CN105115499B CN105115499B (en) | 2018-07-06 |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106092069A (en) * | 2016-08-24 | 2016-11-09 | 湖南科天健光电技术有限公司 | Guiding in a kind of underground engineering construction and the device of displacement monitoring |
| CN106437731A (en) * | 2016-10-09 | 2017-02-22 | 中国电建集团成都勘测设计研究院有限公司 | Pre-warning dual-shield TBM |
| CN107269286A (en) * | 2017-07-18 | 2017-10-20 | 钱江重工有限公司 | A kind of pipe arrangement stretch system for tunnel piercing |
| CN108412507A (en) * | 2018-05-23 | 2018-08-17 | 中铁高新工业股份有限公司 | A kind of new pattern laser auxiliary rock TBM structures |
| CN109539992A (en) * | 2019-02-20 | 2019-03-29 | 中国铁建重工集团有限公司 | A kind of double shield position detecting devices, double shield method for detecting position, double shield guidance systems and double shield guidance methods |
| CN109696126A (en) * | 2019-02-27 | 2019-04-30 | 中国矿业大学(北京) | The system for measuring heading machine pose |
| CN109839109A (en) * | 2019-02-25 | 2019-06-04 | 中国矿业大学 | The absolute position and posture detection method of development machine based on image recognition and Multi-sensor Fusion |
| CN111457904A (en) * | 2020-03-20 | 2020-07-28 | 力信测量(上海)有限公司 | Be used for two shield TBM vision measurement systems |
| CN111551193A (en) * | 2020-05-25 | 2020-08-18 | 天津科技大学 | Laser target calibration method based on precise two-axis turntable |
| CN111765878A (en) * | 2020-07-08 | 2020-10-13 | 上海力信测量系统有限公司 | Anti-vibration laser target, shield tunneling machine pose measurement system and measurement method |
| CN112837377A (en) * | 2021-01-13 | 2021-05-25 | 上海力信测量系统有限公司 | Camera internal and external parameter combined calibration system |
| CN112855194A (en) * | 2021-03-17 | 2021-05-28 | 中国铁建重工集团股份有限公司 | Shield machine and shield thereof |
| CN113566798A (en) * | 2021-07-20 | 2021-10-29 | 上海米度测量技术有限公司 | Attitude measurement system and method for double-shield tunneling machine |
| CN113863936A (en) * | 2021-08-16 | 2021-12-31 | 中铁工程装备集团技术服务有限公司 | Alternating positioning type double-shield TBM automatic guiding system and method |
| CN114577188A (en) * | 2022-01-25 | 2022-06-03 | 武汉理工大学 | Laser alignment guide device and system for tunnel construction |
| CN116291518A (en) * | 2023-02-13 | 2023-06-23 | 石家庄铁道大学 | TBM tunneling direction posture regulation and control method for large-diameter small-turn tunnel |
| CN112837377B (en) * | 2021-01-13 | 2024-07-05 | 上海力信测量系统有限公司 | Camera internal and external parameter joint calibration system |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106092069A (en) * | 2016-08-24 | 2016-11-09 | 湖南科天健光电技术有限公司 | Guiding in a kind of underground engineering construction and the device of displacement monitoring |
| CN106437731A (en) * | 2016-10-09 | 2017-02-22 | 中国电建集团成都勘测设计研究院有限公司 | Pre-warning dual-shield TBM |
| CN107269286A (en) * | 2017-07-18 | 2017-10-20 | 钱江重工有限公司 | A kind of pipe arrangement stretch system for tunnel piercing |
| CN108412507A (en) * | 2018-05-23 | 2018-08-17 | 中铁高新工业股份有限公司 | A kind of new pattern laser auxiliary rock TBM structures |
| CN109539992A (en) * | 2019-02-20 | 2019-03-29 | 中国铁建重工集团有限公司 | A kind of double shield position detecting devices, double shield method for detecting position, double shield guidance systems and double shield guidance methods |
| CN109539992B (en) * | 2019-02-20 | 2019-07-19 | 中国铁建重工集团股份有限公司 | Double shield position detecting devices, detection method, guidance system and guidance method |
| CN109839109A (en) * | 2019-02-25 | 2019-06-04 | 中国矿业大学 | The absolute position and posture detection method of development machine based on image recognition and Multi-sensor Fusion |
| CN109696126A (en) * | 2019-02-27 | 2019-04-30 | 中国矿业大学(北京) | The system for measuring heading machine pose |
| CN111457904A (en) * | 2020-03-20 | 2020-07-28 | 力信测量(上海)有限公司 | Be used for two shield TBM vision measurement systems |
| CN111551193B (en) * | 2020-05-25 | 2023-09-05 | 天津科技大学 | Laser target targeting method based on precise biaxial turntable |
| CN111551193A (en) * | 2020-05-25 | 2020-08-18 | 天津科技大学 | Laser target calibration method based on precise two-axis turntable |
| CN111765878A (en) * | 2020-07-08 | 2020-10-13 | 上海力信测量系统有限公司 | Anti-vibration laser target, shield tunneling machine pose measurement system and measurement method |
| CN112837377A (en) * | 2021-01-13 | 2021-05-25 | 上海力信测量系统有限公司 | Camera internal and external parameter combined calibration system |
| CN112837377B (en) * | 2021-01-13 | 2024-07-05 | 上海力信测量系统有限公司 | Camera internal and external parameter joint calibration system |
| CN112855194A (en) * | 2021-03-17 | 2021-05-28 | 中国铁建重工集团股份有限公司 | Shield machine and shield thereof |
| CN113566798A (en) * | 2021-07-20 | 2021-10-29 | 上海米度测量技术有限公司 | Attitude measurement system and method for double-shield tunneling machine |
| CN113566798B (en) * | 2021-07-20 | 2023-03-21 | 上海米度测量技术有限公司 | Attitude measurement system and method for double-shield tunneling machine |
| CN113863936A (en) * | 2021-08-16 | 2021-12-31 | 中铁工程装备集团技术服务有限公司 | Alternating positioning type double-shield TBM automatic guiding system and method |
| CN114577188A (en) * | 2022-01-25 | 2022-06-03 | 武汉理工大学 | Laser alignment guide device and system for tunnel construction |
| CN116291518A (en) * | 2023-02-13 | 2023-06-23 | 石家庄铁道大学 | TBM tunneling direction posture regulation and control method for large-diameter small-turn tunnel |
| CN116291518B (en) * | 2023-02-13 | 2023-09-19 | 石家庄铁道大学 | TBM tunneling direction posture regulation and control method for large-diameter small-turn tunnel |
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Address after: No. 801 Chunyang Road, High tech Zone, Qingdao, Shandong Province, 266000 Patentee after: China Ship (Qingdao) rail transportation equipment Co.,Ltd. Patentee after: Zhu Jigui Patentee after: SHANGHAI LIXIN MEASUREMENT TECHNOLOGY CO.,LTD. Address before: 266109 Chunyang Road (Xiangyuan Road) Intersection, High tech Zone, Qingdao, Shandong Province Patentee before: CSIC (QINGDAO) TRACK TRAFFIC EQUIPMENT CO.,LTD. Patentee before: Zhu Jigui Patentee before: SHANGHAI LIXIN MEASUREMENT TECHNOLOGY CO.,LTD. |