CN105736007A - Shield tunneling machine positioning and deviation correcting system and method based on stratum information integration - Google Patents
Shield tunneling machine positioning and deviation correcting system and method based on stratum information integration Download PDFInfo
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- 230000005641 tunneling Effects 0.000 title claims abstract description 77
- 238000000034 method Methods 0.000 title claims abstract description 35
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- 238000005259 measurement Methods 0.000 claims abstract description 15
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- 238000001514 detection method Methods 0.000 claims description 12
- 230000001133 acceleration Effects 0.000 claims description 11
- 238000010276 construction Methods 0.000 claims description 11
- 238000009412 basement excavation Methods 0.000 claims description 7
- 230000015572 biosynthetic process Effects 0.000 claims description 6
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 230000004927 fusion Effects 0.000 claims description 5
- 239000002689 soil Substances 0.000 claims description 4
- 238000007405 data analysis Methods 0.000 claims description 3
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- 238000010586 diagram Methods 0.000 description 3
- 239000004927 clay Substances 0.000 description 2
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- 238000005299 abrasion Methods 0.000 description 1
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- 235000019994 cava Nutrition 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 230000026676 system process Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- 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
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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Abstract
The invention discloses a shield tunneling machine positioning and deviation correcting system and method based on stratum information integration. The shield tunneling machine positioning and deviation correcting system comprises a travel distance measurement unit, an inertial navigation system and a cutterhead front-end stratum detecting unit, wherein the travel distance measurement unit transmits a measured signal to a data processing unit, and the data processing unit converts received data measured by the travel distance measurement unit into the axial position of a shield tunneling machine; the inertial navigation system is used for transmitting collected data to the data processing unit, and the data processing unit converts the received data measured by the inertial navigation system into the attitude angle in the X direction, the attitude angle in the Y direction and the attitude angle in the Z direction of the shield tunneling machine; and the cutterhead front-end stratum detecting unit is used for detecting the strength of a stratum in front of a cutterhead in real time in the tunneling process and transmitting the strength of the stratum to the data processing unit. According to the shield tunneling machine positioning and deviation correcting system and method based on stratum information integration, the geographical information, the stratum information and the shield tunneling machine are integrated in the same system, so that the tunneling track path of the shield tunneling machine is planned, a tool is replaced in place, the tunneling path of the shield tunneling machine is adjusted in time, and tunneling paths with high stratum hardness and complex stratum types are avoided in advance.
Description
Technical Field
The invention relates to the field of shield tunneling construction, in particular to a shield machine positioning and deviation rectifying system and method fusing stratum information.
Background
The shield machine is a large mechanical device for tunnel excavation construction, determines the excavation route and the attitude of the shield machine, is one of key technologies of tunnel engineering, and has important significance for the normal operation of the shield machine in excavation. In the construction process of the shield machine according to the preset track, if the shield machine deviates from the preset track, the shield machine needs to be corrected in time according to the real-time posture and the preset track of the shield machine, so that the shield machine can tunnel according to the normal preset track. Meanwhile, the shield machine can meet various different strata in underground excavation, from hard rock and soft rock to a sand layer, clay and silt, the types and the quantity of cutters used in different strata are different, the adopted emergency measures are also different, the condition of the soil body excavated at the front end of a cutter head of the shield machine is detected and analyzed in real time, the track deviation of the shield machine is corrected or corresponding emergency measures are adopted according to the stratum real-time detection result and the real-time posture of the shield machine, and the method has important significance for reducing damage of the cutter head and improving the tunneling efficiency.
The conventional positioning and attitude-determining method for the shield machine mainly comprises a prism guide system, a gyroscope guide system and a laser guide system, wherein the prism guide system needs to sequentially measure the space coordinates of three prisms, and measurement errors are generated due to hysteresis in coordinate measurement caused by continuous tunneling of the shield machine; the gyroscope guide system is influenced by various surrounding interference factors to cause the gyroscope measurement to drift; the laser guide system needs a certain through-viewing space in the actual construction process, and the horizontal yaw angle range is easy to limit. The deviation rectification of the shield machine is mainly performed by an operator in a manual mode according to a measurement result. The stratum detection at the front end of the cutter head of the shield tunneling machine mainly adopts a mechanical mechanism type, and the detection efficiency and accuracy are not high.
Disclosure of Invention
The invention discloses a shield machine positioning and deviation rectifying system and method fusing stratum information, aiming at solving the defects in the prior art.
In order to achieve the purpose, the invention adopts the following specific scheme:
the shield machine positioning and deviation rectifying system fusing the stratum information comprises a stroke measuring unit, wherein the stroke measuring unit transmits a measured signal to a data processing unit, and the data processing unit converts the attitude data measured by the stroke measuring unit into the axial position of the shield machine according to the received attitude data;
the inertial navigation system transmits the acquired data to the data processing unit, and the data processing unit converts the data measured by the inertial navigation system into attitude angles of the shield tunneling machine X, Y, Z in three directions according to the received data;
the stratum detection unit at the front end of the cutter head detects the stratum strength at the front end of the cutter head in the tunneling process in real time and transmits the stratum strength to the data processing unit;
the data processing unit transmits the axial position of the shield machine, attitude angles of the shield machine in three directions and stratum strength information at the front end of the cutter head in the tunneling process of the shield machine to the controller, the controller compares the real-time positioning signal with a preset track signal of the shield machine, and after correction and correction, the controller sends a signal to control the middle-folding mechanism to act so that the shield machine tunnels according to a preset track.
Furthermore, the stroke measuring unit comprises a propelling jack and a stroke measuring sensor, and the stroke measuring sensor is arranged in the propelling jack.
The propelling jacks are mounted on the outer surface of the shield tunneling machine and are uniformly and circumferentially arranged along the inner side of the support ring of the shield tunneling machine.
Furthermore, the inertial navigation system comprises an installation shell and an internal inertial navigation unit, wherein the installation shell is fixed on the central axis of the shield machine cutter head through bolts.
Furthermore, cutter head front end stratum detection unit includes a plurality of sensor mounting holes, cutter head and a plurality of ultrasonic sensor, and a plurality of ultrasonic sensor arrange sensor mounting hole on the cutter head panel respectively in, and be the hoop along the shield structure machine axis and arrange.
The working method of the shield tunneling machine positioning and deviation rectifying system fusing the stratum information comprises the following steps:
(1) after the information of the data processing unit is initialized, the data processing unit acquires signals sent by an inertial navigation system, and attitude angles and displacements in three directions of the shield tunneling machine X, Y, Z are determined through data operation; the data processing unit acquires signals sent by a stroke measuring sensor of the stroke measuring unit, and determines the axial position of the shield tunneling machine through data operation and attitude conversion;
(2) the shield tunneling machine is positioned in real time through the attitude angle and the axial position of the shield tunneling machine, a real-time positioning signal is compared with a preset track signal of the shield tunneling machine, and after correction and correction, a controller sends a signal to control the middle-folding mechanism to act so that the shield tunneling machine tunnels according to a preset track;
(3) the data processing unit collects signals of an ultrasonic sensor in a mounting hole at the front end of a cutter head of the shield tunneling machine, detects the stratum intensity at the front end of the cutter head in the tunneling process, obtains the type, range and intensity information of a soil layer at the front end of the cutter head after data analysis, and replaces corresponding cutters or takes corresponding construction emergency measures according to real-time stratum information; meanwhile, the formation strength information is transmitted to a controller, so that a basis is provided for controlling the deviation rectifying and fine tuning processes;
(4) and (3) in the excavation and tunneling process of the shield machine, the steps (1) - (3) are circulated, and the real-time positioning, the correction and the detection of the shield machine with the multi-sensor fusion are realized.
Further, in the step (3), the ultrasonic sensor at the front end of the cutter head of the shield tunneling machine sends out sound waves, and the sound waves collide with different strata, so that the sound waves are obviously reflected to form reflected echoes with different wavelengths.
Furthermore, the data processing unit receives the reflection signals with different wavelengths, detects and analyzes the stratum intensity information at the front end of the cutter head in the tunneling process to obtain the information such as the type, the range and the intensity of the stratum at the front end of the cutter head, replaces corresponding cutters or takes corresponding construction emergency measures according to the real-time stratum information at the front end of the cutter head, and drives the folding mechanism to move.
Further, the inertial navigation system outputs the position, the attitude and the speed of the shield machine by operation according to the original data of the inertial element.
Furthermore, the inertial navigation system integrates the acceleration in time by measuring the acceleration of the shield machine in an inertial reference system, converts the acceleration into a navigation coordinate system to obtain the speed, the yaw angle and the position information of the shield machine in the navigation coordinate system, compares the speed, the yaw angle and the position information with the preset attitude position of the shield machine, and sends a signal to drive the middle folding mechanism to move through the controller, so that the shield machine tunnels according to a preset track.
In step (1), the data operation is mainly an integration operation. The axial position of the shield machine is obtained by processing displacement signal data and converting the posture.
In step (2), the middle-folding mechanism is driven similarly to a hydraulic cylinder, and the controller gives a proportional valve signal and controls the hydraulic cylinder drive, namely the movement of the middle-folding mechanism, through the valve.
The invention has the beneficial effects that:
the shield tunneling machine integrates geographic information, stratum information and the shield tunneling machine in the same system, and has certain reference value for planning a tunneling track route of the shield tunneling machine, taking emergency construction measures in time, adjusting a tunneling route of the shield tunneling machine, avoiding the tunneling route with high stratum hardness and complex stratum types in advance and improving the tunneling and excavating efficiency.
Drawings
Fig. 1 is a schematic diagram of a shield tunneling machine positioning and deviation rectifying system fusing stratum information according to the present invention.
Fig. 2 is a block diagram of a shield machine positioning and deviation rectifying system process integrating formation information according to the present invention.
Fig. 3 shows a coordinate system of a shield tunneling machine body.
Fig. 4 shows a navigation coordinate system.
FIG. 5 shows navigation coordinatesIs rotated around the Zn axisSchematic representation.
FIG. 6 is a schematic view of the navigation coordinate system rotated by θ about the Y' axis.
FIG. 7 is a schematic view of the navigation coordinate system rotated by γ about the X "axis.
In the figure: 1. the device comprises a data processing unit, 2 a propelling jack, 3 a stroke measuring sensor, 4 an inertial navigation system, 5 a mounting hole, 6 a cutter head, 7 an ultrasonic sensor, 8 a shield machine, 9 a middle folding mechanism and 10 a controller.
The specific implementation mode is as follows:
the invention is described in detail below with reference to the accompanying drawings:
FIG. 1 is a schematic diagram of a shield machine positioning and deviation rectifying system with stratum information fused. The shield machine real-time positioning and deviation rectifying detection system based on multi-sensor fusion comprises a data processing unit 1, a stroke measuring unit, an inertial navigation system 4, a cutter head front end stratum detection unit, a shield machine 8, a middle folding mechanism 9 and a controller 10.
The stroke measuring unit comprises a propelling jack 2 and a stroke measuring sensor 3, and the stroke measuring sensor 3 is arranged in the propelling jack 2; the inertial navigation system 4 comprises an installation shell and an internal inertial navigation unit, wherein the installation shell is fixed at the central axis of the cutter head of the shield tunneling machine through bolts; the cutterhead front end stratum detection unit comprises a sensor mounting hole 5, a cutterhead 6 and an ultrasonic sensor 7, wherein 4 ultrasonic sensors 7 are respectively arranged in 4 mounting holes 5 on a cutterhead panel, and are arranged annularly along the axis of a shield tunneling machine 8. The output ends of the stroke measuring sensor 3, the inertial navigation system 4 and the ultrasonic sensor 7 are connected with the input end of the data processing unit 1, the output end of the data processing unit 1 is connected with the input end of the controller 10, and the output end of the controller 10 is connected with the input end of the middle folding mechanism 9.
As shown in fig. 2, the method for real-time positioning, correcting and detecting the shield machine based on multi-sensor fusion is realized by the following steps:
(1) after information of the data processing unit 1 is initialized, signals sent by an inertial navigation system 4 are collected, and attitude angles of the shield tunneling machine in three directions are determined through data operation; the acquisition stroke measuring unit stroke measuring sensor 3 sends out signals, and the axial position of the shield tunneling machine 8 is determined through data operation and attitude conversion.
(2) The shield machine 8 is positioned in real time through the attitude angle and the axial position of the shield machine 8, the real-time positioning signal is compared with a preset track signal of the shield machine 8, and after correction and correction, the controller 10 sends a signal to control the middle-folding mechanism 9 to act, so that the shield machine 8 tunnels according to a preset track.
(3) The data processing unit 1 collects signals of an ultrasonic sensor 7 in a mounting hole 5 at the front end of a cutter head of a shield tunneling machine 8, detects the stratum intensity at the front end of the cutter head in the tunneling process, obtains information such as the type, the range and the intensity of a soil layer at the front end of the cutter head after data analysis, and replaces a cutter more suitable for the stratum or takes emergency construction measures according to real-time stratum information; meanwhile, a basis is provided for controlling the deviation rectifying and fine adjusting process, and the tunneling track with high stratum hardness and complex stratum types is avoided as much as possible.
(4) And (3) in the excavation and tunneling process of the shield machine 8, the steps (1) - (3) are circulated, and the shield machine 8 with the multi-sensor fusion is positioned, corrected and detected in real time.
And (4) in the step (3), the ultrasonic sensor 7 at the front end of the cutter head of the shield tunneling machine 8 sends out sound waves, and the sound waves are obviously reflected to form reflection echoes with different wavelengths when meeting different stratums (clay, loess, pebble layers, karst caves and the like). The data processing unit 1 receives the reflection signals with different wavelengths, detects and analyzes the stratum intensity information at the front end of the cutter head in the tunneling process to obtain the information such as the type, the range and the intensity of the stratum at the front end of the cutter head, and replaces a cutter more suitable for the stratum or takes emergency construction measures according to the real-time stratum information at the front end of the cutter head; meanwhile, the middle folding mechanism 9 is driven to move, so that tunneling tracks with high stratum hardness and complex stratum types are avoided as much as possible, cutter abrasion is reduced, and the tunneling safety and efficiency are improved.
The inertial navigation system 4 outputs the position, attitude, speed and the like of the shield machine 8 by means of raw data of inertial devices (gyros, accelerometers and the like) and a fixed algorithm. The attitude angle measurement unit mainly comprises inertial devices (a gyroscope, an accelerometer and the like), can output the most original data such as acceleration, angular velocity and the like, but cannot give information such as position, attitude and the like. The inertial navigation system 4 can be simply understood to be formed by an algorithm and an inertial measurement system (attitude angle measurement unit) together. In order to reduce the drift error caused by measurement, the axial position measurement of the shield machine uses a travel sensor, and the attitude conversion process of the inertial navigation system is shown in fig. 3-7.
The attitude of the shield machine is a machine body coordinate system OXbYbZbRelative to a navigational coordinate system OXnYnZnAzimuth and heading angle ofIs XbAxial projection to horizontal plane and north direction XnAngle of pitch theta is XbThe included angle between the shaft and the horizontal plane and the roll angle gamma are the X-ray winding of the body of the coal mining machinebThe included angle of the rotation of the shaft; the navigation coordinate system OXnYnZnTo the shield machine body coordinate system OXbYbZbIs converted into
Rotating around the Zn axis
Rotation θ about the Y' axis:
rotation about the X "axis γ:
then the shield attitude matrix is
And then the coordinate conversion between the shield machine body coordinate system and the navigation coordinate system is as follows:
thenWherein,
the following can be obtained:
the inertial navigation system 4 can obtain information such as the speed, the yaw angle and the like of the shield machine 8 in the navigation coordinate system by measuring the acceleration of the shield machine 8 in the inertial reference system, integrating the acceleration with time and transforming the acceleration into the navigation coordinate system. And comparing the position with the preset attitude position of the shield machine 8, and sending a signal through the controller 10 to drive the middle folding mechanism 9 to move so that the shield machine 8 tunnels according to a preset track.
The inertial navigation system 4 is arranged in the installation shell and fixedly installed near the central axis of the cutter head of the shield machine 8 through bolts, so that the measured attitude position of the shield machine 8 is more accurate and convenient.
On the basis of providing a real-time stratum detection system at the front end of a shield cutter head, stratum information measured in real time at the front end of the cutter head is utilized, a folding mechanism 9 is driven to move through a controller 10, high-strength and complex routes of the stratum are avoided, and the tunneling efficiency is improved.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.
Claims (10)
1. The shield machine positioning and deviation rectifying system fusing the stratum information is characterized by comprising a stroke measuring unit, wherein the stroke measuring unit transmits a measured signal to a data processing unit, and the data processing unit converts the attitude data measured by the stroke measuring unit into the axial position of the shield machine according to the received attitude data;
the inertial navigation system transmits the acquired data to the data processing unit, and the data processing unit converts the data measured by the inertial navigation system into attitude angles of the shield tunneling machine X, Y, Z in three directions according to the received data;
the stratum detection unit at the front end of the cutter head detects the stratum strength at the front end of the cutter head in the tunneling process in real time and transmits the stratum strength to the data processing unit;
the data processing unit transmits the axial position of the shield machine, attitude angles of the shield machine in three directions and stratum strength information at the front end of the cutter head in the tunneling process of the shield machine to the controller, the controller compares the real-time positioning signal with a preset track signal of the shield machine, and after correction and correction, the controller sends a signal to control the middle-folding mechanism to act so that the shield machine tunnels according to a preset track.
2. The system for positioning and correcting a shield tunneling machine according to claim 1, wherein the stroke measurement unit comprises a thrust jack and a stroke measurement sensor, and the stroke measurement sensor is embedded in the thrust jack.
3. The system of claim 1, wherein the inertial navigation system comprises a mounting housing and an internal inertial navigation unit, the mounting housing is fixed to the central axis of the cutter head of the shield machine by bolts.
4. The system of claim 1, wherein the stratum detection unit at the front end of the cutter comprises a plurality of sensor mounting holes, a cutter and a plurality of ultrasonic sensors, and the plurality of ultrasonic sensors are respectively disposed in the sensor mounting holes on the cutter panel and are arranged in an annular direction along the axis of the shield tunneling machine.
5. The system of claim 2, wherein the propulsion jacks are mounted on the outer surface of the shield tunneling machine and are uniformly and circumferentially arranged along the inner side of the support ring of the shield tunneling machine.
6. The working method of the shield tunneling machine positioning and deviation rectifying system fusing the stratum information, which is adopted by any one of claims 1 to 5, is characterized by comprising the following steps:
(1) after the information of the data processing unit is initialized, the data processing unit acquires signals sent by an inertial navigation system, and attitude angles and displacements in three directions of the shield tunneling machine X, Y, Z are determined through data operation; the data processing unit acquires signals sent by a stroke measuring sensor of the stroke measuring unit, and determines the axial position of the shield tunneling machine through data operation and attitude conversion;
(2) the shield tunneling machine is positioned in real time through the attitude angle and the axial position of the shield tunneling machine, a real-time positioning signal is compared with a preset track signal of the shield tunneling machine, and after correction and correction, a controller sends a signal to control the middle-folding mechanism to act so that the shield tunneling machine tunnels according to a preset track;
(3) the data processing unit collects signals of an ultrasonic sensor in a mounting hole at the front end of a cutter head of the shield tunneling machine, detects the stratum intensity at the front end of the cutter head in the tunneling process, obtains the type, range and intensity information of a soil layer at the front end of the cutter head after data analysis, and replaces a cutter more suitable for the stratum or takes emergency construction measures according to real-time stratum information; meanwhile, the formation strength information is transmitted to a controller, so that a basis is provided for controlling the deviation rectifying and fine tuning processes;
(4) and (3) in the excavation and tunneling process of the shield machine, the steps (1) - (3) are circulated, and the real-time positioning, the correction and the detection of the shield machine with the multi-sensor fusion are realized.
7. The method as claimed in claim 6, wherein the step (3) is performed by using an ultrasonic sensor at the front end of the cutter head of the shield tunneling machine to emit sound waves and to encounter different strata, so as to generate significant reflection and form reflection echoes with different wavelengths.
8. The method as claimed in claim 7, wherein the data processing unit receives the reflected signals with different wavelengths, detects and analyzes the formation strength information of the front end of the cutter head during the tunneling process to obtain the formation type, range and strength information of the front end of the cutter head, and then replaces corresponding cutters or takes emergency construction measures according to the real-time formation information of the front end of the cutter head, and drives the middle folding mechanism to move.
9. The method as claimed in claim 6, wherein the inertial navigation system outputs the position, attitude and velocity of the shield machine by performing an operation based on the raw data of the inertial device.
10. The method as claimed in claim 9, wherein the inertial navigation system obtains the velocity, yaw angle and position information of the shield machine in the navigation coordinate system by measuring the acceleration of the shield machine in the inertial reference system, integrating the acceleration with respect to time, and transforming the integrated acceleration into the navigation coordinate system, and the controller sends a signal to drive the middle-folding mechanism to move by comparing the integrated acceleration with the predetermined attitude position of the shield machine, so that the shield machine can tunnel according to the predetermined track.
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| CN106223966A (en) * | 2016-09-07 | 2016-12-14 | 中南大学 | There is duct piece assembling machine spatial attitude measurement apparatus and the shield machine of inertial sensor |
| CN108005672A (en) * | 2017-11-22 | 2018-05-08 | 天津大学 | A kind of horizontal correction method for planning track of TBM |
| CN108019217A (en) * | 2017-12-06 | 2018-05-11 | 秦汉新城永顺掘进设备开发工程有限责任公司 | Planetary driving type 1500 is to 3000mm miniature shield machines |
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| CN105909270A (en) * | 2016-04-19 | 2016-08-31 | 上海建科工程咨询有限公司 | Shield machine axis control system |
| CN106223966A (en) * | 2016-09-07 | 2016-12-14 | 中南大学 | There is duct piece assembling machine spatial attitude measurement apparatus and the shield machine of inertial sensor |
| CN108005672B (en) * | 2017-11-22 | 2019-07-23 | 天津大学 | A kind of TBM level correction method for planning track |
| CN108005672A (en) * | 2017-11-22 | 2018-05-08 | 天津大学 | A kind of horizontal correction method for planning track of TBM |
| CN108019217A (en) * | 2017-12-06 | 2018-05-11 | 秦汉新城永顺掘进设备开发工程有限责任公司 | Planetary driving type 1500 is to 3000mm miniature shield machines |
| CN108316935A (en) * | 2018-02-02 | 2018-07-24 | 中铁隧道局集团有限公司 | A kind of shield machine attitude adjusting method of complex controll |
| US11566522B2 (en) * | 2018-02-02 | 2023-01-31 | Herrenknecht Aktiengesellschaft | Device and method for continuously driving a tunnel |
| CN108661653A (en) * | 2018-05-22 | 2018-10-16 | 中交二公局第三工程有限公司 | The method realized and quickly rectified a deviation is promoted by the way that manual operation shield machine is actively hinged |
| CN108868805B (en) * | 2018-06-08 | 2019-11-15 | 西安电子科技大学 | Shield method for correcting error based on statistical analysis in conjunction with XGboost |
| CN108868805A (en) * | 2018-06-08 | 2018-11-23 | 西安电子科技大学 | Shield method for correcting error based on statistical analysis in conjunction with XGboost |
| CN109519184A (en) * | 2018-10-22 | 2019-03-26 | 中铁建大桥工程局集团第二工程有限公司 | A kind of construction method of advance borehole control attitude of shield machine drift |
| CN109519184B (en) * | 2018-10-22 | 2023-08-18 | 中铁建大桥工程局集团第二工程有限公司 | Construction method for controlling attitude drift of shield tunneling machine by advanced drilling |
| CN110578529A (en) * | 2019-09-20 | 2019-12-17 | 上海隧道工程有限公司 | Shield tunneling machine excavation attitude vector self-adaptive adjustment method and system |
| CN110924968A (en) * | 2019-12-19 | 2020-03-27 | 中国建筑一局(集团)有限公司 | Visual deviation rectifying system of shield machine |
| CN111075468A (en) * | 2019-12-30 | 2020-04-28 | 中铁工程装备集团有限公司 | Novel flexible arm heading machine propulsion system control calculation method |
| CN111075468B (en) * | 2019-12-30 | 2021-02-23 | 中铁工程装备集团有限公司 | Control calculation method for propulsion system of flexible arm heading machine |
| CN113266368A (en) * | 2021-06-03 | 2021-08-17 | 上海市基础工程集团有限公司 | Detection method applied to ultra-long distance shield axis positioning |
| CN117516550A (en) * | 2024-01-04 | 2024-02-06 | 三一重型装备有限公司 | Path planning method and system, and readable storage medium |
| CN117516550B (en) * | 2024-01-04 | 2024-03-15 | 三一重型装备有限公司 | Path planning method and system, and readable storage medium |
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