CN107192372A - A kind of measurement apparatus and its measuring method of shield machine shield attitude - Google Patents
A kind of measurement apparatus and its measuring method of shield machine shield attitude Download PDFInfo
- Publication number
- CN107192372A CN107192372A CN201710568218.0A CN201710568218A CN107192372A CN 107192372 A CN107192372 A CN 107192372A CN 201710568218 A CN201710568218 A CN 201710568218A CN 107192372 A CN107192372 A CN 107192372A
- Authority
- CN
- China
- Prior art keywords
- shield
- shield machine
- attitude
- light emitter
- range sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- 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
- G01C21/20—Instruments for performing navigational calculations
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The present invention relates to attitude of shield machine conditioning technology field, in particular a kind of measurement apparatus of shield machine shield attitude, including supporting plate, Liang Zu testing agencies and two groups of circular arc transparent panels, the testing agency includes counterweight, reception pipe, connection strap and range sensor, two set of weights vertical directions are on spherical coordinate system Z axis, and the angle between horizontal direction is 90 °；Its measuring method includes following steps：Range sensor is communicatively connected to the host computer of shield machine with section lasing light emitter；Range sensor measures it between lasing light emitter apart from X, and lasing light emitter measures it between reception pipe apart from R, inputs host computer, calculates range sensor, measures its angle between lasing light emitter Host computer according toThe data for being in normal attitude with shield machine are compared, and make pose adjustment according to result.The present invention, with it is easy to detect, be easy to operation, while having simplified measuring apparatus design feature.
Description
Technical field
The present invention relates to attitude of shield machine adjustment technology field, the measurement apparatus of specially a kind of shield machine shield attitude and
Its measuring method.
Background technology
In shield machine tunneling process, the measurement of the angle of pitch, roll angle of shield attitude is completed by automatic guiding system.
The advanced row manual measurement before shield launching, is then determined by carrying out parameter setting to automatic guiding system
The angle of pitch and roll angle of shield machine.But, once exception occurs for shield machine automatic guiding system in tunneling process, or survey
The utensil hardware of the amount angle of pitch and roll angle is gone wrong, and the posture of determination shield machine of having no idea completely is caused to construction
Very big influence.
Such as application publication number CN103712616A automatic total instruments and the combined guided shield attitude automatic measurement side of gyroscope
Method and device, described method include：The measurement interval that computer controls automatic total instruments to set is to three target prisms
Measure and preserve, while attitude angle data newest in gyro sensor are read, then in conjunction with three target prisms
Coordinate data and the attitude angle data of gyro sensor calculate shield machine head and the tail three-dimensional coordinate and attitude misalignment, go forward side by side
Row display, the direction of propulsion for controlling shield machine；Described device include automatic total instruments, radio station, computer and
The gyro sensor and target prism being arranged on shield machine, described radio station pass through RS232 serial port communication lines respectively
Automatic total instruments and computer are connected, described gyro sensor is connected by private cable and computer.With prior art
Compare, the present invention has control and rectifying effect is good, precision is high, low cost and other advantages.But this programme is to attitude of shield machine
Adjustment still devises numerous detection devices, and system is not succinct enough.
Such as a kind of shield machine angles of pitch of Authorization Notice No. CN205403761U, rolling angle measurement device.Described device includes：
The scale plate being fixed together with support, the plumb bob on bracket is suspended on pull rope.Set on scale plate and correspond to shield respectively
The angle of pitch of machine and the horizontal graduation mark of roll angle and longitudinal graduation mark.Support, which is fixed on shield shell, when shield machine is tunneled makes scale
Plate level place, longitudinal graduation mark and shield machine it is axially in parallel, plumb bob be located at scale plate surface, plumb bob tip sensing
Horizontal graduation mark angle corresponding with longitudinal graduation mark be respectively shield machine the angle of pitch and roll angle.The present invention can be in shield
The posture of shield machine is determined in structure machine tunneling process by observing the position of the scale plate pointed by plumb bob tip, even if shield machine
Automatic guiding system broken down in tunneling process, the angle of pitch and rolling using described device manual measurement shield machine
Angle, still ensures that shield machine is normally tunneled, and improves the reliability of shield machine work.But this programme due to pull rope by
The equipment operation vibration influence arrived is larger, the plumb bob that brings inconvenience measurement groove and reading.
The content of the invention
It is an object of the invention to provide a kind of measurement apparatus and its measuring method of shield machine shield attitude, with solution
State the problem of being proposed in background technology.The measurement apparatus and its measuring method of a kind of shield machine shield attitude have detection side
Just, it is easy to operation, while having simplified measuring apparatus design feature.
To achieve the above object, the present invention provides following technical scheme：
A kind of measurement apparatus of shield machine shield attitude, including supporting plate, Liang Zu testing agencies and two groups of circular arcs are transparent
Plate, the supporting plate is fixed on shield tail, and the testing agency includes counterweight, reception pipe, connection strap and range sensor,
The counterweight is rotationally connected with supporting plate by axle, and two set of weights vertical directions are on spherical coordinate system Z axis, water
Angle square between is 90 °；
The reception pipe is arranged on the bottom of counterweight, and is fixedly connected with connection strap；
The range sensor is located at the bottom of narrow bars in succession；
The circular arc transparent panel is arranged on shield shell, and activity is embedded with lasing light emitter, and shield machine is in normal attitude, and this swashs
Light source is located at the minimum point of circular arc transparent panel, immediately below the range sensor, and between put contact.
It is preferred that, linked between the counterweight and axle by ball bearing rotational.
It is preferred that, the range sensor uses laser range sensor.
It is preferred that, the range sensor, lasing light emitter are communicatively coupled to the industrial computer of shield machine.
A kind of measuring method of shield machine shield attitude, including following steps：
Testing agency's assembling finishes and installed in the shield tail of shield machine, range sensor is communicated to connect with section lasing light emitter
To the host computer of shield machine；
Range sensor measures it between lasing light emitter apart from X, and lasing light emitter measures it between reception pipe apart from R, input
Host computer, calculates range sensor, measures its angle between lasing light emitter
Host computer according toThe data for being in normal attitude with shield machine are compared, and make posture tune according to result
It is whole.
It is preferred that, the data that the shield machine is in normal attitude include pre-input attitude data.
Compared with prior art, the beneficial effects of the invention are as follows：In the testing agencies of Liang Zu up and down in same vertical curve
Counterweight in the horizontal direction between angle be 90 °, because counterweight is by gravity, therefore be constantly in vertical state, so i.e. conduct
One benchmark parameter：It is detected to the distance between lasing light emitter (chord length) by range sensor, measures convenient, thus calculates
Corresponding angle is the angle of pitch and roll angle, is calculated through host computer, is contrasted with input parameter, you can to make warning or adjust
It is whole；Measuring apparatus structure is simplified.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is schematic cross-sectional view at A-A in Fig. 1 of the present invention；
Fig. 3 is that circular arc transparent panel of the present invention tilts schematic diagram.
In figure：1 supporting plate, 2 testing agencies, 3 counterweights, 4 axles, 5 reception pipes, 6 connection straps, 7 range sensors, 8 circular arcs are saturating
Isotropic disk, 9 lasing light emitters.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Fig. 1~2 are referred to, the present invention provides a kind of technical scheme：
A kind of measurement apparatus of shield machine shield attitude, including supporting plate 1, Liang Zu testing agencies 2 and two groups of circular arcs are saturating
Isotropic disk 8, the supporting plate 1 is fixed on shield tail, and the testing agency 2 includes counterweight 3, reception pipe 5, connection strap 6 and range sensor
7,
The counterweight 3 is rotationally connected with supporting plate 1 by axle 4, is turned between the counterweight 3 and axle 4 by ball bearing
Dynamic linkage, the vertical direction of two set of weights 3 is on spherical coordinate system Z axis, and the angle between horizontal direction is that 90 ° of counterweights 3 are experienced certainly
To gravity, when shield machine produces the angle of pitch and roll angle, counterweight 3 one directs at same point (the earth's core), in this, as reference point；
The reception pipe 5 is arranged on the bottom of counterweight 3, and is fixedly connected with connection strap 6；
The range sensor 7 uses laser range sensor located at the bottom of narrow bars 6 in succession, the range sensor 7；
The circular arc transparent panel 8 is arranged on shield shell, and activity is embedded with lasing light emitter 9, and shield machine should in normal attitude
Lasing light emitter 9 is located at the minimum point of circular arc transparent panel 8, immediately below range sensor 7, and between put contact, during work, laser
Source 9 coordinates with reception pipe 5, detects distance between it, the length pair of connection strap 6 that can be arrived with counterweight 3 between reception pipe 5 of obtaining a result
Than, convenient adjustment length relation therebetween, it is allowed in isometric, the range sensor 7, lasing light emitter 9 are communicatively coupled to shield
The industrial computer of machine, the activity of lasing light emitter 9 is embedded on circular arc transparent panel 8, it can be facilitated to adjust, with the detection of adaptive device.
A kind of measuring method of shield machine shield attitude, including following steps：
1) testing agency 2, which assembles, finishes and installed in the shield tail of shield machine, range sensor 7 is led to section lasing light emitter 9
Letter is connected to the host computer of shield machine；
2) range sensor 7 measures it between lasing light emitter 9 apart from X, and lasing light emitter 9 measures its distance between reception pipe 5
R, inputs host computer, calculates range sensor 7, measures its angle between lasing light emitter 9
3) host computer according toThe data for being in normal attitude with shield machine are compared, and make posture tune according to result
It is whole.
The data that the shield machine is in normal attitude include pre-input attitude data：Input daily sheet supplemental characteristic or
Person is the parameter for being adapted to according to Construction Condition, coordinating shield machine to work, and in this, as contrast, the angle of pitch and roll angle such as occurs
It is not inconsistent with driving state, industrial computer can alarm according to the warning device of setting, and then make pose adjustment.
Refering to Fig. 3, with roll angleExemplified by, rotated during such as shield machine driving around spherical coordinate system Y-axis, produce roll angle
SoThe length R of connection strap 6, the distance that it is arrived between reception pipe 5 between reception pipe 5 apart from R, counterweight 3 are measured with lasing light emitter 9
Sensor 7 measures it following relation between lasing light emitter 9 between X：It can drawIt is wherein clear in order to illustrate, it is represented by dashed line between lasing light emitter 9, lasing light emitter 9 and reception pipe 5 apart from R；By
Counterweight 3 in Liang Zu testing agencies 2 on place's spherical coordinate system Z axis, in the horizontal direction between angle be 90 °, so, shield
Also such as roll angle measurement method is identical for the angle of pitch that machine is produced, and the two work does not interfere with each other, influenceed.
Although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of changes, modification can be carried out to these embodiments, replace without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of measurement apparatus of shield machine shield attitude, including supporting plate (1), Liang Zu testing agencies (2) and two groups of circular arcs
Transparent panel (8), the supporting plate (1) is fixed on shield tail, and the testing agency (2) includes counterweight (3), reception pipe (5), connection strap (6)
And range sensor (7), it is characterised in that：
The counterweight (3) is rotationally connected with supporting plate (1) by axle (4), and two set of weights (3) vertical direction is in spherical coordinate system
On Z axis, the angle between horizontal direction is 90 °；
The reception pipe (5) is arranged on the bottom of counterweight (3), and is fixedly connected with connection strap (6)；
The range sensor (7) is located at the bottom of narrow bars (6) in succession；
The circular arc transparent panel (8) is arranged on shield shell, and activity is embedded with lasing light emitter (9), and shield machine should in normal attitude
Lasing light emitter (9) is located at the minimum point of circular arc transparent panel (8), immediately below the range sensor (7), and between put contact.
2. a kind of measurement apparatus of shield machine shield attitude according to claim 1, it is characterised in that：The counterweight (3)
Linked between axle (4) by ball bearing rotational.
3. a kind of measurement apparatus of shield machine shield attitude according to claim 1, it is characterised in that：The Distance-sensing
Device (7) uses laser range sensor.
4. a kind of measurement apparatus of shield machine shield attitude according to claim 1, it is characterised in that：The Distance-sensing
Device (7), lasing light emitter (9) are communicatively coupled to the industrial computer of shield machine.
5. a kind of a kind of measuring method of shield machine shield attitude as claimed in claim 1, it is characterised in that including following several
Individual step：
1) testing agency (2) assembling is finished and installed in the shield tail of shield machine, and range sensor (7) is equal with section lasing light emitter (9)
It is communicatively connected to the host computer of shield machine；
2) range sensor (7) measures it between lasing light emitter (9) apart from X, and lasing light emitter (9) measures it between reception pipe (5)
Apart from R, host computer is inputted, range sensor (7) is calculated, measures its angle between lasing light emitter (9)
3) host computer according toThe data for being in normal attitude with shield machine are compared, and make pose adjustment according to result.
6. a kind of measuring method of shield machine shield attitude according to claim 5, it is characterised in that：At the shield machine
Include pre-input attitude data in the data of normal attitude.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710568218.0A CN107192372B (en) | 2017-07-13 | 2017-07-13 | A kind of measuring device and its measurement method of shield machine shield attitude |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710568218.0A CN107192372B (en) | 2017-07-13 | 2017-07-13 | A kind of measuring device and its measurement method of shield machine shield attitude |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107192372A true CN107192372A (en) | 2017-09-22 |
| CN107192372B CN107192372B (en) | 2019-04-02 |
Family
ID=59883001
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710568218.0A Active CN107192372B (en) | 2017-07-13 | 2017-07-13 | A kind of measuring device and its measurement method of shield machine shield attitude |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107192372B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109115173A (en) * | 2018-08-23 | 2019-01-01 | 西安科技大学 | Machine body of boring machine pose monocular vision measurement method based on straight line location model |
| CN117075125A (en) * | 2023-07-31 | 2023-11-17 | 北京工业大学 | Method for monitoring spatial attitude of model test shield tunneling machine based on laser range finder |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101487698A (en) * | 2009-02-25 | 2009-07-22 | 哈尔滨工业大学 | High-precision attitude angle measuring method and apparatus for single-axle air bearing table |
| CN201852569U (en) * | 2010-10-08 | 2011-06-01 | 李永贵 | Horizontal azimuth angle and pitching angle measuring instrument |
| CN203024757U (en) * | 2012-12-27 | 2013-06-26 | 南京理工大学常熟研究院有限公司 | Attitude measuring device of shield tunneling machine |
| CN205403761U (en) * | 2016-03-03 | 2016-07-27 | 中国水利水电第十一工程局有限公司 | Shield constructs quick -witted angle of pitch, banking angle measuring device |
-
2017
- 2017-07-13 CN CN201710568218.0A patent/CN107192372B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101487698A (en) * | 2009-02-25 | 2009-07-22 | 哈尔滨工业大学 | High-precision attitude angle measuring method and apparatus for single-axle air bearing table |
| CN201852569U (en) * | 2010-10-08 | 2011-06-01 | 李永贵 | Horizontal azimuth angle and pitching angle measuring instrument |
| CN203024757U (en) * | 2012-12-27 | 2013-06-26 | 南京理工大学常熟研究院有限公司 | Attitude measuring device of shield tunneling machine |
| CN205403761U (en) * | 2016-03-03 | 2016-07-27 | 中国水利水电第十一工程局有限公司 | Shield constructs quick -witted angle of pitch, banking angle measuring device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109115173A (en) * | 2018-08-23 | 2019-01-01 | 西安科技大学 | Machine body of boring machine pose monocular vision measurement method based on straight line location model |
| CN109115173B (en) * | 2018-08-23 | 2020-09-11 | 西安科技大学 | Monocular vision measuring method for position and attitude of heading machine body based on linear positioning model |
| CN117075125A (en) * | 2023-07-31 | 2023-11-17 | 北京工业大学 | Method for monitoring spatial attitude of model test shield tunneling machine based on laser range finder |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107192372B (en) | 2019-04-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101929125B (en) | Road rut detection method | |
| CN105865426A (en) | Automatic centering and measuring total station | |
| CN207335645U (en) | Contactless turning of cable radius measuring device | |
| CN109974715A (en) | The development machine autonomous navigation system and method for inertial navigation and spot identification combination | |
| CN104792323B (en) | Dynamic Water level and attitude angle computational methods | |
| CN108035678B (en) | Shaft excavation guide control device and adjustment method | |
| CN105606129A (en) | Measurement calibration method for assisting installation of aircraft inertial navigation finished product assembly | |
| CN106461390A (en) | Multifunction laser leveling tool | |
| CN107192372B (en) | A kind of measuring device and its measurement method of shield machine shield attitude | |
| CN112162290B (en) | Acoustic positioning monitoring method for marine floating platform | |
| CN102230376A (en) | Azimuth gamma well-logging device | |
| CN110530358A (en) | Car body navigation positional device and navigation system and method | |
| CN111272156B (en) | Automatic measurement equipment, method and system for determining attitude of vertical shaft heading machine | |
| JP2019219319A (en) | Vertical measurement system and reference point tracing method | |
| CN203772265U (en) | Inclination detector | |
| CN205403761U (en) | Shield constructs quick -witted angle of pitch, banking angle measuring device | |
| CN205482955U (en) | Device is laid to circular sample prescription | |
| CN109781138A (en) | A kind of speed and wind direction measuring method for wind and device based on floating platform | |
| CN206177304U (en) | Top total powerstation | |
| CN104655133B (en) | A kind of vehicle-mounted lifting mast platform stance dynamic measurement method | |
| CN208721070U (en) | A kind of horizontal vertical measuring device of high level armored concrete wall | |
| CN207515738U (en) | Blast hole measurement device | |
| CN203274740U (en) | Inclined angle measuring instrument of electric power pole tower | |
| CN108917789A (en) | Inclinometer orthogonality evaluation method based on relative included angle of pitch axis and roll axis | |
| CN205718900U (en) | A kind of automatic counterweight apparatus for pole coordinate measuring apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder |
Address after: 230088 Room 807, 8th Floor, F3 Floor, Phase II, Innovation Industrial Park, 2800 Innovation Avenue, Hefei High-tech Zone, Anhui Province Patentee after: Hefei gravity wave data Technology Co Ltd Address before: 230088 Room 403, R&D Center, Research Institute of Intelligent Manufacturing Technology, Hefei University of Technology, Southwest corner of the intersection of Xiyou Road and Innovation Avenue, Hefei Hi-tech Zone, Anhui Province Patentee before: Hefei gravity wave data Technology Co Ltd |
|
| CP02 | Change in the address of a patent holder |