CN108168542A - A kind of shield TBM driving attitudes deviation check method - Google Patents
A kind of shield TBM driving attitudes deviation check method Download PDFInfo
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- CN108168542A CN108168542A CN201711458469.XA CN201711458469A CN108168542A CN 108168542 A CN108168542 A CN 108168542A CN 201711458469 A CN201711458469 A CN 201711458469A CN 108168542 A CN108168542 A CN 108168542A
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- 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
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
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Abstract
The invention discloses a kind of shield TBM driving attitudes deviation check methods, it is chosen including measurement point position, cutterhead coordinate calculates and shield tail coordinate calculates, the principle of a plane is may be constructed according to three not conllinear points of space first, control point is measured by being chosen on body in shield machine, its three-dimensional coordinate is measured, determines its position relationship relative to shield TBM design axis；Then according to interspace analytic geometry principle, cutter head of shield machine center and shield tail central three-dimensional Coordinate calculation method are derived, so as to obtain the attitude misalignment situation of shield machine.The present invention can realize carries out quick manual measurement check to the driving attitude of shield TBM at the construction field (site), and the accuracy of shield TBM driving attitudes can be effectively ensured, and then ensures that shield TBM constructions have preferable tunnel Forming Quality.
Description
Technical field
The present invention relates to shield machine driving technology fields, and in particular to a kind of shield TBM driving attitudes deviation is checked
Method.
Background technology
Shield TBM driving attitudes control direct relation tunnel Forming Quality is significant.In shield TBM work progress,
Shield TBM driving attitudes will be measured in real time using automatic guiding system, control shield machine excavates direction.But work as automatic guide
When system occurrence of equipment failure or wrong data inputting, shield TBM driving attitudes and design substantial deviation can be caused, cause work
Journey accident.
Chengdu Metro Line 1 south extensions Huayang on March 7th, 2013 station~wide all right lines in northern station（Hereinafter referred to as：The wide section of China
Right line）During the shield-tunneling construction of section, shield machine is from extensively all northern station originates, and March 13, project management department's measurement group carried out 1~12 ring
Section of jurisdiction attitude measurement, measurement result show that tunnel elevation maximum deviation is 19mm；March 19, project management department was to 1~56 endless tube piece appearance
State carries out repetition measurement, finds 17-56 rings（GDYK25+533.3~+593.3）Appearance is different degrees of transfinites, wherein 56 rings are vertical
Deviation reaches+2010mm, horizontal departure+52mm, but the shield vertical missing shown at shield machine measurement 56 ring of guidance system is
Shield head -29mm, shield tail -25mm, horizontal departure shield head+41mm, shield tail+35mm, molding tunnel actual measurement deviation are measured with shield machine
Guidance system shows deviation grave fault.By investigation, confirmation is that the shield driving meter of mistake is had input in shield machine VMT systems
Scribing line data file causes shield machine to be promoted according to the plan circuit of mistake, leads to shield tunnel axis deviation, cause directly to pass through
More than 2,730,000 yuan of Ji loss, forms municipal infrastructure project quality ordinary accident.
Therefore, it is necessary to periodically carry out manual measurement and calculating to shield TBM driving attitudes, compared with automatic guiding system
It is right, to ensure the correctness of shield TBM driving attitudes.
Invention content
The technical problem to be solved in the present invention is to provide a kind of accurate measurement and shield TBM driving attitude deviations check sides
Method.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：
A kind of shield TBM driving attitudes deviation check method is designed, is included the following steps：
（1）Using shield TBM cutter head center points as coordinate origin, using cutterhead horizontal direction as x-axis, shield TBM design axis directions
For Y-axis, vertical direction establishes shield machine relative coordinate system for Z axis；
（2）Arbitrarily choose 3 point positions B, C, D on the panel of body in preset fixed measuring point position from shield machine；Measure institute
Select the three-dimensional coordinate in designing institute's coordinate system of fixed measuring point position（Xi,Yi,Zi）；
Designing institute's coordinate system refers to the Tunnel Design coordinate system during practice of construction；
（3）In shield TBM axis upper tool pan and 2 points of shield tail difference Selection Center point A, E as calculating shield TBM driving attitudes
Basic point, selected three fixed measuring point position B, C, D and RELATED APPLICATIONS point A, E collectively constitute a tetrahedron, and its side
Long Li is constant constant；
（4）According to the three-dimensional coordinate of the fixed measuring point position measured and Li length, according to interspace analytic geometry principle, obtain as
Lower formula：
(XB-XA) 2+(YB-YA)2+(ZB-ZA)2=LAB 2
(Xc-XA)2+(Yc-YA) 2+(Zc-ZA) 2=LAc 2
(XD-XA)2+(YD-YA) 2+(ZD-ZA)2=LAD 2
（5）2 ternary linear functions about X, Y, Z, such as following formula can be obtained by simplifying above-mentioned ternary quadratic equation：
(XB - Xc) XA+(YB -Yc) YA+(ZB -Zc) ZA=M/2 ①
(XB - XD) XA+(YB -YD) YA+(ZB -ZD) ZA=N/2 ②
Wherein：M= XB 2-XC 2+YB 2-YC 2+ZB 2-ZC 2+LAC 2-LAB 2；
N= XB 2-XD 2+YB 2-YD 2+ZB 2-ZD 2+LAD 2-LAB 2；
（6）1., 2. formula described in step 5 is converted to the point normal equation of space plane, such as following formula：
Planar point normal equation in formula I will obtain the space about reference point relative position after three rank determinantal expansions
Disk equation is as follows：
((y2-y1)(z3-z1)-(y3-y1)(z2-z1))(x-x1)+((x3-x1)(z2-z1)-(x2-x1)(z3-z1))(y-y1)+
((x2-x1)(z3-z1)-(x3-x1)(z2-z1))(z-z1)=0
（7）According to the range formula of spatial point to space plane, such as following formula II,
Wherein：D=-(AX1+BY1+CZ1)；
Cutterhead is obtained to the distance d of the point；
（8）The space circular plane equation of 3 points of B, C, D in designing institute's coordinate system is similarly obtained：
((YB-YA)(ZC-ZA)-(YC-YA)(ZB-ZA))(X-XA)+((XC-XA)(ZB-ZA)-(XB-XA)(ZC-ZA))(Y-YA)+
((XB-XA)(ZC-ZA)-(XC-XA)(ZB-ZA))(Z-ZA)=0
By formula II by the equation for going out this straight line apart from inverse of spatial point to space plane：
aXA+bYA+cZA=K ③
A, b, c, K are constant in formula；
According to 1., 2., 3. formula solves XA、YA、ZA, show that cutterhead A points are sat relative to designing institute's coordinate system three-dimensional of designed lines
Mark；Designing institute's coordinate system three-dimensional coordinate of shield tail E points can similarly be calculated；
（9）By cutterhead and the three-dimensional coordinate of 2 points of shield tail A, E, and pass through known track data inverse and go out cutterhead relative to circuit
Deviant, then calculate the pitch angle of the horizontal yaw of cutter head of shield machine and shield tail center, vertical yaw and shield machine；
（10）According to step（9）The data being calculated judge that shield TBM driving attitudes whether there is deviation.
Preferably, step（2）The middle designing institute that selected fixed measuring point position is measured using whole station type electronic distance meter is sat
Three-dimensional coordinate in mark system（Xi,Yi,Zi）.
Preferably, according to step（7）There are two calculated distance values, if cutterhead to this space plane justify away from
From then taking higher value；If the distance that shield tail is justified to this space plane then takes smaller value.
Preferably, step（2）After middle selection fixed measuring point position B, C, D, its relative position relation is calculated in first inspection.
The beneficial effects of the present invention are：
1. shield TBM driving attitudes deviation check method of the present invention is chosen by measurement point position, cutterhead coordinate calculates and shield tail is sat
Mark calculates, and the principle of a plane is may be constructed according to three not conllinear points of space, is surveyed by being chosen on body in shield machine
Control point is measured, its three-dimensional coordinate is measured, determines its position relationship relative to shield TBM design axis；Then basis
Interspace analytic geometry principle derives the computational methods of cutter head of shield machine center and shield tail central three-dimensional coordinate, so as to obtain shield
The attitude misalignment situation of structure machine.
2. shield TBM driving attitude deviations check method of the present invention can be realized at the construction field (site) to the driving of shield TBM
Posture carries out quick manual measurement check, the accuracy of shield TBM driving attitudes can be effectively ensured, and then ensure shield
TBM constructions have preferable tunnel Forming Quality.
Description of the drawings
Fig. 1 is shield TBM driving attitudes deviation check method measuring principle figure of the present invention.
Specific embodiment
Illustrate the specific embodiment of the present invention with reference to embodiment, but following embodiment is used only to be described in detail
The present invention does not limit the scope of the invention in any way.Involved equipment component is as without especially in the examples below
Illustrate, be conventional equipment element；Involved computational methods are this field conventional Calculation Method unless otherwise instructed.
Embodiment 1：A kind of shield TBM driving attitudes deviation check method, includes the following steps：
（1）Using shield TBM cutter head center points as coordinate origin, using cutterhead horizontal direction as x-axis, shield TBM design axis directions
For Y-axis, vertical direction establishes shield machine relative coordinate system for Z axis.
（2）Arbitrarily choose 3 point positions B, C, D on the panel of body in preset fixed measuring point position from shield machine；Using
Whole station type electronic distance meter measures the three-dimensional coordinate in designing institute's coordinate system of selected fixed measuring point position（Xi,Yi,Zi）；3
A point position can arbitrarily select, and first to be examined after selection and calculate its relative position relation.Designing institute's coordinate system refers to reality
Tunnel Design coordinate system in the work progress of border.
（3）It is tunneled in shield TBM axis upper tool pan and 2 points of shield tail difference Selection Center point A, E as shield TBM is calculated
The basic point of posture, selected three fixed measuring point position B, C, D and RELATED APPLICATIONS point A, E collectively constitute a tetrahedron, and
Its length of side Li is constant constant.
（4）According to the three-dimensional coordinate of the fixed measuring point position measured and Li length, according to interspace analytic geometry principle, obtain
To equation below：
(XB-XA) 2+(YB-YA)2+(ZB-ZA)2=LAB 2
(Xc-XA)2+(Yc-YA) 2+(Zc-ZA) 2=LAc 2
(XD-XA)2+(YD-YA) 2+(ZD-ZA)2=LAD 2
（5）2 ternary linear functions about X, Y, Z, such as following formula can be obtained by simplifying above-mentioned ternary quadratic equation：
(XB - Xc) XA+(YB -Yc) YA+(ZB -Zc) ZA=M/2 ①
(XB - XD) XA+(YB -YD) YA+(ZB -ZD) ZA=N/2 ②
Wherein：M= XB 2-XC 2+YB 2-YC 2+ZB 2-ZC 2+LAC 2-LAB 2；
N= XB 2-XD 2+YB 2-YD 2+ZB 2-ZD 2+LAD 2-LAB 2；
（6）1., 2. formula described in step 5 is converted to the point normal equation of space plane, such as following formula：
Planar point normal equation in formula I will obtain the space about reference point relative position after three rank determinantal expansions
Disk equation is as follows：
((y2-y1)(z3-z1)-(y3-y1)(z2-z1))(x-x1)+((x3-x1)(z2-z1)-(x2-x1)(z3-z1))(y-y1)+
((x2-x1)(z3-z1)-(x3-x1)(z2-z1))(z-z1)=0
（7）According to the range formula of spatial point to space plane, such as following formula II,
Wherein：D=-(AX1+BY1+CZ1)；
Cutterhead is obtained to the distance d of the point；
By there are two above-mentioned II calculated distance values of formula, if cutterhead then taken to the distance that this space plane is justified it is larger
Value；If the distance that shield tail is justified to this space plane then takes smaller value.
（8）The space circular plane equation of 3 points of B, C, D in designing institute's coordinate system is similarly obtained：
((YB-YA)(ZC-ZA)-(YC-YA)(ZB-ZA))(X-XA)+((XC-XA)(ZB-ZA)-(XB-XA)(ZC-ZA))(Y-YA)+
((XB-XA)(ZC-ZA)-(XC-XA)(ZB-ZA))(Z-ZA)=0
By formula II by the equation for going out this straight line apart from inverse of spatial point to space plane：
aXA+bYA+cZA=K ③
A, b, c, K are constant in formula；
According to 1., 2., 3. formula solves XA、YA、ZA, show that cutterhead A points are sat relative to designing institute's coordinate system three-dimensional of designed lines
Mark；Designing institute's coordinate system three-dimensional coordinate of shield tail E points can similarly be calculated.
（9）By cutterhead and the three-dimensional coordinate of 2 points of shield tail A, E, and pass through known track data inverse go out cutterhead relative to
Then the deviant of circuit calculates the flexion-extension of the horizontal yaw of cutter head of shield machine and shield tail center, vertical yaw and shield machine
Angle.
（10）According to step（9）The data being calculated judge that shield TBM driving attitudes whether there is deviation.
Example：The position relationship of certain model shield machine permanent datum is as shown in the table.We take 4,7,11 3 points to make
To calculate selected point, point position can arbitrarily be chosen, and first relative position relation is calculated in inspection after selection.Parameter is as follows：
1）According to 2, space range formula：
The space length that we can obtain 4,7,11 to cutterhead and shield tail is respectively：
Cutterhead 4：5.1395；Cutterhead 7: 5.2195；Cutterhead 11: 4.8993；
Shield tail 4: 2.6787；Shield tail 7: 2.8364；Shield tail 11: 1.9131；
2）4,7,11 3 point design institute coordinate system three-dimensional coordinates are obtained using the practical measurement of total powerstation, respectively：
4 (304555.650,494972.765,39.213)
7 (304555.655,495976.005,37.083)
11 (304555.889,495973.859,34.238)
3) the space circular plane equation of permanent datum is first write out according to formula I：
-13.7900X-0.3860Y-0.6118Z-59.5823=0
Cutterhead is calculated according to formula II, the vertical range of shield tail to space plane is respectively：
D1=4.3147, d2=0.6544
4) further according to formula I and the designing institute's coordinate for three points for measuring gained, the space circle designing institute of the not collinear three points is write out
The plane equation of coordinate system：
-13.78878X-0.484195Y-0.76889Z+4439628.53903=0
Due to having calculated cutterhead and shield tail to the distance d1 and d2 of the space circular plane, go out cutterhead and shield using II inverse of formula
The equation of space line where 2 points of tail.
Cutterhead：-13.78878X-0.484195Y-0.76889Z+4439688.1632=0...........(a)
Shield tail：-13.78878X-0.484195Y-0.76889Z+4439688.1632=0..........(a-1)
5) according to 1., 2. and designing institute's coordinate system three-dimensional coordinate, we can write out other two equations：
Cutterhead：-0.005X-3.24Y+2.13Z=1608398.1164.............(b)
-0.239X-1.094Y+4.975Z=615202.1286............(c)
This two equations and (a) form a ternary linear function group together, this can be obtained by solving this ternary linear function group
When cutterhead X, Y, Z, by calculated by coordinate up to the real-time attitude of cutterhead.
The equation of shield tail can similarly be obtained：
Shield tail：-0.005X-3.24Y+2.13Z=1608398.09547.............(b-1)
-0.239X-1.094Y+4.975Z=615201.1807..............(c-1)
This two equations and (a-1) form a ternary linear function group together, and solving this ternary linear function group can obtain
X, Y, Z of shield tail at this time, by calculated by coordinate up to the real-time attitude of shield tail.
The attitude misalignment situation of shield machine can be obtained according to above-mentioned result of calculation.
The present invention is described in detail above in conjunction with embodiment, but person of ordinary skill in the field can manage
Solution, under the premise of present inventive concept is not departed from, can also change each design parameter in above-described embodiment, be formed
Multiple specific embodiments are the common variation range of the present invention, are no longer described in detail one by one herein.
Claims (4)
1. a kind of shield TBM driving attitudes deviation check method, which is characterized in that include the following steps：
（1）Using shield TBM cutter head center points as coordinate origin, using cutterhead horizontal direction as x-axis, shield TBM design axis directions
For Y-axis, vertical direction establishes shield machine relative coordinate system for Z axis；
（2）Arbitrarily choose 3 point positions B, C, D on the panel of body in preset fixed measuring point position from shield machine；Measure institute
Select the three-dimensional coordinate in designing institute's coordinate system of fixed measuring point position（Xi,Yi,Zi）；
Designing institute's coordinate system refers to the Tunnel Design coordinate system during practice of construction；
（3）In shield TBM axis upper tool pan and 2 points of shield tail difference Selection Center point A, E as calculating shield TBM driving attitudes
Basic point, selected three fixed measuring point position B, C, D and RELATED APPLICATIONS point A, E collectively constitute a tetrahedron, and its side
Long Li is constant constant；
（4）According to the three-dimensional coordinate of the fixed measuring point position measured and Li length, according to interspace analytic geometry principle, obtain as
Lower formula：
(XB-XA) 2+(YB-YA)2+(ZB-ZA)2=LAB 2
(Xc-XA)2+(Yc-YA) 2+(Zc-ZA) 2=LAc 2
(XD-XA)2+(YD-YA) 2+(ZD-ZA)2=LAD 2
（5）2 ternary linear functions about X, Y, Z, such as following formula can be obtained by simplifying above-mentioned ternary quadratic equation：
(XB - Xc) XA+(YB -Yc) YA+(ZB -Zc) ZA=M/2 ①
(XB - XD) XA+(YB -YD) YA+(ZB -ZD) ZA=N/2 ②
Wherein：M= XB 2-XC 2+YB 2-YC 2+ZB 2-ZC 2+LAC 2-LAB 2；
N= XB 2-XD 2+YB 2-YD 2+ZB 2-ZD 2+LAD 2-LAB 2；
（6）1., 2. formula described in step 5 is converted to the point normal equation of space plane, such as following formula：
Planar point normal equation in formula I will obtain the space about reference point relative position after three rank determinantal expansions
Disk equation is as follows：
((y2-y1)(z3-z1)-(y3-y1)(z2-z1))(x-x1)+((x3-x1)(z2-z1)-(x2-x1)(z3-z1))(y-y1)+
((x2-x1)(z3-z1)-(x3-x1)(z2-z1))(z-z1)=0
（7）According to the range formula of spatial point to space plane, such as following formula II,
Wherein：D=-(AX1+BY1+CZ1)；
Cutterhead is obtained to the distance d of the point；
（8）The space circular plane equation of 3 points of B, C, D in designing institute's coordinate system is similarly obtained：
((YB-YA)(ZC-ZA)-(YC-YA)(ZB-ZA))(X-XA)+((XC-XA)(ZB-ZA)-(XB-XA)(ZC-ZA))(Y-YA)+
((XB-XA)(ZC-ZA)-(XC-XA)(ZB-ZA))(Z-ZA)=0
By formula II by the equation for going out this straight line apart from inverse of spatial point to space plane：
aXA+bYA+cZA=K ③
A, b, c, K are constant in formula；
According to 1., 2., 3. formula solves XA、YA、ZA, show that cutterhead A points are sat relative to designing institute's coordinate system three-dimensional of designed lines
Mark；Designing institute's coordinate system three-dimensional coordinate of shield tail E points can similarly be calculated；
（9）By cutterhead and the three-dimensional coordinate of 2 points of shield tail A, E, and pass through known track data inverse and go out cutterhead relative to circuit
Deviant, then calculate the pitch angle of the horizontal yaw of cutter head of shield machine and shield tail center, vertical yaw and shield machine；
（10）According to step（9）The data being calculated judge that shield TBM driving attitudes whether there is deviation.
2. shield TBM driving attitudes deviation check method according to claim 1, which is characterized in that step（2）Middle use
Whole station type electronic distance meter measures the three-dimensional coordinate in designing institute's coordinate system of selected fixed measuring point position（Xi,Yi,Zi）.
3. shield TBM driving attitudes deviation check method according to claim 1, which is characterized in that according to step（7）Meter
There are two obtained distance values, if the distance that cutterhead is justified to this space plane then takes higher value；If shield tail arrives this
The distance of space plane circle then takes smaller value.
4. shield TBM driving attitudes deviation check method according to claim 1, which is characterized in that step（2）Middle selection
After fixed measuring point position B, C, D, its relative position relation is calculated in first inspection.
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| CN111271071A (en) * | 2020-01-19 | 2020-06-12 | 浙江中创天成科技有限公司 | Shield tunneling machine attitude control method based on fuzzy adaptive neural network |
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| CN108645393A (en) * | 2018-08-13 | 2018-10-12 | 中铁二十局集团第工程有限公司 | A kind of push-bench posture three-dimension measuring system and method |
| CN110847914B (en) * | 2019-11-21 | 2021-01-26 | 中铁一局集团有限公司 | Shield tunneling machine excavation axis deviation alarm mechanism optimization method based on data analysis |
| CN110847914A (en) * | 2019-11-21 | 2020-02-28 | 中铁一局集团有限公司 | Shield tunneling machine excavation axis deviation alarm mechanism optimization method based on data analysis |
| CN111271071A (en) * | 2020-01-19 | 2020-06-12 | 浙江中创天成科技有限公司 | Shield tunneling machine attitude control method based on fuzzy adaptive neural network |
| CN111578873B (en) * | 2020-04-22 | 2021-11-02 | 上海市基础工程集团有限公司 | Method for measuring initial positioning and rapid centering of shield machine |
| CN111578873A (en) * | 2020-04-22 | 2020-08-25 | 上海市基础工程集团有限公司 | Method for measuring initial positioning and rapid centering of shield machine |
| CN113032866A (en) * | 2021-03-05 | 2021-06-25 | 中铁第四勘察设计院集团有限公司 | Method for detecting collapse of surrounding rock of tunnel wall behind TBM shield |
| CN113032866B (en) * | 2021-03-05 | 2022-08-09 | 中铁第四勘察设计院集团有限公司 | Method for detecting collapse of surrounding rock of tunnel wall behind TBM shield |
| CN113029087A (en) * | 2021-04-27 | 2021-06-25 | 江南造船(集团)有限责任公司 | Method for measuring space installation angle of ship body base |
| CN113204843A (en) * | 2021-04-29 | 2021-08-03 | 中铁二局集团有限公司 | Method for determining attitude of shield tunneling machine in tunneling process |
| CN113251956A (en) * | 2021-06-17 | 2021-08-13 | 中交疏浚技术装备国家工程研究中心有限公司 | Calculation method for measuring tunnel segment cross section flatness based on space point-surface relation |
| CN113251956B (en) * | 2021-06-17 | 2022-08-23 | 中交疏浚技术装备国家工程研究中心有限公司 | Calculation method for measuring tunnel segment cross section flatness based on space point-surface relation |
| CN115371576A (en) * | 2022-04-29 | 2022-11-22 | 中铁工程装备集团技术服务有限公司 | Shield tail clearance measuring device and method in shield tunneling machine construction process |
| CN115371576B (en) * | 2022-04-29 | 2023-12-19 | 中铁工程装备集团技术服务有限公司 | Shield tail gap measuring device and method in shield tunneling machine construction process |
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Application publication date: 20180615 |