CN109059879A - A kind of guidance method for determining the small-bore Curve Pipe Jacking of curvature - Google Patents
A kind of guidance method for determining the small-bore Curve Pipe Jacking of curvature Download PDFInfo
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- CN109059879A CN109059879A CN201810878141.1A CN201810878141A CN109059879A CN 109059879 A CN109059879 A CN 109059879A CN 201810878141 A CN201810878141 A CN 201810878141A CN 109059879 A CN109059879 A CN 109059879A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
- G01C15/004—Reference lines, planes or sectors
Abstract
The invention belongs to Curve Pipe Jacking machine correlative technology fields, and it discloses a kind of guidance methods for determining the small-bore Curve Pipe Jacking of curvature, method includes the following steps: S1, measures the coordinate of initial tube coupling endpoint, to establish the equation of push-bench Curve Pipe Jacking ideal trajectory；S2 constructs laser target chain；S3 calculates angular deviation and coordinate shift amount of the adjacent tube coupling endpoint relative to ideal position；S4 corrects the ideal position for being located at the tube coupling endpoint in step S3 in front of tube coupling endpoint according to the shape of tube coupling one by one；S5 repeats step S3-S4 until calculating to the physical location of the push-bench pilot pipe since the coordinate of final stage tube coupling endpoint；S6 constantly promotes and installs new tube coupling, and the ending coordinates for measuring with the parallel light tube for being installed on ground current final stage tube coupling change, then repeatedly step S3-S5, to update the actual coordinate of guide's tube head at this time.The present invention improves precision, and process is simple and easy.
Description
Technical field
The invention belongs to Curve Pipe Jacking machine correlative technology fields, determine curvature osculum diametal curve top more particularly, to a kind of
The guidance method of pipe.
Background technique
NEW TULIP engineering method (Network Evolution Wide Tunnelling and Underground space
Liberty Install curved Piping, the curve pipe curtain no-dig technique underground space construct technology), i.e. curve pipe curtain tunneling
Engineering method, pipe curtain are implemented to complete by push pipe, advance support are generally formed into the soil body using small-sized push bench jacking steel pipe, then again
Excavation construction main structure is constructed using box culvert advancing scheme, is a kind of novel shallow mining method technology.Push pipe by
Tube coupling one by one is assembled, and in design, the central axis of tube coupling is the circular arc of standard, but the mistake that push pipe advances in underground
Cheng Zhong, tube coupling by the soil body extruding and generate deformation, cause the posture of push pipe to change, and determine push pipe in the soil body
Posture is to carry out the premise of push-bench guiding.
Currently, attitude measurement of the push pipe in the soil body generally uses dipmeter and rolling instrument, wherein dipmeter and rolling instrument
It is mounted on behind the articulated position of Curve Pipe Jacking machine pilot pipe, the pitch angle and roll angle of pilot pipe can be measured, but can not
Measure and navigation angle.Position measurement of the push pipe in the soil body is generally using one of gyroscope, level meter or laser irradiation device
Or it is a variety of, wherein (1) gyroscope is mounted in the measurement pipe being especially arranged in tube coupling, by originating the test at pushing tow system
The horizontal position of systematic survey push-bench, measurement error can be with time integrals；(2) level meter is mounted in tube coupling, can only
The horizontal position of measuring instrument installation place；(3) laser irradiation device is mounted in push-bench shield body, passes through the reflection installed in tube coupling
Mirror reflects the laser light to the laser receiver for originating place thrustor rear, to measure the position of push pipe.Laser irradiation device hair
Laser out have passed through multiple reflections and just get in reception device, and whole system is difficult to set up the higher mathematical model of precision, institute
It is generally used for the change in location of observational measurement push pipe with laser irradiation device, is unable to the physical location of quantitative measurment push pipe.To sum up institute
It states, existing measurement method is difficult to that all information of practical posture and position of the pilot pipe in the soil body is effectively detected, to applying
The guiding in working hour brings inconvenience.Correspondingly, this field can accurately detect pilot pipe in the soil body there is one kind is developed
Practical posture and position all information the guidance method for determining the small-bore Curve Pipe Jacking of curvature technical need.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the small-bore Curve Pipe Jacking of curvature is determined the present invention provides a kind of
Guidance method, the characteristics of based on existing pilot pipe guiding, study and devise a kind of accuracy and preferably determine curvature osculum
The guidance method of diametal curve push pipe.The guidance method is based on rigorous mathematical derivation and pushes away since the accurate coordinates of ground structure
The practical posture of Curve Pipe Jacking pilot pipe and all information of position in the soil body are led, and these information can preferably meet guiding
Demand.
To achieve the above object, the present invention provides a kind of guidance method for determining the small-bore Curve Pipe Jacking of curvature, the guiding
Method mainly comprises the steps that
S1 measures the coordinate of initial tube coupling endpoint, before driving starts to establish push-bench Curve Pipe Jacking ideal trajectory
Equation；
S2 installs laser emitter and laser target at the endpoint of every section of tube coupling to constitute laser target chain；
S3, the hot spot changes in coordinates amount measured using laser target calculate angle of the adjacent tube coupling endpoint relative to ideal position
Spend offset and coordinate shift amount；
S4 in conjunction with the angular deviation and coordinate shift amount of acquisition, and is corrected one by one according to the shape of tube coupling and is located at step
The ideal position of tube coupling endpoint in S3 in front of tube coupling endpoint；
S5 repeats step S3 and S4 until calculating first to the push-bench since the coordinate of final stage tube coupling endpoint
The physical location of conduit；
S6 in tunneling process, constantly promotes and installs new tube coupling, and worked as to measure with the parallel light tube for being installed on ground
The ending coordinates of preceding final stage tube coupling change, then repeatedly step S3, step S4 and step S5, to update pilot pipe at this time
The actual coordinate on head.
Further, it when establishing the equation of push-bench Curve Pipe Jacking ideal trajectory, is sat in conjunction with tube coupling and the endpoint of pilot pipe
Mark acquires the three-dimensional planar equation where locus circle using least square method；The half of locus circle is found out based on rectangular coordinate system again
Thus diameter and the center of circle obtain circular trace, the target point on locus circle changes to obtain by base coordinate.
Further, the coordinate of the target point is indicated using following formula:
In formula, (x0, y0, z0) it is central coordinate of circle；α is the angle of disk and Z axis；γ is the angle of disk and X-axis；r
For round radius；β is circular arcCorresponding central angle；O1It is the round intersection point with XOY plane；T is target point.
Further, the laser beam that the parallel light tube at latter section of tube coupling endpoint issues is got at the last period tube coupling endpoint
To constitute laser target chain on laser target.
Further, in step S3, the variable quantity of laser facula coordinate and the variable quantity satisfaction of laser incident angle are following
Condition:
Δθu=atan (u '/f)-atan (u/f)；
Δθv=atan (v '/f)-atan (v/f)
In formula, radial direction of the v axis direction along theoretical Circular test；U axis direction is perpendicular to the plane where theoretical Circular test；(u,
It v) is that the initial hot spot coordinate recorded after parallel light tube is installed；(u ', v ') is the hot spot coordinate after deformation occurs；F is industrial phase
The focal length of machine.
Further, in step S3, coordinate shift amount of the endpoint relative to ideal position is calculated using following formula:
In formula,I=2,3 ...；[Δxi, Δ yi, Δ zi] it is that endpoint i physical location is managed relative to endpoint i
Think the positional shift of position；LI, i+1It is the string of connection end point i and endpoint i+1；WithIt is according to laser target at endpoint i
The angle change that data calculate；βiIt is central angle iOO1；It is LI, i+1Corresponding circular arc.
Further, step S4 is calculated since the actual coordinate of final stage tube coupling endpoint, final stage tube coupling
The actual coordinate of endpoint is directly measured by being installed on the laser on ground.
Further, when the ideal coordinates of amendment front endpoint, all endpoint locations variation in j-n endpoint and front is same
Step, amendment track carries out as follows:
N=1,2,3 ..., j-2；
K=1,2,3 ..., j-n-1；
In formula, j is the serial number of final stage tube coupling end；It is endpoint j-n-k warp
Cross the revised theoretical position of n times；LJ-n, j-n-kIt is the string of connection end point j-n and j-n-k；WithIt is basis
The angle change that laser target data are calculated at endpoint j-n；βj-n-kIt is central angle (j-n-k) OO1；
It is LJ-n, j-n-kCorresponding circular arc.
Further, in step S5, the process of step S3 and step S4 is repeated as according to the reality of latter section of tube coupling endpoint
The theoretical coordinate of the last period tube coupling endpoint in the case of coordinate calculates this section of tube coupling deformation occurs；Then, it is measured according to laser target
Coordinate calculate offset of the last period tube coupling endpoint relative to theoretical coordinate, and then merge and obtain the reality of the last period tube coupling endpoint
Border coordinate.
Further, the calculating in step S6 is as the sampling to final stage tube coupling distal point starts, continuous
Promote and installation tube coupling during, using parallel light tube measure a positional value of final stage tube coupling end and start to
Preceding derivation.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, it is provided by the invention fixed
The guidance method of the small-bore push pipe of curvature mainly has the advantages that
1. the guidance method establishes the equation of ideal trajectory, pass through the two neighboring tube coupling end of laser target chain technical calibration
Posture chain between point calculates posture and the position of push-bench pilot pipe by the transmitting of posture chain；This method solve existing
Measurement method is difficult to set up the problem of precisely effective mathematical model, according to the coordinate transform of laser target angle measuring principle and basis,
Posture and the position of push-bench pilot pipe can be quantitatively calculated, and this method is simple, effective, easy-to-use, engineering practicability is stronger.
2. the major meters device that the guidance method uses is laser emitter and laser target, precision is higher, and surveys
Measuring error will not be with time integral, and for the long working of push-bench, measuring system be can work normally, and not need to stop work
Maintenance, substantially increases the efficiency and precision of construction, reduces the manpower and time cost of maintenance measurement system.
3. the calculating in step S6 is to which thereby enhance result as the sampling to final stage tube coupling distal point starts
Accuracy and reliability.
Detailed description of the invention
Fig. 1 is the flow diagram of the guidance method provided by the invention for determining the small-bore Curve Pipe Jacking of curvature.
Fig. 2 is to obtain guide's tube head actual coordinate using the guidance method for determining the small-bore Curve Pipe Jacking of curvature in Fig. 1
When the schematic diagram of initial tube coupling that is related to.
Fig. 3 is the schematic diagram for the circular trace being related to using the guidance method for determining the small-bore Curve Pipe Jacking of curvature in Fig. 1.
Fig. 4 is the laser target being related to when using the guidance method for determining the small-bore Curve Pipe Jacking of curvature in Fig. 1 and laser hair
The structural schematic diagram of emitter.
Fig. 5 is that the laser target being related to using the guidance method for determining the small-bore Curve Pipe Jacking of curvature in Fig. 1 surveys showing for drift angle
It is intended to.
Fig. 6 is the schematic illustration of the guidance method amendment ideal position for determining the small-bore Curve Pipe Jacking of curvature in Fig. 1.
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which: 5- pilot pipe, 6-
Tube coupling, 7- parallel light tube, 8- dipmeter, 9- industrial camera, 10- pinhole imaging system system, 11- laser, 12- modulate collimating mirror,
13- aperture, 14- lens, 15- imaging screen.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Referring to Fig. 1, the guidance method provided by the invention for determining the small-bore Curve Pipe Jacking of curvature mainly comprises the steps that
S1 measures the coordinate of initial tube coupling endpoint, before driving starts to establish push-bench Curve Pipe Jacking ideal trajectory
Equation.
Specifically, referring to Fig. 2, before push-bench start-up operation, according to the driving route of design in installation on ground two
A tube coupling 6 and pilot pipe 5.For convenience, tube coupling endpoint is numbered, remembers that the head end of the pilot pipe 5 is endpoint 1,
The end of the pilot pipe 5 is directly connected in the head end of the tube coupling 6 of the pilot pipe 5, is denoted as endpoint 2, so successively carries out
Number.
When establishing the ideal trajectory equation of Curve Pipe Jacking, used most in conjunction with the coordinate of endpoint 1, endpoint 2, endpoint 3 and endpoint 4
Small square law finds out the three-dimensional planar equation ax+by+cz+d=0 where locus circle；Establish rectangular coordinate system in the plane again, with
The radius and central coordinate of circle of locus circle are found out, thus obtained circular trace is as shown in Figure 3.Wherein, (x0, y0, z0) it is that the center of circle is sat
Mark, α are the angle of disk and Z axis, and γ is the angle of disk and X-axis, and r is the radius of circle.
When expressing target point T (x, the y, z) on circle, circular arc is usedCorresponding central angle β indicates (O1It is round and XOY
The intersection point of plane), by the changes in coordinates on basis it is found that the coordinate of target point can be written as follow form:
S2 installs laser emitter and laser target at the endpoint of every section of tube coupling to constitute laser target chain.
Specifically, described referring to Fig. 4, dipmeter 8, industrial camera 9 and pinhole imaging system system 10 are arranged in laser target
Industrial camera 9 is oppositely arranged with the pinhole imaging system system 10；Outside of the laser target adjacent to one end of the industrial camera 9
It is provided with parallel light tube 7, the laser beam that the parallel light tube 7 at the endpoint of such latter section of tube coupling 6 issues gets to the last period tube coupling 6
Laser target chain is constituted on laser target at endpoint.In addition, laser target is only installed at the endpoint 2 of the pilot pipe 5, and shown in 0
For the parallel light tube 7 for being fixed on ground, the laser that the parallel light tube 7 issues gets to the laser target of 6 end of final stage tube coupling
On, with the position for measuring the last one endpoint.In present embodiment, the dipmeter 8 is used to correct laser target measurement
Coordinate value, to prevent coordinate measuring error caused by laser target inclination.
S3, the hot spot changes in coordinates amount measured using laser target calculate angle of the adjacent tube coupling endpoint relative to ideal position
Spend offset and coordinate shift amount.
Specifically, referring to Fig. 5, in the optical path that parallel light tube and laser target are constituted, the laser beam that laser 11 emits is logical
Become collimated light beam after ovennodulation collimating mirror 12, then the collimated light beam is mapped to after sequentially passing through aperture 13 and lens 14
On imaging screen 15.Wherein, the incident angle of laser is obeyed: tan (a)=h/f, and a is the incidence angle of laser in formula, and f is industrial phase
The focal length of machine, h be as in plane laser facula to the distance of focus.
If there is no deformation, optical paths to change for tube coupling 6, the invariable incident angle of laser, the coordinate of hot spot
It will not change.When generating deformation, the relative pose that the variation at laser light incident angle is equal to former and later two tube coupling endpoints changes, in phase
It is decomposed in machine image uv both direction, the variable quantity of laser facula coordinate and the incident angle of laser change satisfaction: Δ θu
=atan (u '/f)-atan (u/f) and Δ θv=atan (v '/f)-atan (v/f), v axis direction is along theoretical Circular test in formula
Radial, for u axis direction perpendicular to the plane where theoretical Circular test, u, v are to install the initial hot spot coordinate recorded after parallel light tube,
U ', v ' are the hot spot coordinate values after deformation occurs.
When calculating the relative position variation of two tube coupling endpoints, the chord length between two endpoints is introduced, using former and later two ends
Theoretical distance (i.e. the arc length of circular arc) between point carrys out the actual range between two endpoints of approximate calculation.In present embodiment,
Since the present invention is suitable for small-bore Curve Pipe Jacking, the error of approximate calculation is within the acceptable range.In reference axis along reason
By under the coordinate system of Circular test tangentially and radially, coordinate of the endpoint relative to ideal position is calculated based on laser target changes in coordinates amount
Offset are as follows:
I=2,3 ..., wherein [Δ xi, Δ yi, Δ zi] it is that endpoint i physical location is managed relative to endpoint i
Think the positional shift of position；LI, i+1It is the string of connection end point i and endpoint i+1；WithIt is according to laser target at endpoint i
The angle change that data calculate；βiIt is central angle iOO1；It is LI, i+1Corresponding circular arc.Meanwhile in conjunction with tube coupling endpoint phase
The actual coordinate of the available previous tube coupling endpoint of the theoretical position of offset and tube coupling endpoint for theoretical position.
S4 in conjunction with the angular deviation and coordinate shift amount of acquisition, and is corrected one by one according to the shape of tube coupling and is located at step
The ideal position of tube coupling endpoint in S3 in front of tube coupling endpoint.
Specifically, referring to Fig. 6, being calculated since the actual coordinate of final stage tube coupling endpoint, because of final stage pipe
Section endpoint is on ground, and actual coordinate can directly be measured by the laser for being installed on ground；Consider in the ideal situation
Tube coupling deformation, then the change in location of all tube couplings in front is synchronous.According to the actual coordinate of latter tube coupling endpoint relative to reason
By the offset of position can calculate all tube coupling endpoint tube couplings in front of it in front it is undeformed under theoretical sit
Mark, i.e., be modified the theoretical coordinate of all tube coupling endpoints in front.
In present embodiment, understand for convenience, indicates that tube coupling, j point are final stage tube coupling with the string of connection end point
End.As shown in fig. 6, solid line e indicates the actual path of tube coupling, when bottom dotted line a is that all tube couplings do not deform
Tube coupling ideal form.The changes in coordinates of laser target calculates at j-1 pointJ-1 point caused by Duan Guanjie is deformed is sat
When mark variation, the benchmark of this changes in coordinates amount is the coordinate of j-1 point in ideal trajectory, at this time the ideal of each section of tube coupling in front
Position also corresponding change, as shown in the double dot dash line b of row second from the bottom in Fig. 6, even if not considering the deformation of front tube coupling,The ideal position that the deformation of Duan Guanjie also results in tube coupling becomes the two point of row second from the bottom from row's dotted line a last
Cross b, i.e., by primary modified ideal trajectory.The changes in coordinates of laser target calculates at j-2 pointSection
When j-2 point changes in coordinates caused by tube coupling deforms, the benchmark of this changes in coordinates amount is by j-2 in primary modified ideal trajectory
The coordinate of point, the ideal position of each section of tube coupling in front also correspondingly changes again at this time.Such as the point of row third from the bottom in Fig. 6
It crosses shown in c, even if not considering the deformation of front tube coupling,The deformation of Duan Guanjie also results in the ideal bit of tube coupling
The chain-dotted line c for becoming row third from the bottom from row's double dot dash line b second from the bottom is set, that is, passes through the ideal trajectory of modified twice.Such as Fig. 6
It is shown, process three times modified line d and ideal trajectory e ten divide close to, show the accuracy of guidance method provided by the invention compared with
It is good.
Successively rule carries out the transmitting of posture chain, and the changes in coordinates of laser target calculates at j-n pointWhen j-n point changes in coordinates caused by Duan Guanjie is deformed, the benchmark of this changes in coordinates amount is by n-1 times
The coordinate of j-n point in modified ideal trajectory, the ideal position of each section of tube coupling in front also correspondingly changes again at this time, leads
Causing the ideal position of tube coupling becomes by the modified ideal trajectory of n times.Wherein, n=1,2,3 ..., j-2.
Although Fig. 6 show two dimensional model, for any tube coupling position and direction in space, as long as flat in locus circle
Face and perpendicular to being projected in the plane of track disk, model is all similar to Fig. 6, and the transfer mode of this posture chain is
It can be used for correcting the three-dimensional coordinate of tube coupling endpoint.
It is similar with coordinates computed offset, in front of amendment when the ideal coordinates of endpoint, the deformation of front tube coupling is not considered, then
All endpoint locations variation in j-n point and front be it is synchronous, amendment track carries out as follows:
N=1,2,3 ..., j-2；
K=1,2,3 ..., j-n-1；
Wherein, j is the serial number of final stage tube coupling end；It is endpoint j-n-k warp
Cross the revised theoretical position of n times；LJ-n, j-n-kIt is the string of connection end point j-n and j-n-k；WithIt is basis
The angle change that laser target data calculate at endpoint j-n；βj-n-kIt is central angle (j-n-k) OO1；It is
LJ-n, j-n-kCorresponding circular arc.
S5 repeats step S3 and S4 until calculating first to the push-bench since the coordinate of final stage tube coupling endpoint
The physical location of conduit.
Specifically, the process for repeating step S3 and step S4 is to calculate the section according to the actual coordinate of latter section of tube coupling endpoint
The theoretical coordinate of tube coupling the last period tube coupling endpoint in the case of deformation occurs；Then, before being calculated according to the coordinate that laser target measures
Offset of one section of tube coupling endpoint relative to theoretical coordinate, and then merge and obtain the actual coordinate of the last period tube coupling endpoint.In addition,
Pilot pipe head length is shorter, and hardness is higher, does not consider deformation factor when calculating, and is believed that practical seat when calculating apex coordinate
Mark is exactly the theoretical coordinate calculated according to latter section of tube coupling endpoint.
In present embodiment, the repetitive process in step S5 always first calculates j-n point relative to by n-1 modified reason
Think the offset of position, then calculate the revised theoretical position of each endpoint in front, until the endpoint 1 of guide's tube head.In addition,
The physical location of endpoint 1 is directly with approximate by j-2 revised theoretical position.Particularly, final stage tube coupling end
Physical location is directly measured by the parallel light tube for being installed on ground, and the angle that parallel light tube is measured is scaled central angle, according to
Formula can calculate the physical location of final stage tube coupling distal point, and the physical location of the forward terminal of final stage tube coupling is by step
Formula in S4 acquires.
S6 in tunneling process, constantly promotes and installs new tube coupling, and worked as to measure with the parallel light tube for being installed on ground
The ending coordinates of preceding final stage tube coupling change, then repeatedly step S3, step S4 and step S5, to update pilot pipe at this time
The actual coordinate on head.
Specifically, calculating in step S6 always starts with the sampling of the distal point to final stage tube coupling, not
During disconnected propulsion and installation tube coupling, as long as parallel light tube measures a positional value of final stage tube coupling end
Start to derive forward.The amount of propulsion is obtained by parallel light tube, so that it may the initial theoretical coordinate value of each endpoint is calculated, to obtain
Do not pass through modified theory locus.Meanwhile relevant hot spot initial coordinate is recorded always, the offset of angle is calculated with this,
Then it is modified by step S5, n-1 had been carried out to the ideal position of point j-n before calculating the physical location of point j-n
Secondary amendment, so can be in the hope of the physical location of pilot pipe forward terminal 1.It should be readily understood that: if to calculate the appearance of pilot pipe
Position coordinates in above-mentioned formula need to be only changed to tangent vector coordinate by state.
It should be noted that the front end of pilot pipe can not install laser target, theoretically the actual coordinate of pilot pipe front end is
Can not measure, but pilot pipe itself it is shorter than common tube coupling and rigidity it is larger, deformation is also smaller, thus can using theoretical coordinate come
Instead of actual coordinate.
The guidance method provided by the invention for determining the small-bore Curve Pipe Jacking of curvature, the guidance method should not carry out directly
Under the working condition of measurement, the practical seat of guide's tube head is calculated indirectly by calculating the grid deviation at each section of tube coupling both ends
Mark, result precision is higher, and process is simple and easy.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of guidance method for determining the small-bore push pipe of curvature, which is characterized in that method includes the following steps:
S1 measures the coordinate of initial tube coupling endpoint, before driving starts to establish the equation of push-bench Curve Pipe Jacking ideal trajectory；
S2 installs laser emitter and laser target at the endpoint of every section of tube coupling to constitute laser target chain；
S3, the hot spot changes in coordinates amount measured using laser target are inclined relative to the angle of ideal position to calculate adjacent tube coupling endpoint
Shifting amount and coordinate shift amount；
S4 in conjunction with the angular deviation and coordinate shift amount of acquisition, and is corrected one by one according to the shape of tube coupling and is located in step S3
The ideal position of tube coupling endpoint in front of tube coupling endpoint；
S5 repeats step S3 and S4 until calculating to the push-bench pilot pipe since the coordinate of final stage tube coupling endpoint
Physical location；
S6 in tunneling process, constantly promotes and installs new tube coupling, and measured with the parallel light tube for being installed on ground it is current most
The ending coordinates of latter section of tube coupling change, then repeatedly step S3, step S4 and step S5, to update guide's tube head at this time
Actual coordinate.
2. determining the guidance method of the small-bore push pipe of curvature as described in claim 1, it is characterised in that: establish push-bench curve top
When equation of locus is thought in management, in conjunction with where tube coupling and the extreme coordinates of pilot pipe acquire locus circle using least square method
Three-dimensional planar equation；Radius and the center of circle for finding out locus circle based on rectangular coordinate system again, thus obtain circular trace, on locus circle
Target point change to obtain by base coordinate.
3. determining the guidance method of the small-bore push pipe of curvature as claimed in claim 2, it is characterised in that: the coordinate of the target point
It is indicated using following formula:
In formula, (x0, y0, z0) it is central coordinate of circle；α is the angle of disk and Z axis；γ is the angle of disk and X-axis；R is circle
Radius；β is circular arcCorresponding central angle；O1It is the round intersection point with XOY plane；T is target point.
4. the guidance method as described in any one of claims 1-3 for determining the small-bore push pipe of curvature, it is characterised in that: latter section of pipe
To constitute laser target chain on the laser target that the laser beam that parallel light tube at section endpoint issues is got at the last period tube coupling endpoint.
5. the guidance method as described in any one of claims 1-3 for determining the small-bore push pipe of curvature, it is characterised in that: step S3
In, the variable quantity of laser facula coordinate and the variable quantity of laser incident angle meet the following conditions:
Δθu=atan (u '/f)-atan (u/f)；
Δθv=atan (v '/f)-atan (v/f)
In formula, radial direction of the v axis direction along theoretical Circular test；U axis direction is perpendicular to the plane where theoretical Circular test；(u, v) is
The initial hot spot coordinate recorded after installation parallel light tube；(u ', v ') is the hot spot coordinate after deformation occurs；F is industrial camera
Focal length.
6. determining the guidance method of the small-bore push pipe of curvature as claimed in claim 3, it is characterised in that: in step S3, use with
Lower formula calculates coordinate shift amount of the endpoint relative to ideal position:
In formula,I=2,3 ...；[Δxi, Δ yi, Δ zi] it is endpoint i physical location relative to endpoint i ideal bit
The positional shift set；LI, i+1It is the string of connection end point i and endpoint i+1；WithIt is according to laser target data at endpoint i
The angle change of calculating；βiIt is central angle iOO1；It is LI, i+1Corresponding circular arc.
7. determining the guidance method of the small-bore push pipe of curvature as described in claim 1, it is characterised in that: step S4 is from last
The actual coordinate of Duan Guanjie endpoint starts calculating, and the actual coordinate of final stage tube coupling endpoint is the laser by being installed on ground
What device directly measured.
8. determining the guidance method of the small-bore push pipe of curvature as claimed in claim 3, it is characterised in that: the reason of amendment front endpoint
When thinking coordinate, all endpoint locations variation in j-n endpoint and front be it is synchronous, amendment track carries out as follows:
N=1,2,3 ..., j-2；
K=1,2,3 ..., j-n-1；
In formula, j is the serial number of final stage tube coupling end；It is endpoint j-n-k by n times
Revised theoretical position；LJ-n, j-n-kIt is the string of connection end point j-n and j-n-k；WithIt is according to endpoint j-n
The angle change that place's laser target data are calculated；βj-n-kIt is central angle (j-n-k) OO1；It is
LJ-n, j-n-kCorresponding circular arc.
9. determining the guidance method of the small-bore push pipe of curvature as described in claim 1, it is characterised in that: in step S5, repeat to walk
The process of rapid S3 and step S4 is in the case of calculating this section of tube coupling according to the actual coordinate of latter section of tube coupling endpoint deformation occurs
The theoretical coordinate of the last period tube coupling endpoint；Then, the coordinate measured according to laser target calculates the last period tube coupling endpoint relative to reason
By the offset of coordinate, and then merges and obtain the actual coordinate of the last period tube coupling endpoint.
10. determining the guidance method of the small-bore push pipe of curvature as described in claim 1, it is characterised in that: the calculating in step S6
It is as the sampling to final stage tube coupling distal point starts, during continuous propulsion and installation tube coupling, using parallel
Light pipe measures a positional value of final stage tube coupling end and starts to derive forward.
Priority Applications (1)
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| CN109707383A (en) * | 2018-12-30 | 2019-05-03 | 中铁十四局集团有限公司 | Pipe jacking construction method |
| CN111608664A (en) * | 2020-04-29 | 2020-09-01 | 上海隧道工程有限公司 | Automatic guiding method for long-distance curved jacking pipe |
| CN112610798A (en) * | 2020-12-01 | 2021-04-06 | 姜振波 | Method for calculating length of lining pipe joint for repairing and updating water supply and drainage pipeline |
| CN113738390A (en) * | 2021-09-18 | 2021-12-03 | 合肥工业大学 | Time-sharing migration space attitude fine-adjustment deviation-rectifying method of rectangular pipe jacking machine |
| CN114563982A (en) * | 2022-01-24 | 2022-05-31 | 中铁九桥工程有限公司 | Method for controlling motion trail of mobile equipment on circular tube |
| CN114577188A (en) * | 2022-01-25 | 2022-06-03 | 武汉理工大学 | Laser alignment guide device and system for tunnel construction |
| CN115186367A (en) * | 2022-09-14 | 2022-10-14 | 中交第一航务工程局有限公司 | Deviation matching display method and system in process of pulling and closing curve immersed tube |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109707383A (en) * | 2018-12-30 | 2019-05-03 | 中铁十四局集团有限公司 | Pipe jacking construction method |
| CN109611111A (en) * | 2019-01-30 | 2019-04-12 | 中铁工程装备集团有限公司 | A kind of guidance method of variable curvature osculum diametal curve development machine |
| CN109611111B (en) * | 2019-01-30 | 2020-03-31 | 中铁工程装备集团有限公司 | Guiding method of variable-curvature small-caliber curve tunneling machine |
| CN111608664A (en) * | 2020-04-29 | 2020-09-01 | 上海隧道工程有限公司 | Automatic guiding method for long-distance curved jacking pipe |
| CN112610798A (en) * | 2020-12-01 | 2021-04-06 | 姜振波 | Method for calculating length of lining pipe joint for repairing and updating water supply and drainage pipeline |
| CN112610798B (en) * | 2020-12-01 | 2022-08-05 | 姜振波 | Method for calculating length of lining pipe joint for repairing and updating water supply and drainage pipeline |
| CN113738390A (en) * | 2021-09-18 | 2021-12-03 | 合肥工业大学 | Time-sharing migration space attitude fine-adjustment deviation-rectifying method of rectangular pipe jacking machine |
| CN113738390B (en) * | 2021-09-18 | 2022-07-01 | 合肥工业大学 | Time-sharing migration space attitude fine-adjustment deviation-rectifying method of rectangular pipe jacking machine |
| CN114563982A (en) * | 2022-01-24 | 2022-05-31 | 中铁九桥工程有限公司 | Method for controlling motion trail of mobile equipment on circular tube |
| CN114563982B (en) * | 2022-01-24 | 2023-05-09 | 中铁九桥工程有限公司 | Control method for movement track of mobile equipment on circular tube |
| CN114577188A (en) * | 2022-01-25 | 2022-06-03 | 武汉理工大学 | Laser alignment guide device and system for tunnel construction |
| CN115186367A (en) * | 2022-09-14 | 2022-10-14 | 中交第一航务工程局有限公司 | Deviation matching display method and system in process of pulling and closing curve immersed tube |
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