CN109339803A - A kind of shield machine based on laser radar technique is unearthed system for measuring quantity and method - Google Patents
A kind of shield machine based on laser radar technique is unearthed system for measuring quantity and method Download PDFInfo
- Publication number
- CN109339803A CN109339803A CN201811546152.6A CN201811546152A CN109339803A CN 109339803 A CN109339803 A CN 109339803A CN 201811546152 A CN201811546152 A CN 201811546152A CN 109339803 A CN109339803 A CN 109339803A
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- China
- Prior art keywords
- machine
- data
- shield
- data processing
- laser radar
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Control Of Conveyors (AREA)
Abstract
The invention discloses a kind of unearthed system for measuring quantity of shield machine based on laser radar technique, it include: the unearthed measuring device of shield machine and shield host computer, the unearthed measuring device of shield machine includes belt conveyor, laser radar, annular arch, data processing PC machine, roll counter and power supply, surface sweeping measurement data is transferred to data processing PC machine by the communications cable by laser radar, and the movement velocity that the diameter calculation of the rolling number combination driving wheel in the unit time goes out belt is transferred to data processing PC machine by the communications cable by roll counter；Data processing PC machine includes processor, memory and wireless module, and data processing PC machine will be sent to shield host computer by the data of processor processing by wireless module；Shield host computer includes processor, wireless receiving module and display, and wireless receiving module receives the data that data processing PC machine issues, and is shown data by display.
Description
Technical field
The present invention relates to construction survey field more particularly to a kind of unearthed measurements of shield machine based on laser radar technique
System and method.
Background technique
Earth Pressure Balancing Type Shell Excavator is cut the soil body and is transported by screw machine, belt conveyer, battery truck to outside hole,
In tunneling process, the stabilization of excavation face soil layer need to be kept, prevents earth's surface from deforming, the shield machine amount of being unearthed need to accurately be controlled,
Realize the accurate matching of shield driving drilling depth and the unearthed amount of shield；And to the parameter that the measurement of the unearthed amount of shield machine mainly acquires
It is: the real-time speed of belt conveyor and the area that shield dregs passes through belt section in the unit time.
Summary of the invention
The present invention provides a kind of unearthed system for measuring quantity of shield machine based on laser radar technique and methods, pass through measurement
The real-time speed of belt conveyor and shield dregs calculates shield in the unit time by the area of belt section in the unit time
The unearthed amount of structure machine is realized to accurately be controlled the shield machine amount of being unearthed and keeps the steady of excavation face soil layer in tunneling process
It is fixed, prevent earth's surface from deforming.
In order to solve the above-mentioned technical problem, the embodiment of the invention provides a kind of shield machines based on laser radar technique to go out
Native system for measuring quantity, comprising: the unearthed measuring device of shield machine and shield host computer,
The unearthed measuring device of the shield machine includes belt conveyor, laser radar, annular arch, data processing PC
Machine, roll counter and power supply, the roll counter are arranged on the driving wheel below the belt conveyor, the annular
Arch is arranged on the belt conveyor, and in the annular arch, the laser radar will be swept for the laser radar setting
Planar survey data are transferred to the data processing PC machine by the communications cable, and the roll counter is by the rolling in the unit time
The movement velocity that the diameter calculation of dynamic number combination driving wheel goes out belt is transferred to the data processing PC machine by the communications cable,
The power supply is connect with the roll counter, the belt conveyor, the laser radar, the data processing PC machine；Institute
Stating data processing PC machine includes processor, memory and wireless module, the processor and the memory, the wireless mould
Block connection, the data processing PC machine will be sent in the shield by the wireless module by the data of processor processing
Position machine；
The shield host computer is arranged in shield operating room, and the shield host computer includes processor, wireless receiving mould
Block and display, the processor are connect with the wireless receiving module and the display respectively, the wireless receiving module
The data that the data processing PC machine issues are received, and are shown data by display.
Preferably, the measuring system further includes shield remote monitoring server, and the shield remotely monitors clothes
Business device includes data acquisition module and receiving module, and the receiving module is used to receive the number that the data processing PC machine issues
According to the data acquisition module is used to save the data that the data processing PC machine received issues, so as to remotely save number
According to enabling measurement data safer.
Preferably, the unearthed measuring device of the shield machine, further includes rolling rumble, and the rumble that rolls is arranged in the skin
Below band conveyer.
Preferably, the center of top of the annular arch is arranged in the laser radar.
Preferably, the communications cable includes telecommunication optical fiber and communication copper cable.
Preferably, the power supply is 220V AC power source.
Preferably, the wireless module is WIFI module.
A kind of unearthed measuring method of the shield machine based on laser radar technique characterized by comprising
The diameter calculation of rolling number combination driving wheel in unit time is gone out the movement velocity of belt by roll counter
Data processing PC machine is transferred to by the communications cable；
Surface sweeping measurement data is transferred to the data processing PC machine by the communications cable by laser radar；
The data processing PC machine receives data that the laser radar issues by the way that measured area is calculated, in conjunction with
Received belt movement speed data calculates dregs per second and is measured by belt side；
The data processing PC machine transmits the calculated dregs per second by side's amount of belt by wireless module
Onto the shield host computer of shield operating room.
Preferably, the measurement data of the laser radar includes scanning distance data and scanning angle data.
Preferably, the measurement method, further includes:
The calculated dregs per second can also be passed through wireless mould by side's amount of belt by the data processing PC machine
Block is transferred in the data collector of shield remote monitoring server, so as to remotely save data, enables measurement data safer.
Compared with the prior art, the embodiment of the present invention has the following beneficial effects:
By measuring the real-time speed of belt conveyor and area of the shield dregs by belt section in the unit time, meter
The unearthed amount of shield machine in the unit time is calculated, to accurately be controlled the shield machine amount of being unearthed, realizes and is protected in tunneling process
The stabilization for holding excavation face soil layer, prevents earth's surface from deforming.
Detailed description of the invention
Fig. 1: for the apparatus structure schematic diagram in the embodiment of the present invention；
Wherein, the appended drawing reference of Figure of description is as follows:
1, belt conveyor, 2, laser radar, 3, annular arch, 4, data processing PC machine, 5, roll counter, 6, electricity
Source, 7, roll rumble, 8, dregs, 9, shield host computer, 10, shield remote monitoring server.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 is please referred to, the preferred embodiment of the present invention provides a kind of unearthed measurement of the shield machine based on 2 technology of laser radar
Amount system, comprising: the unearthed measuring device of shield machine and shield host computer 9,
The unearthed measuring device of the shield machine includes belt conveyor 1, laser radar 2, annular arch 3, data processing
PC machine 4, roll counter 5 and power supply 6, the roll counter 5 are arranged on the driving wheel below the belt conveyor 1,
The annular arch 3 is arranged on the belt conveyor 1, and the setting of laser radar 2 is described in the annular arch 3
Surface sweeping measurement data is transferred to the data processing PC machine 4 by the communications cable by laser radar 2, and the roll counter 5 will
The movement velocity that the diameter calculation of rolling number combination driving wheel in unit time goes out belt is transferred to institute by the communications cable
State data processing PC machine 4, the power supply 6 and the roll counter 5, the belt conveyor 1, the laser radar 2, institute
State the connection of data processing PC machine 4；The data processing PC machine 4 include processor, memory and wireless module, the processor with
The memory, wireless module connection, the data processing PC machine 4 will be handled by the wireless module by processor
Data be sent to the shield host computer 9；
The shield host computer 9 is arranged in shield operating room, and the shield host computer 9 includes processor, wireless receiving
Module and display, the processor are connect with the wireless receiving module and the display respectively, the wireless receiving mould
Block receives the data that the data processing PC machine 4 issues, and is shown data by display.
In the present embodiment, the measuring system further includes shield remote monitoring server 10, and the shield remotely monitors
Server 10 includes data acquisition module and receiving module, and the receiving module is issued for receiving the data processing PC machine 4
Data, the data acquisition module be used for saves receive the data processing PC machine 4 sending data so that remotely
Data are saved, enable measurement data safer.
In the present embodiment, the unearthed measuring device of the shield machine, further includes rolling rumble 7, and the rumble 7 that rolls is arranged described
1 lower section of belt conveyor.
In the present embodiment, the center of top of the annular arch 3 is arranged in the laser radar 2.
In the present embodiment, the communications cable includes telecommunication optical fiber and communication copper cable.
In the present embodiment, the power supply 6 is 220V AC power source 6.
In the present embodiment, the wireless module is WIFI module.
Combined with specific embodiments below, the present invention is described in detail.
Roll counter 5 is installed on the driving wheel below belt conveyor 1, the diameter in conjunction with driving wheel is to calculate
Belt movement speed, this data pass through in cable transmission to data acquisition PC machine.
Laser radar 2 carries out 360 ° of scanning surveys in annular arch 3, in real time by surface sweeping measurement data (distance, angle)
It is transferred in data processing PC machine 4, PC machine calculates annular 3 area of arch in real time.
PC machine combines real-time belt speed, and 8 measured area of dregs carries out calculation processing, exports dregs 8 per second and pass through belt
Fang Liang.
PC machine passes through side per second amount in WiFi wireless network transmissions to the shield host computer 9 of shield operating room or shield is remote
In the data collector of range monitoring system.The accurate control to the unearthed amount of shield is realized in conjunction with current shield driving drilling depth.
Referring to Fig.1, specific calculating process:
1, belt movement speed: VBelt=n × π d unit: m/s
(n is the revolving speed for the driving wheel that counter measures obtain, and d is the diameter of driving wheel)
2, annular arch area: 0.5 × d1 of S=∫ × d2 × Sin α
Illustrate: as shown in Figure 1, d1, d2 are the distance value that lidar measurement obtains, α is laser radar
Obtained angle is measured, in the case where α very little, sectorial area is similar to triangle area, to whole
A annular arch bridge carries out integral calculation, obtains the gross area)
3, dregs sectional area Δ S=SIt is empty-SIt carriesUnit: m2
(SIt is emptyThe area of annular arch when dallying for belt, SIt carriesFor the area for delivering annular arch when dregs)
4, be unearthed speed VDregs=VBelt× Δ S unit: m3/s
The present invention is combined with each other by laser radar 2 and roll counter 5, measurement belt conveyor 1 it is real-time
Speed and shield dregs 8 calculates the unearthed amount of shield machine in the unit time by the area of belt section in the unit time, from
And the shield machine amount of being unearthed accurately is controlled, it realizes the stabilization for keeping excavation face soil layer in tunneling process, prevents earth's surface from deforming.
Particular embodiments described above has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that the above is only a specific embodiment of the present invention, the protection being not intended to limit the present invention
Range.It particularly points out, to those skilled in the art, all within the spirits and principles of the present invention, that is done any repairs
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
- The system for measuring quantity 1. a kind of shield machine based on laser radar technique is unearthed characterized by comprising shield machine, which is unearthed, to be measured Measuring device and shield host computer,The unearthed measuring device of the shield machine includes belt conveyor, laser radar, annular arch, data processing PC machine, rolling Dynamic counter and power supply, the roll counter are arranged on the driving wheel below the belt conveyor, the annular arch It is arranged on the belt conveyor, in the annular arch, the laser radar surveys surface sweeping for the laser radar setting Amount data are transferred to the data processing PC machine by the communications cable, and the roll counter is by the rolling number in the unit time Go out the movement velocity of belt in conjunction with the diameter calculation of driving wheel the data processing PC machine, the electricity are transferred to by the communications cable Source is connect with the roll counter, the belt conveyor, the laser radar, the data processing PC machine；The data Handling PC machine includes processor, memory and wireless module, and the processor is connect with the memory, the wireless module, The data processing PC machine will be sent to the shield host computer by the data of processor processing by the wireless module；The shield host computer is arranged in shield operating room, the shield host computer include processor, wireless receiving module and Display, the processor are connect with the wireless receiving module and the display respectively, and the wireless receiving module receives The data that the data processing PC machine issues, and shown data by display.
- 2. the system as claimed in claim 1, which is characterized in that the measuring system further includes shield remote monitoring server, The shield remote monitoring server includes data acquisition module and receiving module, and the receiving module is for receiving the data The data that PC machine issues are handled, the data acquisition module is used to save the number that the data processing PC machine received issues According to enabling measurement data safer so as to remotely save data.
- 3. the system as claimed in claim 1, which is characterized in that the shield machine is unearthed measuring device, further includes rolling rumble, institute It states and rolls rumble setting below the belt conveyor.
- 4. the system as claimed in claim 1, which is characterized in that the laser radar is arranged in the top of the annular arch Centre.
- 5. the system as claimed in claim 1, which is characterized in that the communications cable includes telecommunication optical fiber and communication copper cable.
- 6. the system as claimed in claim 1, which is characterized in that the power supply is 220V AC power source.
- 7. the system as claimed in claim 1, which is characterized in that the wireless module is WIFI module.
- 8. a kind of measurement method based on system described in claim 1 or claim 2 characterized by comprisingRoll counter passes through the movement velocity that the diameter calculation of the rolling number combination driving wheel in the unit time goes out belt The communications cable is transferred to data processing PC machine；Surface sweeping measurement data is transferred to the data processing PC machine by the communications cable by laser radar；The data processing PC machine receives the data of the laser radar sending by the way that measured area is calculated, in conjunction with reception Belt movement speed data calculate dregs per second and measured by belt side；The calculated dregs per second is transferred to shield by wireless module by side's amount of belt by the data processing PC machine On the shield host computer of structure operating room.
- 9. method according to claim 8, which is characterized in that the measurement data of the laser radar includes scanning distance data With scanning angle data.
- 10. method according to claim 8, which is characterized in that the measurement method, further includes:The data processing PC machine can also be passed the calculated dregs per second by side's amount of belt by wireless module In the defeated data collector to shield remote monitoring server, so as to remotely save data, enable measurement data safer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811546152.6A CN109339803A (en) | 2018-12-18 | 2018-12-18 | A kind of shield machine based on laser radar technique is unearthed system for measuring quantity and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811546152.6A CN109339803A (en) | 2018-12-18 | 2018-12-18 | A kind of shield machine based on laser radar technique is unearthed system for measuring quantity and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109339803A true CN109339803A (en) | 2019-02-15 |
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ID=65304758
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811546152.6A Pending CN109339803A (en) | 2018-12-18 | 2018-12-18 | A kind of shield machine based on laser radar technique is unearthed system for measuring quantity and method |
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| CN (1) | CN109339803A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110161518A (en) * | 2019-05-29 | 2019-08-23 | 北京华电力拓能源科技有限公司 | A kind of volume measuring system and method for drag conveyor |
| CN110439570A (en) * | 2019-08-14 | 2019-11-12 | 张占军 | A kind of digging control method, digging control device and development machine |
| CN111075463A (en) * | 2020-01-10 | 2020-04-28 | 中国矿业大学(北京) | Visual monitoring management method and visual monitoring management system for shield construction unearthing amount |
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| JPS5763415A (en) * | 1980-10-03 | 1982-04-16 | Tekken Kensetsu Co Ltd | Controller for measuring direction of shield excavator |
| JPS58171619A (en) * | 1983-03-14 | 1983-10-08 | Tekken Kensetsu Co Ltd | Device for controlling direction measurement of shield excavator |
| CN102706279A (en) * | 2012-06-19 | 2012-10-03 | 上海地铁盾构设备工程有限公司 | Device for measuring dumping volume of shield construction on line based on profile scanning |
| CN107158759A (en) * | 2017-05-22 | 2017-09-15 | 亚太水处理(天长)有限公司 | A kind of precipitation pool structure with desludging device |
| CN207499877U (en) * | 2017-10-27 | 2018-06-15 | 宏润建设集团股份有限公司 | A kind of gas soil combines balance shield machine |
-
2018
- 2018-12-18 CN CN201811546152.6A patent/CN109339803A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5763415A (en) * | 1980-10-03 | 1982-04-16 | Tekken Kensetsu Co Ltd | Controller for measuring direction of shield excavator |
| JPS58171619A (en) * | 1983-03-14 | 1983-10-08 | Tekken Kensetsu Co Ltd | Device for controlling direction measurement of shield excavator |
| CN102706279A (en) * | 2012-06-19 | 2012-10-03 | 上海地铁盾构设备工程有限公司 | Device for measuring dumping volume of shield construction on line based on profile scanning |
| CN107158759A (en) * | 2017-05-22 | 2017-09-15 | 亚太水处理(天长)有限公司 | A kind of precipitation pool structure with desludging device |
| CN207499877U (en) * | 2017-10-27 | 2018-06-15 | 宏润建设集团股份有限公司 | A kind of gas soil combines balance shield machine |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110161518A (en) * | 2019-05-29 | 2019-08-23 | 北京华电力拓能源科技有限公司 | A kind of volume measuring system and method for drag conveyor |
| CN110439570A (en) * | 2019-08-14 | 2019-11-12 | 张占军 | A kind of digging control method, digging control device and development machine |
| CN111075463A (en) * | 2020-01-10 | 2020-04-28 | 中国矿业大学(北京) | Visual monitoring management method and visual monitoring management system for shield construction unearthing amount |
| CN111075463B (en) * | 2020-01-10 | 2020-11-27 | 中国矿业大学(北京) | Visual monitoring management method and visual monitoring management system for shield construction unearthing amount |
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Application publication date: 20190215 |
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