CN109539992B - Double shield position detecting devices, detection method, guidance system and guidance method - Google Patents
Double shield position detecting devices, detection method, guidance system and guidance method Download PDFInfo
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- CN109539992B CN109539992B CN201910126974.7A CN201910126974A CN109539992B CN 109539992 B CN109539992 B CN 109539992B CN 201910126974 A CN201910126974 A CN 201910126974A CN 109539992 B CN109539992 B CN 109539992B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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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
- G01C15/008—Active optical surveying means combined with inclination sensor
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
A kind of double shield position detecting devices, including laser, photosensitive target and controller, laser is installed on the front end face of stretching shield, photosensitive target is mounted on the rear end face of anterior shield, filming apparatus is equipped in photosensitive target, on the laser light incident to photosensitive target of laser transmitting, laser is connected with controller respectively with filming apparatus.Above-mentioned double shield position detecting devices, by the way that laser is arranged on the front end face of stretching shield, photosensitive target is set on the rear end face of anterior shield, double-shielded TBM is when curved tunnel tunnels, it is taken pictures by photosensitive target built in camera and handles light spot image, the facula deviation amount of anterior shield rear end is obtained, to obtain the horizontal and vertical offset of anterior shield, improves the accuracy of data.In addition, also providing a kind of using double shield method for detecting position of above-mentioned double shield position detecting devices, a kind of double shield guidance systems and a kind of double shield guidance methods using double shield guidance systems.
Description
Technical field
This application involves Tunnel Engineering technical fields, more particularly to a kind of double shield position detecting devices and use this pair
Double shield method for detecting position of shield position detecting device, double shield guidance systems and a kind of using double shield guidance systems
Double shield guidance methods.
Background technique
Double-shielded TBM (Tunel Boring Machine) is one kind of tunneling boring hard rock tunnel development machine, generally by knife
Disk, anterior shield, flexible shield, stretching shield, tail shield, assembling system, belt conveyor, the rear part such as mating form.With Urban Underground
Construction, track transportation industry are fast-developing, and double-shielded TBM can improve that driving speed, to be applicable in rock stratum wide, and be made by rapid popularization
With.
At present both at home and abroad for TBM guidance system mainly by be mounted on anterior shield laser target, be mounted on tunnel duct piece
Four part of the industrial computer composition of total station and rearscope and installation guidance system control software on wall.Guidance system
Measurement is mounted on the basis of the laser beam that the total station being mounted on tunnel duct piece wall issues when sending laser beam is irradiated to
When laser target on TBM anterior shield compared with the axis of laser target, roll angle of the anterior shield relative to total station, pitch angle are obtained
The azimuth and.The distance of laser target and total station is calculated by rearscope, to calculate anterior shield centre coordinate, is owned
These data be transmitted through the cable on the computer of installation guidance system control software, these data and input industrial computer
Tunnel Design axis data compare, to calculate the difference at TBM cutterhead driving center and Tunnel Design axis centre, and handle
Difference is shown on the screen.TBM bridge operation personnel adjust the driving attitude of TBM by the size of difference, to reach
To the driving axis and the consistent purpose of Tunnel Design axis for making tunnel.
However, the anterior shield and stretching shield of traditional double-shielded TBM are linked together by hinged oil cylinder, anterior shield is opposite
It is not fixed in the spatial relation of stretching shield.The posture for only measuring anterior shield can not obtain the posture of stretching shield, guiding essence
Degree not can guarantee.In the measurement process of entire guidance system, the main points of most critical are that the laser beam that total station issues will irradiate
On the laser target of anterior shield.And laser target is mounted on anterior shield, in curved tunnel driving, anterior shield pose is measured, is surveyed
The influence in channel is measured, the laser rays of total station is easily blocked, and the laser of total station can not be got on the laser target of anterior shield, therefore
Also you can't get the postures of anterior shield, influence the accuracy of anterior shield position and attitude data, influence the quality of construction tunnel.
Summary of the invention
In order to solve the above technical problems, the purpose of the present invention is to provide a kind of double shields that can be improved its data precision
Shield position detecting device, double shield method for detecting position, double shield guidance systems and double shield guidance methods.
Technical solution provided by the invention is as follows:
A kind of double shield position detecting devices, including laser, photosensitive target and controller, the laser are installed on stretching
On the front end face of shield, the photosensitive target is mounted on the rear end face of anterior shield, and filming apparatus, the laser are equipped in the photosensitive target
On the laser light incident to the photosensitive target of device transmitting, the laser is connected with the controller respectively with the filming apparatus.
Preferably, the first dipmeter is additionally provided in the photosensitive target.
It preferably, further include mounting bracket, the mounting bracket is mounted on the front end face of the stretching shield, the installation
At least two mounting holes are offered on bracket, the laser is installed on the mounting hole of the mounting bracket.
A kind of double shield method for detecting position using above-mentioned double shield position detecting devices, comprising the following steps:
The laser emits laser to the filming apparatus, and the filming apparatus shoots light spot image, and by the light
Spot image is sent to the controller；
The controller receives the light spot image, and is handled in real time the light spot image, and facula deviation is obtained
Amount；
The facula deviation amount is modified, the hot spot real offset of the anterior shield rear end is obtained.
Preferably, in above-mentioned double shield method for detecting position, it is described it is real-time processing the following steps are included:
Image filtering, image enhancement and binary conversion treatment are carried out to the light spot image, extract the centre bit of laser facula
It sets；
By the photosensitive customized filming apparatus coordinate system of target, the center of the laser facula of the extraction is directly read
Position；
According to the difference of the center of laser facula twice, facula deviation amount is calculated.
Preferably, in above-mentioned double shield method for detecting position, the facula deviation amount is modified, anterior shield rear end is obtained
Hot spot real offset operation are as follows:
Elongation and the photosensitive target of the facula deviation amount in conjunction with the hinged oil cylinder between the anterior shield and stretching shield
On laser beam incident angle, the hot spot real offset of the anterior shield rear end is calculated.
Preferably, in above-mentioned double shield method for detecting position, the incident angle of the laser beam on the photosensitive target by with
Lower method obtains:
The coordinate and laser beam for measuring the laser point are incident to the coordinate of the hot spot point on the photosensitive target；
The laser light incident light beam of the photosensitive target and the angle of the stretching shield axis are calculated, is obtained on the photosensitive target
The incident angle of laser beam.
Preferably, in above-mentioned double shield method for detecting position, the measurement method of the coordinate of the laser point is as follows: using
The measurement of total station non-prism mode, arranges more than two websites first, and geodetic coordinates is transmitted to set on the anterior shield and described
In flexible shield between stretching shield, then total station is set up, directly measures the coordinate of laser point；
The measurement method of the coordinate of the hot spot point is as follows: with total station non-prism mode measure, first arrange two with
Upper website is transmitted to geodetic coordinates in the flexible shield between the anterior shield and the stretching shield, then sets up total station, directly
Connect the coordinate of measurement glossing up point.
Preferably, above-mentioned double shield method for detecting position further include following steps:
Using the pitch angle and roll angle of anterior shield rear end described in the first dipmeter survey in the photosensitive target；
By the pitch angle and roll angle of the anterior shield rear end, the pitch angle and roll angle of the anterior shield front end are obtained.
A kind of double shield guidance systems, including laser, photosensitive target, laser target, total station, rearscope and controller,
The laser is installed on the front end face of stretching shield, and the photosensitive target is mounted on the rear end face of anterior shield, in the photosensitive target
Equipped with filming apparatus and the first dipmeter, the second dipmeter, the laser light incident of the laser transmitting are equipped in the laser target
On to the photosensitive target, the laser target is installed on the rear end face of the stretching shield, the total station and the rearscope
It is set on section of jurisdiction, the total station is set between the laser target and the rearscope, the laser of the total station transmitting
It is incident on the laser target, the laser, the filming apparatus and the total station are connected with the controller respectively.
A kind of double shield guidance methods of above-mentioned double shield guidance systems, comprising the following steps:
The laser emits laser to the filming apparatus, and the filming apparatus shoots light spot image, and by the light
Spot image is sent to the controller；
The controller receives the light spot image, and is handled in real time the light spot image, and facula deviation is obtained
Amount；
The facula deviation amount is modified, the hot spot real offset of the anterior shield rear end is obtained；
In conjunction with the pitch angle and roll angle of stretching shield rear end and the pitch angle and roll angle of the anterior shield front end,
Establish the Coordinate Transformation Models of the anterior shield, the stretching shield, the total station, the laser target, the photosensitive target；
Angle p is calculated according to the hot spot real offset of the anterior shield rear end, it is described according to the angle p
The elongation of hinged oil cylinder between anterior shield and the stretching shield, the pitch angle and roll angle of stretching shield, in stretching shield backing
The centre coordinate of the anterior shield rear end is calculated in heart coordinate and the Coordinate Transformation Models；
The attitude data of stretching shield front end is obtained by the attitude data of stretching shield rear end；
By the real-time attitude data of the anterior shield rear end, the attitude data of the anterior shield front end is obtained.
Preferably, in double shield guidance methods of above-mentioned double shield guidance systems, it is described it is real-time processing the following steps are included:
Image filtering, image enhancement and binary conversion treatment are carried out to the light spot image, extract the centre bit of laser facula
It sets；
By the photosensitive customized filming apparatus coordinate system of target, the center of the laser facula of the extraction is directly read
Position；
The difference for calculating the center of laser facula twice, obtains facula deviation amount.
Preferably, in double shield guidance methods of above-mentioned double shield guidance systems, the facula deviation amount is modified,
Obtain the operation of the hot spot real offset of anterior shield rear end are as follows:
Elongation and the sense of the facula deviation amount in conjunction with the hinged oil cylinder between the anterior shield and the stretching shield
The hot spot real offset of the anterior shield rear end is calculated in the incident angle of laser beam on light target.
Preferably, in double shield guidance methods of above-mentioned double shield guidance systems, laser beam on the photosensitive target enters
Firing angle degree obtains by the following method:
The coordinate and laser beam for measuring the laser point are incident to the coordinate of the hot spot point on the photosensitive target；
The laser light incident light beam of the photosensitive target and the angle of the stretching shield axis are calculated, is obtained on the photosensitive target
The incident angle of laser beam.
Preferably, in double shield guidance methods of above-mentioned double shield guidance systems, the survey of the coordinate of the laser point
Amount method is as follows: being measured with total station non-prism mode, arranges more than two websites first, geodetic coordinates is transmitted to set on institute
It states in the flexible shield between anterior shield and the stretching shield, then sets up total station, directly measure the coordinate of laser point；
The measurement method of the coordinate of the hot spot point is as follows: with total station non-prism mode measure, first arrange two with
Upper website is transmitted to geodetic coordinates in the flexible shield between the anterior shield and the stretching shield, then sets up total station, directly
Connect the coordinate of measurement glossing up point.
Preferably, in double shield guidance methods of above-mentioned double shield guidance systems, the attitude data of stretching shield rear end
At least one of azimuth, centre coordinate, pitch angle and roll angle including stretching shield rear end, wherein the stretching
The pitch angle and roll angle of shield rear end are obtained by the second dipmeter survey in the laser target.
Preferably, in double shield guidance methods of above-mentioned double shield guidance systems, the azimuth of stretching shield rear end and
Centre coordinate measures by the following method:
Laser target described in the total station survey obtains azimuth and the coordinate of the laser target, is converted according to the coordinate
Model, obtain stretching shield rear end azimuth and the stretching shield back-end central coordinate.
Preferably, in double shield guidance methods of above-mentioned double shield guidance systems, the real-time attitude number of the anterior shield rear end
According at least one of azimuth, centre coordinate, pitch angle and roll angle including the anterior shield rear end, wherein the anterior shield
The pitch angle and roll angle of rear end are obtained by the first dipmeter survey in the photosensitive target.
Preferably, in double shield guidance methods of above-mentioned double shield guidance systems, the azimuth of the anterior shield rear end passes through
Following steps obtain: the centre coordinate of the anterior shield anterior shield is calculated according to the centre coordinate of the anterior shield rear end, it will be described
The centre coordinate of anterior shield front end and the centre coordinate of the anterior shield rear end are calculated.
Above-mentioned double shield position detecting devices, by the way that laser is arranged on the front end face of stretching shield, in the rear end of anterior shield
Photosensitive target is set on face, and double-shielded TBM is taken pictures by photosensitive target built in camera when curved tunnel is tunneled and handles hot spot figure
Picture obtains hot spot real offset, so as to obtain the horizontal and vertical offset of anterior shield in real time.And in measurement process, clap
Device is taken the photograph in photosensitive target, shooting at close range laser facula reduces extraneous influence, and image noise is small, good imaging quality, obtains
Coordinate is accurate, improves the accuracy of data.
Above-mentioned double shield method for detecting position, the laser on the front end face of stretching shield emit the rear end face of laser to anterior shield
On photosensitive target, double-shielded TBM curved tunnel tunnel when, taken pictures by photosensitive target built in camera and handle light spot image,
Hot spot real offset is obtained, so as to obtain the horizontal and vertical offset of anterior shield in real time.And in measurement process, shooting dress
It sets in photosensitive target, shooting at close range laser facula reduces extraneous influence, and image noise is small, good imaging quality, obtains coordinate
Accurately, the accuracy of data is improved.
Above-mentioned double shield guidance systems, by the way that laser is arranged on the front end face of stretching shield, on the rear end face of anterior shield
Photosensitive target is set, double-shielded TBM is taken pictures by photosensitive target built in camera when curved tunnel is tunneled and handles light spot image,
The horizontal and vertical offset of anterior shield can be obtained.By setting laser and photosensitive target, directly laser is got on photosensitive target, is shot
Device is in photosensitive target, and shooting at close range laser facula reduces extraneous influence, and image noise is small, good imaging quality, obtains and sits
Standard is true, improves the accuracy of data.And first dipmeter can measure and obtain the pitch angle and roll angle of anterior shield rear end, second
Dipmeter can measure and obtain the pitch angle and roll angle of stretching shield rear end, and stretching shield rear end also can be obtained in total station survey laser target
Azimuth and centre coordinate.By establishing Coordinate Transformation Models, the centre coordinate of anterior shield rear end can be calculated.Due to support
Tight shield and anterior shield are all rigid structures, so as to which the attitude data of stretching shield front end and anterior shield front end is calculated.Therefore, on
Stating double shield guidance systems can be with the posture of 4 points of real-time display anterior shield front and back end and stretching shield front and back end.
Above-mentioned double shield guidance methods, on the laser transmitting laser to the rear end face of anterior shield on the front end face of stretching shield
Photosensitive target, double-shielded TBM are taken pictures by photosensitive target built in camera when curved tunnel is tunneled and handle light spot image, obtained
The horizontal and vertical offset of anterior shield, improves the accuracy of data.And first dipmeter can measure obtain the pitching of anterior shield rear end
Angle and roll angle, the second dipmeter can measure and obtain the pitch angle and roll angle of stretching shield rear end, and total station survey laser target is also
Azimuth and the centre coordinate of stretching shield rear end can be obtained.By establishing Coordinate Transformation Models, anterior shield rear end can be calculated
Centre coordinate.Since stretching shield and anterior shield are all rigid structures, so as to which stretching shield front end and anterior shield front end is calculated
Attitude data.Therefore, use above-mentioned double shield guidance methods can be with real-time display anterior shield front and back end and stretching shield front and back end four
The posture of point.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of double shield position detecting devices provided in an embodiment of the present invention；
Fig. 2 is a kind of structural schematic diagram of double shield guidance systems provided in an embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the mounting bracket of an embodiment；
Fig. 4 is double shield method for detecting position using double shield position detecting devices shown in FIG. 1 of an embodiment
Flow diagram；
Fig. 5 is the process signal of double shield guidance methods using double shield guidance systems shown in Fig. 2 of an embodiment
Figure.
Fig. 6 is the overlooking structure diagram of the installation site of laser and photosensitive target；
Fig. 7 is the overlooking structure diagram for calculating actual facula offset.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below in conjunction with the application reality
The attached drawing in example is applied, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described implementation
Example is merely a part but not all of the embodiments of the present application.Based on the embodiment in the application, this field is common
The application protection all should belong in technical staff's every other embodiment obtained without making creative work
Range.
Referring to FIG. 1, a kind of double shield position detecting devices, including (figure is not for laser 10, photosensitive target 20 and controller
Show), laser 10 is installed on the front end face of stretching shield 200, and photosensitive target 20 is mounted on the rear end face of anterior shield 100, photosensitive target
On the laser light incident to photosensitive target 20 emitted in 20 equipped with filming apparatus (not shown), laser 10, laser 10 and shooting dress
It sets and is connected respectively with controller.
Above-mentioned double shield position detecting devices, by the way that laser 10 is arranged on the front end face of stretching shield 200, in anterior shield
Photosensitive target 20 is set on 100 rear end face, and double-shielded TBM passes through photosensitive 20 built in camera of target when curved tunnel tunnels
It takes pictures and handles light spot image, obtain hot spot real offset, so as to obtain the horizontal and vertical offset of anterior shield 100 in real time
Amount.By setting laser 10 and photosensitive target 20, directly laser is got on photosensitive target 20, filming apparatus in photosensitive target 20,
Shooting at close range laser facula reduces extraneous influence, and image noise is small, good imaging quality, and acquisition coordinate is accurate, improves number
According to accuracy.Guarantee that tunnel precision and safety and equipment correction provide foundation in the construction process for double-shielded TBM, it is right
Pipe sheet assembling has directive significance.
Above-mentioned double shield position detecting devices, datum mark are lasers 10, and laser 10 is mounted on stretching shield 200, are
Stable, it emits beam of laser and directly beats on photosensitive target 20, and Measurement channel requires very little, and strong antijamming capability, photosensitive
Target 20 is mounted on anterior shield 100, can directly reflect the true posture of anterior shield 100.Wherein, the first inclination is additionally provided in photosensitive target 20
Instrument.
Specifically, the first dipmeter is used to measure the pitch angle and roll angle of 100 rear end of anterior shield.
Wherein, filming apparatus can be CCD camera.
Wherein, where controller is mounted on control room rear on the column of trolley.Controller passes through network cable and control
Indoor industrial personal computer transmits data.
Referring to FIG. 3, above-mentioned double shield position detecting devices further include mounting bracket 400, mounting bracket 400 is mounted on support
On the front end face of tight shield 200, at least two mounting holes 410 are offered in mounting bracket 400, laser 10 is installed on mounting bracket
On 400 mounting hole 410.
Further, the quantity of mounting hole 410 is 9, and 9 mounting holes 410 are arranged in 3 × 3 matrix-style.
By the way that 9 apertures 410 are arranged, convenient for adjusting the installation site of laser 10, because to ensure that laser 10 issues
Light get on 20 center of photosensitive target on 100 rear end of anterior shield, after mounting bracket 100 is welded, laser can also be moved
10 are placed in different holes and adjust position.
Above-mentioned double shield position detecting devices can be used in the guidance system of double-shielded TBM.
Referring to FIG. 2, a kind of double shield guidance systems, including above-mentioned double shield position detecting devices, laser target 30, whole station
Instrument 40 and rearscope 50.Referring to FIG. 1, double shield position detecting devices include laser 10, photosensitive target 20 and controller
(not shown), laser 10 are installed on the front end face of stretching shield 200, and photosensitive target 20 is mounted on the rear end face of anterior shield 100, sense
On the laser light incident to photosensitive target 20 emitted in light target 20 equipped with filming apparatus (not shown), laser 10, laser target 30 is installed
In on the rear end face of stretching shield 200, total station 40 and rearscope 50 are set on section of jurisdiction 300, and total station 40 is set to laser target
Between 30 and rearscope 50, on the laser light incident to laser target 30 that total station 40 emits, laser 10, filming apparatus and whole station
Instrument 40 is connected with controller respectively.
The first dipmeter is equipped in photosensitive target 20.First dipmeter is used to measure pitch angle and the rolling of 100 rear end of anterior shield
Angle.The second dipmeter is equipped in laser target 30.Second dipmeter is used to measure the pitch angle and roll angle of 200 rear end of stretching shield.
Above-mentioned double shield guidance systems, by the way that laser 10 is arranged on the front end face of stretching shield 200, in anterior shield 100
Photosensitive target 20 is set on rear end face, and double-shielded TBM is taken pictures place when curved tunnel is tunneled by photosensitive 20 built in camera of target
Light spot image is managed, the horizontal and vertical offset of anterior shield 100 is obtained.By setting laser 10 and photosensitive target 20, directly sharp
Light is got on photosensitive target 20, and for filming apparatus in photosensitive target 20, shooting at close range laser facula reduces extraneous influence, image
Noise is small, good imaging quality, and acquisition coordinate is accurate, improves the accuracy of data.And first dipmeter can measure obtain anterior shield
The pitch angle and roll angle of 100 rear ends, the second dipmeter can measure and obtain the pitch angle and roll angle of 200 rear end of stretching shield, entirely
Azimuth and the centre coordinate of 200 rear end of stretching shield also can be obtained in instrument 40 of standing measurement laser target.By establishing Coordinate Transformation Models,
The centre coordinate of 100 rear end of anterior shield can be calculated.Since stretching shield 200 and anterior shield 100 are all rigid structures, so as to
The attitude data of 100 front end of 200 front end of stretching shield and anterior shield is calculated.Therefore, above-mentioned double shield guidance systems can be real-time
Show the posture of 4 points of 100 front and back end of anterior shield and 200 front and back end of stretching shield.And since stretching shield 200 and tail shield are rigid connections,
It can also calculate the deviation of tail shield.Above-mentioned double shield guidance systems obtain the posture of stretching shield 200 by laser 10, then
The offset of anterior shield 100 is obtained in conjunction with photosensitive target 20 and laser 10, to obtain 100 front and back end of anterior shield, 200 front and back of stretching shield
The guiding posture for holding four points, can instruct pipe sheet assembling.Guarantee tunnel precision and safety in the construction process for double-shielded TBM
And equipment correction provides foundation, has directive significance to pipe sheet assembling.
Wherein, filming apparatus can be CCD camera.
Wherein, where controller is mounted on control room rear on the column of trolley.Controller passes through network cable and control
Indoor industrial personal computer transmits data.
Referring to FIG. 2, above-mentioned double shield guidance systems further include mounting bracket 400, mounting bracket 400 is mounted on stretching shield
On 200 front end face, at least two mounting holes 410 are offered in mounting bracket 400, laser 10 is installed on mounting bracket 400
Mounting hole 410 on.
Further, the quantity of mounting hole 410 is 9, and 9 mounting holes 410 are arranged in 3 × 3 matrix-style.By setting
9 apertures 410 are set, convenient for adjusting the installation site of laser 10, because after ensuring that the light of laser sending gets to anterior shield 100
On 20 center of photosensitive target on end, after mounting bracket 100 is welded, laser 10 can also be moved and be placed in different holes
Adjust position.
Referring to FIG. 4, a kind of double shield method for detecting position using above-mentioned double shield position detecting devices, including it is following
Step:
S10, laser emit laser to filming apparatus, and filming apparatus shoots light spot image, and light spot image is sent to
Controller.
S20, controller light spot received image, and light spot image is handled in real time, obtain facula deviation amount.
S30, facula deviation amount is modified, obtains the hot spot real offset of anterior shield rear end.
Above-mentioned double shield method for detecting position, the laser 10 on the front end face of stretching shield 200 emit laser to anterior shield 100
Rear end face on photosensitive target 20, double-shielded TBM taken pictures place when curved tunnel is tunneled by photosensitive 20 built in camera of target
Light spot image is managed, hot spot real offset is obtained, to obtain the horizontal and vertical offset of anterior shield 100 in real time.Swashed by being arranged
Light device 10 and photosensitive target 20 are directly got to laser on photosensitive target 20, and filming apparatus is in photosensitive target 20, shooting at close range laser
Hot spot reduces extraneous influence, and image noise is small, good imaging quality, and acquisition coordinate is accurate, improves the accuracy of data.For
Double-shielded TBM guarantees that tunnel precision and safety and equipment correction provide foundation in the construction process, has finger to pipe sheet assembling
Lead meaning.
Wherein, in S20, in real time processing the following steps are included:
S22, image filtering, image enhancement and binary conversion treatment are carried out to light spot image, extracts the centre bit of laser facula
It sets.
S24, pass through the customized filming apparatus coordinate system of photosensitive target, directly read the centre bit of the laser facula of extraction
It sets.
S26, the difference for calculating the center of laser facula twice, obtain facula deviation amount.
In S26, facula deviation amount includes hot spot horizontal offset and hot spot offset of vertical amount.
Wherein, in S30, facula deviation amount is modified, obtains the operation of the hot spot real offset of anterior shield rear end are as follows:
The elongation of telescopic oil cylinder between facula deviation amount combination anterior shield and stretching shield and the laser beam on photosensitive target
The hot spot real offset of anterior shield rear end is calculated in incident angle.
Wherein, the incident angle of the laser beam on photosensitive target obtains by the following method:
S222, the coordinate for measuring laser point and laser beam are incident to the coordinate of the hot spot point on photosensitive target.
The angle of S224, the laser light incident light beam for calculating photosensitive target and stretching shield axis, obtain the laser beam on photosensitive target
Incident angle.
Wherein, the measurement method of the coordinate of laser point is as follows: being measured with total station non-prism mode, arranges two first
A above website is transmitted to geodetic coordinates in the flexible shield between anterior shield and stretching shield, then sets up total station, directly surveys
Measure the coordinate of laser point.
Website refers to the position that total station is set up.Total station needs to be erected at this, just can be carried out subsequent measurement, arrangement station
Point is generally exactly that clip is welded somewhere.
The measurement method of the coordinate of hot spot point is as follows: being measured with total station non-prism mode, first the more than two stations of arrangement
Point is transmitted to geodetic coordinates in the flexible shield between anterior shield and stretching shield, then sets up total station, directly measurement glossing up
The coordinate of point.
Wherein, in S30, the hot spot real offset of anterior shield rear end is to be obtained by photosensitive target, and photosensitive target is mounted on
The hot spot real offset of anterior shield rear end, i.e. anterior shield rear end is the horizontal and vertical offset of anterior shield rear end.
Specifically, the incident angle of the laser beam on photosensitive target calculates:
Referring to FIG. 6, Fig. 6 is the overlooking structure diagram (side of being in figure of the installation site of laser 10 and photosensitive target 20
Just it describes, drawn angle enlargement is many).In figure, laser 10 is installed on the front end face of stretching shield 200, and photosensitive target 20 is installed on
The rear end face of anterior shield 100.Stretching shield 200 and anterior shield 100 are connected by telescopic oil cylinder 60 and telescopic oil cylinder 70.
If laser 10 is installed vertically, as soon as the light beam of transmitting is a horizontal line, do not pressed from both sides with the axis of stretching shield 200
Angle.But in actual laser installment work, since it is desired that mounting frame of laser is first welded in stretching shield end face with welding rod point
On, artificial to measure bracket both sides to the distance of stretching shield by graduated scale, graduated scale minimum resolution is 1mm.Human eye goes to differentiate,
There will be error within 1mm.In addition, artificial four angles of spot welding, when due to spot welding, hand steered the strength and intensity of bracket lip of people
Difference, bracket inevitably have certain movement (very little), and to sum up the distance of the position at four angles to stretching shield has error, can not
Guarantee completely vertical.Therefore, because laser 10 is difficult to accomplish the right angle setting on stretching shield 200, transmitting light beam is not horizontal,
There is certain angle.
The nearly distal end coordinate of known laser beam is A (x1, y1, z1), B (x2, y2, z2)
Laser beam equation can be listed are as follows:
Above-mentioned laser beam equation indicates that the space line equation that two laser points are constituted, (x, y, z) are on laser beam
The coordinate of any one point.
It can obtain the incident angle of laser beam:
Level angle are as follows:
θ=arctan((y2-y1)/(x2-x1))
Vertical drift angle are as follows:
ω=arctan((z2-z1)/((x2-x1)2+(y2-y1)2)1/2)
In S30, facula deviation amount corrected Calculation mode is as follows:
Fig. 7 is the simplification figure (by taking hot spot horizontal offset as an example) for calculating actual facula offset, is corrected due to laser
Hot spot real offset caused by out of plumb is installed, this figure is top view.Photosensitive 20 coordinate system X-axis of target, laser beam 80 emit extremely
On photosensitive target 20, photosensitive target 20 has photosensitive pinwheel 22.Laser beam 80 is got on photosensitive target 20, initial reading be xp1 (xp1,
0), after telescopic oil cylinder (flexural pivot oil cylinder) elongation L, it is assumed that anterior shield after deflection angle α 2, gets to a1 point (xa1,0) to the left.
Assuming that anterior shield horizontal deflection angle is α 2 when anterior shield deflects, anterior shield vertical deflection angle is α 3.
The simplification algorithm of anterior shield horizontal deflection angle α 2 are as follows: 2=arctan of α (Lb-La)/D, wherein Lb, La are left and right respectively
The average length of telescopic oil cylinder, D are the distance between left and right telescopic oil cylinders, and D is fixed, design value.
The simplification algorithm of anterior shield vertical deflection angle α 3 are as follows: 3=arctan of α (Ld-Lc)/E, wherein Ld, Lc are upper and lower respectively
The average length of telescopic oil cylinder, E are the distance between upper and lower oil cylinders, and E is fixed, design value.
Known xp1, xa1；Dq is anterior shield length, and θ is laser incidence angle horizontal component, and ω is that laser incidence angle is vertical
Component, α 2 are anterior shield horizontal deflection angle, and α 3 is anterior shield vertical deflection angle.Above-mentioned parameter is known.
The hot spot real standard offset of anterior shield calculates are as follows:
Hot spot real standard offset Δ xh=xa1-xp1+L × tan θ of anterior shield rear end, wherein xa1-xp1 is according to S26
Obtained facula deviation amount.
Hot spot real standard offset Δ xq=xa2-xp2+L × tan θ of anterior shield front end；
Wherein, xp2=xp1-dq × tan θ；xa2=xa1-dq×tan(θ-α2)；
Wherein, xp2, which indicates to calculate, arrives anterior shield front end, and the hot spot of laser point deviates the initial level numerical value of photosensitive pinwheel.
Xa2, which indicates to calculate, arrives anterior shield front end, and after oil cylinder elongation, the hot spot of laser point deviates the horizontal values of photosensitive pinwheel.Because swashing
The laser of light device transmitting terminal is only got on the photosensitive target surface on anterior shield rear end, and the numerical value of anterior shield front end, which assumes that, extends laser rays
It calculates to obtain to anterior shield front end.
Similarly, the practical vertical offset of the hot spot of anterior shield calculates are as follows:
The practical vertical offset Δ yh=yp1-ya1+L of the hot spot of anterior shield rear end × tan ω, wherein according to yp1-ya1
The facula deviation amount that S26 is obtained.
The practical vertical offset Δ yq=yp2-ya2+L of the hot spot of anterior shield front end × tan ω.
Wherein, yp2=yp1+dq × tan ω；ya2=ya1+dq×tan(ω-α3)；
Wherein, yp2, which indicates to calculate, arrives anterior shield front end, and the hot spot of laser point deviates the initial perpendicular numerical value of photosensitive pinwheel,
Ya2, which indicates to calculate, arrives anterior shield front end, and after oil cylinder elongation, the hot spot of laser point deviates the vertical numerical of photosensitive pinwheel.
Facula deviation amount is modified, the true excursions amount of available anterior shield, to calculate correct deviation, is improved
The accuracy of data.If do not corrected, the laser beam launched be it is oblique, oil cylinder extend, distance increase after, swash
Light light is got on photosensitive target, and photosensitive target reading can become larger than true plot, and data are untrue.
Above-mentioned double shield method for detecting position, can also include the following steps:
S40, using the pitch angle and roll angle of the first dipmeter survey anterior shield rear end in photosensitive target.
S50, pitch angle and roll angle by anterior shield rear end, obtain the pitch angle and roll angle of anterior shield front end.
By S40 and S50, the real-time attitude of available anterior shield rear end.Since anterior shield is rigid, the appearance of anterior shield front end
State data can directly be calculated by the attitude data of anterior shield rear end and be obtained.
Referring to FIG. 5, a kind of double shield guidance methods using above-mentioned double shield guidance systems, comprising the following steps:
S110, laser emit laser to filming apparatus, and filming apparatus shoots light spot image, and light spot image is sent to
Controller.
S120, controller light spot received image, and light spot image is handled in real time, obtain facula deviation amount.
S130, facula deviation amount is modified, obtains the hot spot real offset of anterior shield rear end.
The pitch angle and roll angle of S140, the pitch angle in conjunction with stretching shield rear end and roll angle and anterior shield front end are established
Anterior shield, stretching shield, total station, laser target, photosensitive target Coordinate Transformation Models.
S150, angle p is calculated according to the hot spot real offset of anterior shield rear end, according to angle p, anterior shield and stretching shield
Between hinged oil cylinder elongation, the pitch angle and roll angle of stretching shield, the centre coordinate and coordinate of stretching shield backing turn
The centre coordinate of anterior shield rear end is calculated in mold changing type.
S160, the attitude data of stretching shield front end is obtained by the attitude data of stretching shield rear end.
S170, the real-time attitude data by anterior shield rear end, obtain the attitude data of anterior shield front end.
Above-mentioned double shield guidance methods, after the laser 10 on the front end face of stretching shield 200 emits laser to anterior shield 100
Photosensitive target 20 on end face, for double-shielded TBM when curved tunnel tunnels, 100 offset of anterior shield can be according to photosensitive target 20 and control
Device processed obtains in real time, and is taken pictures by photosensitive 20 built in camera of target and handle light spot image, and it is horizontal and vertical to obtain anterior shield 100
Offset is directly got to laser on photosensitive target 20, filming apparatus is in photosensitive target 20 by setting laser 10 and photosensitive target 20
Interior, shooting at close range laser facula reduces extraneous influence, and image noise is small, good imaging quality, and acquisition coordinate is accurate, improves
The accuracy of data.And first dipmeter can measure obtain the pitch angle and roll angle of 100 rear end of anterior shield, the second dipmeter can
Measurement obtains the pitch angle and roll angle of 200 rear end of stretching shield, and total station 40, which measures laser target, also can be obtained 200 rear end of stretching shield
Azimuth and centre coordinate.By establishing Coordinate Transformation Models, the centre coordinate of 100 rear end of anterior shield can be calculated.By
In stretching shield 200 and anterior shield 100 be all rigid structure, so as to which 100 front end of 200 front end of stretching shield and anterior shield is calculated
Attitude data.Therefore, use above-mentioned double shield guidance methods can be with 200 front and back of 100 front and back end of real-time display anterior shield and stretching shield
4 points of posture is held, and since stretching shield 200 and tail shield are rigid connections, can also calculate the deviation of tail shield, for double shields
TBM guarantees that tunnel precision and safety and equipment correction provide foundation in the construction process, has directive significance to pipe sheet assembling.
The step of S110 to the S140 and S10 to S40 of front, is identical, and details are not described herein.
In S140, the pitch angle and roll angle of stretching shield rear end pass through the second dipmeter survey in laser target.After anterior shield
The pitch angle and roll angle at end pass through the first dipmeter survey in photosensitive target.
In S160, the attitude data of stretching shield rear end includes azimuth, centre coordinate, pitch angle and the rolling of stretching shield rear end
At least one of dynamic angle.
Further, the azimuth of stretching shield rear end and centre coordinate measure by the following method: total station survey laser
Target obtains azimuth and the coordinate of laser target, according to Coordinate Transformation Models, after obtaining azimuth and the stretching shield of stretching shield rear end
Hold centre coordinate.
In S170, the real-time attitude data of anterior shield rear end include at least pitch angle, roll angle, the centre coordinate of anterior shield rear end
At least one of with azimuth.
Further, the azimuth of anterior shield rear end obtains by the following method:
The centre coordinate of anterior shield anterior shield is calculated according to the centre coordinate of anterior shield rear end, by the center of the anterior shield front end
Coordinate and the centre coordinate of the anterior shield rear end are calculated.
Therefore, by above-mentioned double shield guidance methods, the real-time attitude of available anterior shield rear end and stretching shield rear end
Attitude data, wherein the real-time attitude of anterior shield rear end include the centre coordinate of anterior shield rear end, pitch angle, roll angle, in azimuth
At least one.The attitude data of stretching shield rear end includes coordinate, roll angle, the pitch angle, azimuth of stretching shield back-end central
At least one of.Since anterior shield is rigid, the attitude data of anterior shield front end can be direct by the attitude data of anterior shield rear end
Reckoning obtains.Since stretching shield is rigid, the attitude data of stretching shield front end can be straight by the attitude data of stretching shield rear end
It connects reckoning to obtain, since stretching shield and tail shield are rigid connections, can also calculate the deviation of tail shield.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (18)
1. a kind of double shield position detecting devices, which is characterized in that including laser, photosensitive target and controller, the laser
It is installed on the front end face of stretching shield, the photosensitive target is mounted on the rear end face of anterior shield, and shooting dress is equipped in the photosensitive target
Set, on the laser light incident to the photosensitive target of laser transmitting, the laser and the filming apparatus respectively with it is described
Controller connection；
Double shield method for detecting position of double shield position detecting devices, comprising the following steps:
The laser emits laser to the filming apparatus, and the filming apparatus shoots light spot image, and by the hot spot figure
As being sent to the controller；
The controller receives the light spot image, and is handled in real time the light spot image, and facula deviation amount is obtained；
The facula deviation amount is modified, the hot spot real offset of the anterior shield rear end is obtained；
Wherein, the facula deviation amount is modified, obtains the operation of the hot spot real offset of anterior shield rear end are as follows:
Elongation and the photosensitive target of the facula deviation amount in conjunction with the hinged oil cylinder between the anterior shield and the stretching shield
On laser beam incident angle, the hot spot real offset of the anterior shield rear end is calculated.
2. double shield position detecting devices as described in claim 1, which is characterized in that be additionally provided with first in the photosensitive target and incline
Oblique instrument.
3. double shield position detecting devices as described in claim 1, which is characterized in that it further include mounting bracket, the installation
Bracket is mounted on the front end face of the stretching shield, and at least two mounting holes, the laser are offered in the mounting bracket
It is installed on the mounting hole of the mounting bracket.
4. a kind of double shield method for detecting position using double shield position detecting devices as described in claim 1, feature
It is, comprising the following steps:
The laser emits laser to the filming apparatus, and the filming apparatus shoots light spot image, and by the hot spot figure
As being sent to the controller；
The controller receives the light spot image, and is handled in real time the light spot image, and facula deviation amount is obtained；
The facula deviation amount is modified, the hot spot real offset of the anterior shield rear end is obtained；
The facula deviation amount is modified, the operation of the hot spot real offset of anterior shield rear end is obtained are as follows:
Elongation and the photosensitive target of the facula deviation amount in conjunction with the hinged oil cylinder between the anterior shield and the stretching shield
On laser beam incident angle, the hot spot real offset of the anterior shield rear end is calculated.
5. double shield method for detecting position as claimed in claim 4, which is characterized in that the real-time processing includes following step
It is rapid:
Image filtering, image enhancement and binary conversion treatment are carried out to the light spot image, extract the center of laser facula；
By the photosensitive customized filming apparatus coordinate system of target, the centre bit of the laser facula of the extraction is directly read
It sets；
According to the difference of the center of laser facula twice, facula deviation amount is calculated.
6. shield method for detecting position as claimed in claim 4 double, which is characterized in that laser beam on the photosensitive target enters
Firing angle degree obtains by the following method:
The coordinate and laser beam for measuring the laser point are incident to the coordinate of the hot spot point on the photosensitive target；
The laser light incident light beam of the photosensitive target and the angle of the stretching shield axis are calculated, the laser on the photosensitive target is obtained
The incident angle of beam.
7. double shield method for detecting position as claimed in claim 6, which is characterized in that
The measurement method of the coordinate of the laser point is as follows: with total station non-prism mode measure, first arrange two with
Upper website is transmitted to geodetic coordinates in the flexible shield between the anterior shield and the stretching shield, then sets up total station, directly
Connect the coordinate for measuring laser point；
The measurement method of the coordinate of the hot spot point is as follows: being measured with total station non-prism mode, first the more than two stations of arrangement
Point is transmitted to geodetic coordinates in the flexible shield between the anterior shield and the stretching shield, then sets up total station, directly surveys
Measure the coordinate of hot spot point.
8. double shield method for detecting position as claimed in claim 4, which is characterized in that further include following steps:
Using the pitch angle and roll angle of anterior shield rear end described in the first dipmeter survey in the photosensitive target；
By the pitch angle and roll angle of the anterior shield rear end, the pitch angle and roll angle of the anterior shield front end are obtained.
9. a kind of double shield guidance systems, which is characterized in that including laser, photosensitive target, laser target, total station, rearscope
And controller, the laser are installed on the front end face of stretching shield, the photosensitive target is mounted on the rear end face of anterior shield, described
It is equipped with filming apparatus and the first dipmeter in photosensitive target, the second dipmeter is equipped in the laser target, the laser transmitting
On laser light incident to the photosensitive target, the laser target is installed on the rear end face of the stretching shield, the total station and described
Rearscope is set on section of jurisdiction, and the total station is set between the laser target and the rearscope, the total station hair
On the laser light incident penetrated to the laser target, the laser, the filming apparatus and the total station respectively with the control
Device connection；
Double shield guidance methods of double shield guidance systems, comprising the following steps:
The laser emits laser to the filming apparatus, and the filming apparatus shoots light spot image, and by the hot spot figure
As being sent to the controller；
The controller receives the light spot image, and is handled in real time the light spot image, and facula deviation amount is obtained；
The facula deviation amount is modified, the hot spot real offset of the anterior shield rear end is obtained；
In conjunction with the pitch angle and roll angle of stretching shield rear end and the pitch angle and roll angle of the anterior shield front end, establish
The anterior shield, the stretching shield, the total station, the laser target, the photosensitive target Coordinate Transformation Models；
Angle p is calculated according to the hot spot real offset of the anterior shield rear end, according to the angle p, the anterior shield
The center of the elongation of hinged oil cylinder between the stretching shield, the pitch angle and roll angle of stretching shield, stretching shield backing is sat
Mark and the Coordinate Transformation Models, are calculated the centre coordinate of the anterior shield rear end；
The attitude data of stretching shield front end is obtained by the attitude data of stretching shield rear end；
By the real-time attitude data of the anterior shield rear end, the attitude data of the anterior shield front end is obtained.
10. a kind of double shield guidance methods using double shield guidance systems as claimed in claim 9, which is characterized in that packet
Include following steps:
The laser emits laser to the filming apparatus, and the filming apparatus shoots light spot image, and by the hot spot figure
As being sent to the controller；
The controller receives the light spot image, and is handled in real time the light spot image, and facula deviation amount is obtained；
The facula deviation amount is modified, the hot spot real offset of the anterior shield rear end is obtained；
In conjunction with the pitch angle and roll angle of stretching shield rear end and the pitch angle and roll angle of the anterior shield front end, establish
The anterior shield, the stretching shield, the total station, the laser target, the photosensitive target Coordinate Transformation Models；
Angle p is calculated according to the hot spot real offset of the anterior shield rear end, according to the angle p, the anterior shield
The center of the elongation of hinged oil cylinder between the stretching shield, the pitch angle and roll angle of stretching shield, stretching shield backing is sat
Mark and the Coordinate Transformation Models, are calculated the centre coordinate of the anterior shield rear end；
The attitude data of stretching shield front end is obtained by the attitude data of stretching shield rear end；
By the real-time attitude data of the anterior shield rear end, the attitude data of the anterior shield front end is obtained.
11. shield guidance methods as claimed in claim 10 double, which is characterized in that the real-time processing the following steps are included:
Image filtering, image enhancement and binary conversion treatment are carried out to the light spot image, extract the center of laser facula；
By the photosensitive customized filming apparatus coordinate system of target, the centre bit of the laser facula of the extraction is directly read
It sets；
The difference for calculating the center of laser facula twice, obtains facula deviation amount.
12. double shield guidance methods as claimed in claim 10, which is characterized in that the facula deviation amount is modified,
Obtain the operation of the hot spot real offset of anterior shield rear end are as follows:
Elongation and the photosensitive target of the facula deviation amount in conjunction with the hinged oil cylinder between the anterior shield and the stretching shield
On laser beam incident angle, the hot spot real offset of the anterior shield rear end is calculated.
13. double shield guidance methods as claimed in claim 12, which is characterized in that the incidence of the laser beam on the photosensitive target
Angle obtains by the following method:
The coordinate and laser beam for measuring the laser point are incident to the coordinate of the hot spot point on the photosensitive target；
The laser light incident light beam of the photosensitive target and the angle of the stretching shield axis are calculated, the laser on the photosensitive target is obtained
The incident angle of beam.
14. double shield guidance methods as claimed in claim 13, which is characterized in that
The measurement method of the coordinate of the laser point is as follows: with total station non-prism mode measure, first arrange two with
Upper website is transmitted to geodetic coordinates in the flexible shield between the anterior shield and the stretching shield, then sets up total station, directly
Connect the coordinate for measuring laser point；
The measurement method of the coordinate of the hot spot point is as follows: being measured with total station non-prism mode, first the more than two stations of arrangement
Point is transmitted to geodetic coordinates in the flexible shield between the anterior shield and the stretching shield, then sets up total station, directly surveys
Measure the coordinate of hot spot point.
15. double shield guidance methods as claimed in claim 14, which is characterized in that the attitude data packet of stretching shield rear end
Include at least one of azimuth, centre coordinate, pitch angle and the roll angle of stretching shield rear end, wherein the stretching shield
The pitch angle and roll angle of rear end are obtained by the second dipmeter survey in the laser target.
16. double shield guidance methods as claimed in claim 15, which is characterized in that the azimuth of stretching shield rear end is in
Heart coordinate measures by the following method:
Laser target described in the total station survey obtains azimuth and the coordinate of the laser target, according to the coordinate modulus of conversion
Type, obtain stretching shield rear end azimuth and the stretching shield back-end central coordinate.
17. double shield guidance methods as claimed in claim 10, which is characterized in that the real-time attitude data of the anterior shield rear end
At least one of azimuth, centre coordinate, pitch angle and roll angle including the anterior shield rear end, wherein after the anterior shield
The pitch angle and roll angle at end are obtained by the first dipmeter survey in the photosensitive target.
18. shield guidance methods as claimed in claim 17 double, which is characterized in that the azimuth of the anterior shield rear end by with
Lower step obtains: the centre coordinate of the anterior shield front end being calculated according to the centre coordinate of the anterior shield rear end, before described
The centre coordinate of shield front end and the centre coordinate of the anterior shield rear end are calculated.
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| CN111457904A (en) * | 2020-03-20 | 2020-07-28 | 力信测量(上海)有限公司 | Be used for two shield TBM vision measurement systems |
| CN111485892B (en) * | 2020-06-28 | 2020-10-09 | 中国铁建重工集团股份有限公司 | Tube curtain machine pose measuring method and system |
| CN112284360B (en) * | 2020-11-16 | 2022-05-13 | 江苏集萃智能光电系统研究所有限公司 | Double-shield six-degree-of-freedom measurement method and system based on binocular vision system |
| CN113566798B (en) * | 2021-07-20 | 2023-03-21 | 上海米度测量技术有限公司 | Attitude measurement system and method for double-shield tunneling machine |
| CN113863936A (en) * | 2021-08-16 | 2021-12-31 | 中铁工程装备集团技术服务有限公司 | Alternating positioning type double-shield TBM automatic guiding system and method |
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