CN109611111B - Guiding method of variable-curvature small-caliber curve tunneling machine - Google Patents

Guiding method of variable-curvature small-caliber curve tunneling machine Download PDF

Info

Publication number
CN109611111B
CN109611111B CN201910090015.4A CN201910090015A CN109611111B CN 109611111 B CN109611111 B CN 109611111B CN 201910090015 A CN201910090015 A CN 201910090015A CN 109611111 B CN109611111 B CN 109611111B
Authority
CN
China
Prior art keywords
node
angle
broken line
laser target
coordinates
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201910090015.4A
Other languages
Chinese (zh)
Other versions
CN109611111A (en
Inventor
贾连辉
潘明华
孟祥波
龚廷民
刘恒杰
林福龙
张九宇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
China Railway Engineering Equipment Group Co Ltd CREG
Original Assignee
China Railway Engineering Equipment Group Co Ltd CREG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by China Railway Engineering Equipment Group Co Ltd CREG filed Critical China Railway Engineering Equipment Group Co Ltd CREG
Priority to CN201910090015.4A priority Critical patent/CN109611111B/en
Publication of CN109611111A publication Critical patent/CN109611111A/en
Application granted granted Critical
Publication of CN109611111B publication Critical patent/CN109611111B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK 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 OR ROCK 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
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries

Landscapes

  • 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)
  • Length Measuring Devices By Optical Means (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)

Abstract

The invention provides a guiding method of a variable-curvature small-caliber curve tunneling machine, which comprises the following steps: laser targets are arranged at the tail of the tunneling machine and the tail of each section of pipe section; taking each laser target as a node, before tunneling starts, measuring node coordinates of a tunneling machine and an originating pipe node by using a total station, and establishing a mathematical model about a pitch angle and a horizontal azimuth angle; after the tunneling starts, measuring the coordinates of a terminal node in real time by using a total station, and determining the pitch angle and the horizontal azimuth angle of the broken line through a mathematical model; calculating the angle offset of the end node by using the coordinate variation of the light spot measured by the laser target of the next node, correcting the angle of the broken line, and calculating the coordinate of the current node; and repeating the steps to obtain the coordinate of the next node until the first node, namely the actual coordinate of the heading machine is obtained. The invention solves the problem that the existing measuring method is difficult to establish an accurate and effective mathematical model, improves the construction efficiency and precision, and reduces the labor and time cost for maintaining the measuring system.

Description

Guiding method of variable-curvature small-caliber curve tunneling machine
Technical Field
The invention relates to the technical field of curve development machines, in particular to a guiding method of a variable-curvature small-caliber curve development machine.
Background
The NEW tunnel construction method (Network Evolution Wide tunneling and undergardless spatial excavation construction technology) is a curved pipe curtain Underground excavation construction method, wherein a pipe curtain is implemented by a heading machine, a small-sized pipe-jacking heading machine is generally adopted to jack a steel pipe into a soil body to form an advanced support, and then a main construction structure is excavated or a box culvert jacking scheme is adopted to carry out construction, so that the NEW tunnel construction technology is a novel Underground excavation construction technology. The tunnel is formed by splicing pipe sections, the central axis of each pipe section is a standard circular arc during design, but the pipe sections are extruded by soil bodies to deform in the process of advancing underground of the tunneling machine, so that the posture of the tunneling machine is changed, and the premise that the posture of the tunneling machine in the soil bodies is determined is that tunneling construction guiding is carried out.
At present, an inclinometer and a rolling instrument are generally adopted for measuring the attitude of the heading machine in the soil body, wherein the inclinometer and the rolling instrument are arranged behind the hinged position of a guide pipe of a curve heading machine, the pitch angle and the roll angle of the guide pipe can be measured, but the navigation angle cannot be measured. The position measurement of the heading machine in the soil body generally adopts one or more of a gyroscope, a level meter or a laser irradiator, wherein (1) the gyroscope is arranged in a measuring pipe specially arranged in a pipe joint, the horizontal position of the pipe jacking machine is measured by a test system at an originating pushing system, and the measurement error can be accumulated along with time; (2) the gradienter is arranged in the pipe joint and can only measure the horizontal position of the installation position of the instrument; (3) the laser irradiator is arranged in a shield body of the pipe jacking machine, and reflects laser to a laser receiving device behind the pushing device at the starting position through a reflector arranged in the pipe joint so as to measure the position of the pipe jacking. The laser emitted by the laser irradiator is reflected for multiple times and then is sent to the receiving device, and a mathematical model with higher precision is difficult to establish in the whole system, so the laser irradiator is generally used for qualitatively measuring the position change of the jacking pipe and cannot quantitatively measure the actual position of the jacking pipe. In conclusion, the existing measuring method is difficult to effectively detect all the information of the actual posture and position of the guide pipe in the soil body, and brings inconvenience to guidance during construction. Accordingly, there is a technical need in the art to develop a guiding method for a fixed-curvature small-caliber curve jacking pipe, which can accurately detect all information of the actual posture and position of the guiding pipe in the soil body.
Disclosure of Invention
The invention provides a guiding method of a variable-curvature small-caliber curve tunneling machine, which aims at solving the technical problems that the prior attitude measuring method of the tunneling machine can not effectively detect all the information of the actual attitude and the position of a pilot pipe joint in a soil body and brings inconvenience to the guiding during construction.
In order to achieve the purpose, the technical scheme of the invention is realized as follows: a guiding method of a variable-curvature small-caliber curve heading machine comprises the following steps:
the method comprises the following steps: laser targets are arranged at the tail part of the development machine and the tail part of each section of pipe section, a collimator is arranged on the laser target of the pipe section, and laser emitted by the collimator can reach the previous pipe section or the laser target of the development machine;
step two: taking each laser target as a node, before tunneling starts, measuring node coordinates of a tunneling machine and an originating pipe node by using a total station, establishing broken lines between adjacent nodes, so as to obtain the length, the pitch angle and the horizontal azimuth angle of each broken line, combining the length, the pitch angle and the horizontal azimuth angle of each broken line with spot coordinates of the node measured by the laser target, and establishing a mathematical model about the pitch angle and the horizontal azimuth angle of the broken line between the end node and the next node;
step three: after the tunneling starts, measuring the coordinates of a tail end node in real time by using a total station, and determining the pitch angle and the horizontal azimuth angle of a broken line between the tail end node and the next node through a mathematical model;
step four: calculating the angle offset relative to the initial position tail end node by using the light spot coordinate variation measured by the laser target of the next node, correcting the angle of the fold line by using the angle offset, and calculating the coordinate of the current node according to the angle of the corrected fold line;
step five: repeating the fourth step according to the obtained coordinates and the fold line angle of the current node to obtain the coordinates of the next node until the coordinates of the first node are obtained;
step six: and in the tunneling process, continuously propelling and installing a new pipe joint, measuring the coordinate change of the laser target at the tail part of the current last pipe joint by using a total station, repeating the third step and the fifth step, and updating the actual coordinate of the tunneling machine at the moment.
In the second step, the heading machine is provided with a laser target I, the starting pipe section is a pipe section I, the pipe section I is provided with a laser target II, the laser target I forms a node I, the laser target II forms a node II, the tail end node is a node III formed by the laser target III on the pipe section II at the rear end of the pipe section I, the broken line between the node I and the node II is a broken line section L1, and the broken line between the node III and the node II of the next node is a broken line section L2.
In the second step, the pitch angle and the horizontal azimuth angle of the broken line between the tail end node and the next node are the pitch angle and the horizontal azimuth angle of the broken line segment L2, and the mathematical model of the pitch angle and the horizontal azimuth angle is determined by fixing the included angle between the central line of the laser target on the node III and the broken line segment L2, and the implementation method is as follows: s21, the total station measures the coordinates of the node III and the node II so as to determine the pitch angle V of the broken line segment L2L2And horizontal azimuth HL2(ii) a S22 light spot coordinates (u) of light spot generated by emitting laser by total station instrument induced by laser target of node III in real time3，v3) Determining spot coordinates (u)3，v3) Angle theta with total station emitting laseruAnd thetav， u3And v3Respectively showing the distance between the light spot and the central line of the laser target III in the horizontal direction and the vertical direction; s23, the included angle between the central line of the laser target on the node III and the broken line segment L2 is as follows:
Δv＝VL2-Vθv；
Figure BDA0001962981950000021
h and V respectively represent a horizontal angle and a vertical angle of laser emitted to a node III by the total station; thetauAnd thetavRespectively representing a horizontal angle and a vertical angle between a light spot on the node III and laser emitted by the total station; deltahAnd ΔvRespectively representing the horizontal angle and the vertical angle of the central line of the laser target III and the broken line segment L2;
s24: during tunneling, the real-time pitch angle and horizontal azimuth angle of the broken line segment L2 are respectively:
VL2＝V+θv+Δv；
Figure BDA0001962981950000031
the spot coordinates (u)3，v3) Angle theta with total station emitting laseruAnd thetavRespectively as follows:
Figure BDA0001962981950000032
Figure BDA0001962981950000033
wherein f represents the focal length of the convex lens in the laser target III.
In the fourth step, the pipe joint II where the end node is located is not deformed, the laser target III of the node III and the laser target II of the node II are relatively static, and the light spot coordinate read by the laser target II of the node II is not changed and is still an initial value (u)2，v2) (ii) a If the pipe joint II deforms, the laser target II of the joint II reads the spot coordinate as (u)2'，v2'), the angle variation amounts of the broken line segment L2 where the pipe joint II is located in the horizontal direction and the vertical direction are respectively:
Δθu2＝atan(u2′/f)-atan(u2/f)；
Δθv2＝atan(v2′/f)-atan(v2/f)；
wherein f represents the focal length of the convex lens in the laser target II; delta thetau2Represents the amount of deformation, Δ θ, of the broken line segment L2 in the horizontal directionv2The amount of deformation of the broken line segment L2 in the vertical direction;
then, at this time, the pitch angle V 'of the broken line segment L2'L2And horizontal azimuth H'L2Respectively as follows:
Figure BDA0001962981950000034
V′L2＝VL2+Δθv2。
the method for calculating the coordinates of the current node according to the angle of the corrected broken line in the fourth step comprises the following steps: the coordinate of the node II is determined by the coordinate of the node III, the length of a broken line segment L2 and a pitch angle V'L2And horizontal azimuth H'L2The following were obtained:
x2＝x3+L2*cos(V′L2)*cos(H′L2)
y2＝y3+L2*cos(V′L2)*sin(H′L2)
z2＝z3+L2*sin(V′L2)
wherein L is2The length of the broken line segment L2 is represented by x3, y3 and z3 respectively representing the real-time coordinates of the node III, and x2, y2 and z2 respectively representing the coordinates of the node II;
in the tunneling process, the included angle delta between the horizontal azimuth angle of the broken line segment L1 and the horizontal azimuth angle of the broken line segment L2h21Angle of pitch deltav21Constant, pitch angle V of broken line segment L1L1And horizontal azimuth HL1Respectively as follows:
VL1＝V′L2+Δv21，
HL1＝H′L2+Δh21。
if the pipe joint I deforms, the angle variation of the spot coordinate read by the laser target I on the joint I in the horizontal direction and the angle variation of the spot coordinate read by the laser target I in the vertical direction are respectively delta thetau1And Δ θv1Pitch angle V 'of broken line segment L1 after deformation'L1And horizontal azimuth H'L1Respectively as follows:
Figure BDA0001962981950000041
V′L1＝VL1+Δθv1；
the coordinates of the node I are:
x1＝x2+L1*cos(V′L1)*cos(H′L1)，
y1＝y2+L1*cos(V′L1)*sin(H′L1)，
z1＝z2+L1*sin(V′L1)。
wherein x2, y2, z2 respectively represent the coordinates of node II, and x1, y1, z1 respectively represent the coordinates of node I.
When j nodes exist, j-1 pipe pieces and j-1 broken line segments Li are arrangedLength L ofiThe total station measures the coordinates (x) of the j-th node unchangedj,yj,zj) (ii) a S1: j-1, determining the length of the broken line segment Li according to coordinate transformation, and determining the horizontal azimuth angle and the pitch angle of the broken line segment Li by the mathematical model in the step two; s2, determining the actual pitch angle V of the broken line segment Li by using the angle variation of the spot coordinate induced by the laser target of the node i in the horizontal direction and the vertical directionLi' and actual horizontal azimuth angle HLi', thereby determining the coordinates of node i; s3, determining the length of the broken line segment Li, calculating the horizontal azimuth angle and the pitch angle of the broken line segment Li according to the unchanged included angle between the horizontal azimuth angle and the pitch angle between the adjacent broken line segments, and repeating the step S2, wherein i is 1,2, … … and j-2; when I is 1, the real-time coordinate of the node I is the direction control of the heading machine, and the real-time coordinate of the node I is as follows:
Figure BDA0001962981950000042
the collimator is fixed at the front part of the laser target, the collimator emits collimated light which is circular, and the total station is arranged on the ground; the laser target includes the casing, and the casing is fixed in the tube coupling, is equipped with laser imaging unit and industry camera in the casing, and the laser imaging unit includes reflection prism, aperture diaphragm, plano-convex lens and sensitization screen, and the industry camera, reflection prism, aperture diaphragm, the center of plano-convex lens and sensitization screen just is located the central line of laser target on same water flat line, and aperture diaphragm sets up the rear at reflection prism, and plano-convex lens sets up between aperture diaphragm and sensitization screen, and the place ahead at the sensitization screen is set up to industry camera.
The top of the reflecting prism is provided with a notch, and parallel light beams emitted by the plain light tube or the total station pass through the reflecting prism from the notch.
Compared with the prior art, the invention has the beneficial effects that:
1. establishing an equation of node connecting lines of the heading machine and all subsequent pipe joints, calibrating the attitude change between two adjacent nodes by a laser target chain technology, and measuring the coordinate of each pipe joint node through the attitude change of the nodes until the attitude and the coordinate of the pipe jacking machine are reached; the invention solves the problem that the existing measuring method is difficult to establish an accurate and effective mathematical model, can quantitatively calculate the posture and the position of the push bench according to the laser target angle measurement principle and the basic coordinate transformation, and has the advantages of simplicity, effectiveness, easy use and stronger engineering practicability.
2. The main measuring instruments used by the measuring system are a total station, a collimator and a laser target, the precision is high, measuring errors cannot be accumulated along with time, the measuring system can normally work for long-time operation of the heading machine, shutdown and maintenance are not needed, the construction efficiency and precision are greatly improved, and the labor and time cost for maintaining the measuring system is reduced.
3. The accuracy and reliability of the result are improved as the sampling of the end point of the last section of pipe node is started.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of the steering method of the present invention.
FIG. 2 is a schematic view of a pipe section at an initial measurement stage of the present invention.
Fig. 3 is a schematic diagram of the node connection in fig. 2.
Fig. 4 is a schematic structural diagram of the measurement system in fig. 2.
FIG. 5 is a schematic diagram of laser target declination.
In the figure, 1 is a laser target I, 2 is a laser target II, 3 is a laser target III, 4 is a heading machine, 5 is a tube section I, 6 is a tube section II, 7 is a total station, 8 is a laser imaging unit, 9 is an industrial camera, 10 is a collimator, 11 is a reflecting prism, 12 is an aperture diaphragm, 13 is a plano-convex lens, 14 is a photosensitive screen, 15 is a node I, 16 is a node II, and 17 is a node III.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
As shown in fig. 1, a guiding method of a variable curvature small caliber curve heading machine comprises the following steps:
the method comprises the following steps: laser targets are arranged at the tail of the heading machine and the tail of each section of pipe section, a collimator 10 is arranged on the laser target of the pipe section, and laser emitted by the collimator 10 can reach the previous pipe section or the laser target of the heading machine.
The curvature and the length of each pipe joint are different, namely the length of each broken line segment is not required to be consistent with the included angle of the adjacent broken line segment, and the pipe joint with variable curvature can be adopted for jacking. The measuring system used by the invention comprises a laser target, a collimator 10 and a total station, wherein the laser target and the collimator 10 form a laser target chain, namely, a laser beam emitted by the collimator 10 at the end point of the next section of pipe node can be projected on the incident plane of the laser target at the end point of the previous section of pipe node. As shown in fig. 4, the collimator 10 is fixed in front of the laser target, and the collimator 10 is a laser tube emitting parallel light forward, and the emitted parallel light is distributed in a circular shape and projected on the surface of the laser target in front. The total station 7 is arranged on the ground and used for measuring the coordinates of the tail end node in real time and outputting the laser emitting direction of the total station in real time. The laser target comprises a shell, the shell is fixed in a pipe joint, a laser imaging unit 8 and an industrial camera 9 are arranged in the shell, and the laser imaging unit 8 displays a focusing spot of incident laser by using a small-hole imaging technology. The laser imaging unit 8 comprises a reflecting prism 11, an aperture diaphragm 12, a plano-convex lens 13 and a photosensitive screen 14, as shown in fig. 5, the centers of an industrial camera 9, the reflecting prism 11, the aperture diaphragm 12, the plano-convex lens 13 and the photosensitive screen 14 are on the same horizontal line and are located on the central line of a laser target, the aperture diaphragm 12 is arranged behind the reflecting prism 11, the plano-convex lens 13 is arranged between the aperture diaphragm 12 and the photosensitive screen 14, the industrial camera 9 is arranged in front of the photosensitive screen 14, and the industrial camera 9 photographs light spots on the photosensitive screen 14 and records position coordinates of the light spots. The top of the reflecting prism 11 is provided with a notch, and parallel light beams emitted by the plano-optic light pipe 10 or the total station 7 can pass through the reflecting prism 11 from the notch, pass through the small aperture diaphragm 12 and the plano-convex lens 13, and are focused on the photosensitive screen 14 to form light spots. When the total station 7 measures the coordinates of the laser target, the reflecting prism 11 reflects the ranging light so as to facilitate the total station to measure the distance.
When the pipe joint is deformed, the position of the circular light beam emitted by the collimator 10 on the surface of the laser target changes, if the deformation is too large, the parallel light beam is separated from the light receiving surface of the laser target, the incident light cannot be recorded, and the guiding measurement cannot be continued. Therefore, the advancing direction of the heading machine 4 needs to be corrected in time, and the overlarge deformation of the pipe joint is avoided.
Step two: and taking each laser target as a node, before tunneling starts, measuring node coordinates of the tunneling machine and an originating pipe node by using a total station, establishing broken lines between adjacent nodes, so as to obtain the length, the pitch angle and the horizontal azimuth angle of each broken line, and establishing a mathematical model about the pitch angle and the horizontal azimuth angle of the broken line between the end node and the next node by combining with the spot coordinates of the nodes measured by the laser targets.
As shown in fig. 2, the heading machine 4 is provided with a laser target I1, the starting tube section is a tube section I5, the tube section I5 is provided with a laser target II2, as shown in fig. 3, the laser target I1 forms a node I15, the laser target II2 forms a node II16, the end node is a node III17 formed by the laser target III3 on the tube section II6 at the rear end of the tube section I5, the broken line between the node I15 and the node II16 is a broken line L1, and the broken line between the node III17 and the node II16 of the next node is a broken line L2. The tail part of the development machine, namely the node I15, does not need to emit parallel light forwards and does not need to be provided with a collimator; and the laser target II2 at node II16 and the laser target III3 at node III17 are both mounted with a forward collimator to emit laser light onto the forward laser target. The pipe joint I5 is a pipe joint with the curvature radius of 6 meters and the caliber of 300 millimeters, and the pipe joint II6 is a pipe joint with the curvature radius of 5 meters and the caliber of 300 millimeters.
When the heading machine and the pipe joints are sequentially installed, the attached laser targets are in an exposed state, and the coordinates of the node I, the node II and the node III can be directly measured by the total station 7. The initial coordinates of node I15 (x10, y10, z10), node II16 (x20, y20, z20) and node III17 (x30, y30, z30) measured by a total station, the lengths, pitch angles and horizontal azimuth angles of the broken line segment L1 and the broken line segment L2 are determined from the initial coordinates of the three nodes, that is: the calculation method is as follows:
Figure BDA0001962981950000061
Figure BDA0001962981950000062
Figure BDA0001962981950000063
Figure BDA0001962981950000064
Figure BDA0001962981950000065
Figure BDA0001962981950000071
wherein L is1Is the length of the broken line segment L1, L2Is the length of the broken line segment L2, VL10Pitch angle before tunneling for broken line segment L1, VL20Pitch angle before tunneling for broken line segment L2, HL10Horizontal azimuth angle before tunneling for broken line segment L1, HL20The horizontal azimuth angle before tunneling is the broken line segment L2. Theoretically HL10And HL20All are the advancing direction angles of the development machine 4, and should be equal, actually due to the error of the installation pipe joint, the horizontal azimuth angle HL10And HL20Are not equal.
After the heading machine 4, the pipe section I5, the pipe section II6, the laser target I1, the laser target II1, the laser target III3 and the collimator 10 are completely installed, the collimator 10 on the node II16 and the node III17 is opened to emit laser, and the initial coordinates (u10 and v10) of a light spot on the photosensitive screen 14 in the laser target I1 on the node I15 and the initial coordinates (u20 and v20) of the light spot on the photosensitive screen 14 in the laser target II2 on the node II16 are respectively recorded by an industrial camera 9; after the total station 7 measures the coordinates (x3, y3, z3) of the node III17, red laser light is emitted into the laser target III3 of the node III17, and the initial coordinates (u30, v30) of the light spot on the photosensitive screen 14 in the laser target III3 of the node III17 are recorded.
In the second step, the pitch angle and the horizontal azimuth angle of the broken line between the end node and the next node are the pitch angle and the horizontal azimuth angle of the broken line segment L2, and the mathematical model of the pitch angle and the horizontal azimuth angle is determined by fixing the included angle between the center line of the laser target on the node III17 and the broken line segment L2, and the implementation method is as follows: s21, the total station measures the coordinates of node III17 and node II16 to determine the pitch angle V of the broken line segment L2L2And horizontal azimuth HL2。
As shown in fig. 5, the relationship between the spot coordinates (u, v) and the laser incidence angle is as follows:
Figure BDA0001962981950000072
the total station 7 emits red laser to the node III17, the initial coordinate of the light spot measured by the laser target III3 on the node III17 is (u30, v30), and the initial angle of the laser emitted by the total station to the laser target III3 is thetau30And thetav30The data measured by the present invention are all relative to the geodetic coordinate system. The angles of the node III and the broken line segment L2 can be matched, and the following relation is established according to the angle (horizontal angle H, vertical angle V) of the total station laser:
Δv＝VL2-V-θv30，
Figure BDA0001962981950000073
thus, the angle of the node III is obtainedFixed mounting included angle delta between degree and angle of broken line segment L2uAnd ΔvThe angle is fixed. A mathematical model can be built according to the principles described above.
S22 light spot coordinate u of light spot generated by laser emitted by total station with real-time sensing of laser target of node III173，v3Determining spot coordinates u3，v3Angle theta with total station emitting laseruAnd thetav，u3And v3Respectively representing the distances between the light spot and the central line of the laser target III3 in the horizontal direction and the vertical direction; s23, the included angle between the central line of the laser target on the node III17 and the broken line segment L2 is:
Δv＝VL2-V-θv；
Figure BDA0001962981950000081
wherein, H and V respectively represent the horizontal angle and the vertical angle of the laser emitted to the node III17 by the total station; thetauAnd thetavRespectively representing the horizontal angle and the vertical angle of the light spot on the node III17 and the laser emitted by the total station; deltahAnd ΔvRespectively representing the horizontal angle and the vertical angle of the central line of the laser target III3 and the broken line segment L2;
s24: during tunneling, the real-time pitch angle and horizontal azimuth angle of the broken line segment L2 are respectively:
VL2＝V+θv+Δv；
Figure BDA0001962981950000082
spot coordinates (u) on laser target III3，v3) Angle theta with total station emitting laseruAnd thetavRespectively as follows:
Figure BDA0001962981950000083
Figure BDA0001962981950000084
wherein f representsThe focal length of the convex lens 13 in the laser target III 3.
Step three: and after the tunneling starts, measuring the coordinates of the tail end node in real time by using the total station 7, and determining the pitch angle and the horizontal azimuth angle of the broken line between the tail end node and the next node through a mathematical model.
After the tunneling starts, all the nodes advance along with the tunneling machine due to the fact that the tunneling machine is continuously jacked. At this time, the total station 7 can only measure the node III17 in real time, and perform continuous coordinate measurement. After each measurement of the coordinates of node III (x3, y3, z3), the total station 7 emits red laser light into the laser target III3 of node III, and the laser target III3 records the values of the coordinates of the light spot on the photosensitive screen 14 (u3', v3') in real time.
From the angles (horizontal angle H, vertical angle V) of the laser light emitted by the total station 7, and the spot coordinates (u3', V3') measured by the laser target III3 on the node III, the theoretical angle of the broken line segment L2 at this time can be calculated:
VL2＝V+θ′v+Δv
Figure BDA0001962981950000085
wherein, theta'uAnd θ'vRespectively, the horizontal and vertical angles of the spot coordinates (u3', v3') to the centerline of the laser target III 3.
Step four: and calculating the angle offset relative to the initial position tail end node by using the light spot coordinate variation measured by the laser target of the next node, correcting the angle of the fold line by using the angle offset, and calculating the coordinate of the current node according to the corrected angle.
The calculation of the present invention is performed starting from the actual coordinates of the end point of the last pipe joint, which are measured directly by the total station 7 installed on the ground.
In the fourth step, the pipe joint II6 where the tail end node is located is not deformed, the laser target III3 of the node III17 and the laser target II2 of the node II16 are relatively static, and the spot coordinates read by the laser target II2 of the node II16 are not changed and still are initial values (u is an initial value)2，v2). If the pipe joint II6 is deformed by force, the incident angle of the laser emitted from the node 3 to the node 2 changes along with the deformation, and the change of the coordinates of the light spot is recorded. The laser target II2 of the node II16 reads the deformed spot coordinate as (u)2'，v2'), the angle variation amounts of the broken line segment L2 where the pipe joint II6 is located in the horizontal direction and the vertical direction are respectively:
Δθu2＝atan(u2′/f)-atan(u2/f)；
Δθv2＝atan(v2′/f)-atan(v2/f)。
wherein f represents the focal length of the convex lens 13 in the laser target II 2; delta thetau2Represents the amount of deformation, Δ θ, of the broken line segment L2 in the horizontal directionv2The amount of deformation of the broken line segment L2 in the vertical direction;
then, at this time, the pitch angle V 'of the broken line segment L2'L2And horizontal azimuth H'L2Respectively as follows:
Figure BDA0001962981950000091
V′L2＝VL2+Δθv2。
the method for calculating the coordinates of the current node according to the angle of the corrected broken line in the fourth step comprises the following steps: the coordinates of node II16 are determined according to the coordinates of node III17 and the length of broken line segment L2, and pitch angle V'L2And horizontal azimuth H'L2The following were obtained:
x2＝x3+L2*cos(V′L2)*cos(H′L2)
y2＝y3+L2*cos(V′L2)*sin(H′L2)
z2＝z3+L2*sin(V′L2)；
wherein L is2In the length of the broken line segment L2, x3, y3 and z3 respectively represent the real-time coordinates of the node III17, and x2, y2 and z2 respectively represent the coordinates of the node II 16;
step five: and repeating the fourth step according to the obtained coordinates and the fold line angle of the current node to obtain the coordinates of the next node until the coordinates of the first node are obtained.
According to the measurement and calculation in the fourth step, in the tunneling process, the included angle delta between the horizontal azimuth angle of the broken line segment L1 and the horizontal azimuth angle of the broken line segment L2h21Angle of pitch deltav21Constant, i.e. angle of pitch Δv21Equal to the pitch angle V of the broken line segment L1 before tunnelingL10Pitch angle V before heading with broken line segment L2L20Difference, angle of horizontal azimuth deltah21Horizontal azimuth H before tunneling for broken line segment L1L10Horizontal azimuth H before tunneling with broken line segment L2L20The difference between them. The pitch angle V of the broken line segment L1L1And horizontal azimuth HL1The theoretical angles of (a) are respectively:
VL1＝V′L2+Δv21，
HL1＝H′L2+Δh21。
if the pipe joint I5 deforms, the angle variation of the spot coordinate read by the laser target I1 on the joint I15 in the horizontal direction and the vertical direction is respectively delta thetau1And Δ θv1Pitch angle V 'of broken line segment L1 after deformation'L1And horizontal azimuth H'L1Respectively as follows:
Figure BDA0001962981950000092
V′L1＝VL1+Δθv1；
the coordinates of node I15 are:
x1＝x2+L1*cos(V′L1)*cos(H′L1)，
y1＝y2+L1*cos(V′L1)*sin(H′L1)，
z1＝z2+L1*sin(V′L1)。
wherein x2, y2, z2 respectively represent the coordinates of node II16, and x1, y1, z1 respectively represent the coordinates of node I15. If there are more than 2 pipe joints, the coordinates of the node I can be measured by the flow of the fourth step and the fifth step.
Step six: and in the tunneling process, continuously propelling and installing a new pipe joint, measuring the coordinate change of the laser target at the tail part of the current last pipe joint by using a total station, repeating the third step and the fifth step, and updating the actual coordinate of the tunneling machine at the moment.
When a new node is added, a tail node and a broken line segment are added, the coordinates of the old node and the angle of the broken line segment are known, the coordinates of the tail node are measured by using a total station, the angle of the broken line segment where the tail node is located is calculated by using a mathematical model, and the coordinates of the node I can be measured circularly in the processes of the third step and the fourth step. The coordinates of the node I can guide the heading direction control.
When j nodes exist, j-1 pipe pieces and j-1 broken line segments Li are arranged, and the length L of the broken line segments LiiThe total station measures the coordinates (x) of the j-th node unchangedj,yj,zj) (ii) a S1: j-1, determining the length of the broken line segment Li according to coordinate transformation, and determining the horizontal azimuth angle and the pitch angle of the broken line segment Li by the mathematical model in the step two; s2, determining the actual pitch angle V of the broken line segment Li by using the angle variation of the spot coordinate induced by the laser target of the node i in the horizontal direction and the vertical directionLi' and actual horizontal azimuth angle HLi', thereby determining the coordinates of node i; s3, determining the length of the broken line segment Li, calculating the theoretical horizontal azimuth angle and the theoretical pitch angle of the broken line segment Li according to the unchanged included angle between the horizontal azimuth angle and the pitch angle between the adjacent broken line segments, and repeating the step S2, wherein i is 1,2, … … and j-2; s4, if I is 1, the real-time coordinate of the node I is the directional control of the heading machine 4, and the real-time coordinate of the node I is:
Figure BDA0001962981950000101
according to the laser guiding method of the variable-curvature small-caliber curve heading machine, the actual coordinate of the most front heading machine is obtained through the coordinate of the tail node measured by the total station under the working condition that direct measurement is not suitable, the result precision is high, and the process is simple and easy to implement.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (8)

1. A guiding method of a variable-curvature small-caliber curve heading machine is characterized by comprising the following steps:
the method comprises the following steps: laser targets are arranged at the tail part of the heading machine and the tail part of each section of pipe section, a collimator (10) is arranged on the laser target of the pipe section, and laser emitted by the collimator (10) can reach the previous pipe section or the laser target of the heading machine;
step two: taking each laser target as a node, before tunneling starts, measuring node coordinates of a tunneling machine and an originating pipe node by using a total station, establishing broken lines between adjacent nodes, so as to obtain the length, the pitch angle and the horizontal azimuth angle of each broken line, combining the length, the pitch angle and the horizontal azimuth angle of each broken line with spot coordinates of the node measured by the laser target, and establishing a mathematical model about the pitch angle and the horizontal azimuth angle of the broken line between the end node and the next node;
step three: after the tunneling starts, measuring the coordinates of the tail end node in real time by using a total station (7), and determining the pitch angle and the horizontal azimuth angle of a broken line between the tail end node and the next node through a mathematical model;
step four: calculating the angle offset relative to the initial position end node by using the light spot coordinate variation measured by the laser target of the next node, correcting the angle of the fold line by using the angle offset, and calculating the coordinate of the current node according to the corrected angle;
step five: repeating the fourth step according to the obtained coordinates and the fold line angle of the current node to obtain the coordinates of the next node until the coordinates of the first node are obtained;
step six: continuously propelling and installing new pipe joints in the tunneling process, measuring the coordinate change of a laser target at the tail part of the current last section of pipe joint by using a total station, repeating the third step and the fifth step, and updating the actual coordinates of the tunneling machine at the moment;
in the second step, a laser target I (1) is arranged on the heading machine (4), the starting pipe section is a pipe section I (5), a laser target II (2) is arranged on the pipe section I (5), the laser target I (1) forms a node I (15), the laser target II (2) forms a node II (16), the tail end node is a node III (17) formed by a laser target III (3) on the pipe section II (6) at the rear end of the pipe section I (5), the broken line between the node I (15) and the node II (16) is a broken line section L1, and the broken line between the node III (17) and the node II (16) of the next node is a broken line section L2;
in the second step, the pitch angle and the horizontal azimuth angle of the broken line between the end node and the next node are the pitch angle and the horizontal azimuth angle of the broken line segment L2, and the mathematical model of the pitch angle and the horizontal azimuth angle is determined by fixing the included angle between the central line of the laser target on the node III (17) and the broken line segment L2, and the implementation method is as follows:
s21, the total station measures the coordinates of node III (17) and node II (16) to determine the pitch angle V of the broken line segment L2L2And horizontal azimuth HL2；
S22, the total station instrument of the real-time induction of the laser target of the node III (17) emits laser to generate the spot coordinate (u) of the spot3，v3) Determining spot coordinates (u)3，v3) Angle theta with total station emitting laseruAnd thetav，u3And v3Respectively representing the distances between the light spot and the central line of the laser target III (3) in the horizontal direction and the vertical direction;
s23, the included angle between the central line of the laser target on the node III (17) and the broken line segment L2 is as follows:
Δv＝VL2-V-θv；
Figure FDA0002362755860000021
wherein, H and V respectively represent the horizontal angle and the vertical angle of the laser emitted to the node III (17) by the total station; thetauAnd thetavRespectively representing a horizontal angle and a vertical angle between a light spot on a node III (17) and laser emitted by the total station; deltahAnd ΔvRespectively representing the horizontal angle and the vertical angle of the central line of the laser target III (3) and the broken line segment L2;
s24: during tunneling, the real-time pitch angle and horizontal azimuth angle of the broken line segment L2 are respectively:
VL2＝V+θv+Δv；
Figure FDA0002362755860000022
2. a method of guiding a variable curvature small bore curve boring machine according to claim 1, wherein the spot coordinates (u) are3，v3) Angle theta with total station emitting laseruAnd thetavRespectively as follows:
Figure FDA0002362755860000023
wherein f represents the focal length of the convex lens (13) in the laser target III (3).
3. The guiding method of the variable-curvature small-caliber curve tunneling machine according to claim 1, wherein the pipe section II (6) where the tail end node is located in the fourth step is not deformed, so that the laser target III (3) of the node III (17) and the laser target II (2) of the node II (16) are relatively static, and the spot coordinate read by the laser target II (2) of the node II (16) is not changed and still is an initial value (u)2，v2) (ii) a If the pipe joint II (6) deforms, the laser target II (2) of the joint II (16) reads a spot coordinate of (u)2'，v2'), the angle variation amounts of the broken line segment L2 where the pipe joint II (6) is located in the horizontal direction and the vertical direction are respectively:
Δθu2＝atan(u2′/f)-atan(u2/f)；
Δθv2＝atan(v2′/f)-atan(v2/f)；
wherein f represents the focal length of a convex lens (13) in the laser target II (2); delta thetau2Represents the amount of deformation, Δ θ, of the broken line segment L2 in the horizontal directionv2The amount of deformation of the broken line segment L2 in the vertical direction;
then, at this time, the pitch angle V 'of the broken line segment L2'L2And horizontal azimuth H'L2Respectively as follows:
Figure FDA0002362755860000024
V′L2＝VL2+Δθv2。
4. the method for guiding a variable curvature small caliber curve tunneling machine according to claim 3, wherein the method for calculating the coordinates of the current node according to the angle of the correction broken line in the fourth step is as follows: the coordinates of node II (16) are determined from the coordinates of node III (17) and the length and pitch angle V 'of broken line segment L2'L2And horizontal azimuth H'L2The following were obtained:
x2＝x3+L2*cos(V′L2)*cos(H′L2)
y2＝y3+L2*cos(V′L2)*sin(H′L2)
z2＝z3+L2*sin(V′L2)
wherein L is2In the length of the broken line segment L2, x3, y3, z3 respectively represent the real-time coordinates of the node III (17), and x2, y2, z2 respectively represent the coordinates of the node II (16);
in the tunneling process, the included angle delta between the horizontal azimuth angle of the broken line segment L1 and the horizontal azimuth angle of the broken line segment L2h21Angle of pitch deltav21Constant, pitch angle V of broken line segment L1L1And horizontal azimuth HL1Respectively as follows:
VL1＝V′L2+Δv21，
HL1＝H′L2+Δh21。
5. the guiding method of the variable curvature small caliber curve tunneling machine according to claim 4, characterized in that if the pipe joint I (5) is deformed, the angle variation of the spot coordinate in the horizontal direction and the angle variation of the spot coordinate in the vertical direction read by the laser target I (1) on the joint I (15) are respectively delta thetau1And Δ θv1Pitch angle V 'of broken line segment L1 after deformation'L1And horizontal azimuth H'L1Respectively as follows:
Figure FDA0002362755860000031
V′L1＝VL1+Δθv1；
the coordinates of node I (15) are:
x1＝x2+L1*cos(V′L1)*cos(H′L1)，
y1＝y2+L1*cos(V′L1)*sin(H′L1)，
z1＝z2+L1*sin(V′L1)；
wherein x2, y2, z2 respectively represent the coordinates of node II (16), and x1, y1, z1 respectively represent the coordinates of node I (15).
6. The guiding method of a variable curvature small caliber curve development machine as claimed in claim 5, characterized in that when there are j nodes, there are j-1 segments and j-1 broken line segments Li, the length L of the broken line segment LiiThe total station measures the coordinates (x) of the j-th node unchangedj,yj,zj) (ii) a S1: j-1, determining the length of the broken line segment Li according to coordinate transformation, and determining the horizontal azimuth angle and the pitch angle of the broken line segment Li by the mathematical model in the step two; s2, determining the actual pitch angle V of the broken line segment Li by using the angle variation of the spot coordinate induced by the laser target of the node i in the horizontal direction and the vertical directionLi' and actual horizontal azimuth angle HLi', thereby determining the coordinates of node i; s3, determining the length of the broken line segment Li, calculating the horizontal azimuth angle and the pitch angle of the broken line segment Li according to the unchanged included angle between the horizontal azimuth angle and the pitch angle between the adjacent broken line segments, and repeating the step S2, wherein i is 1,2, … … and j-2; when I is equal to 1, the real-time coordinate of the node I is the direction control of the heading machine (4), and the real-time coordinate of the node I is as follows:
Figure FDA0002362755860000032
7. the guiding method of the variable-curvature small-caliber curve tunneling machine according to the claim 1, characterized in that the collimator (10) is fixed in front of the laser target, the collimator (10) emits a circular collimator, and the total station (7) is arranged on the ground; the laser target comprises a shell, the shell is fixed in a pipe joint, a laser imaging unit (8) and an industrial camera (9) are arranged in the shell, the laser imaging unit (8) comprises a reflecting prism (11), a small hole diaphragm (12), a plano-convex lens (13) and a photosensitive screen (14), the industrial camera (9), the reflecting prism (11), the small hole diaphragm (12), the centers of the plano-convex lens (13) and the photosensitive screen (14) are on the same horizontal line and are located on the central line of the laser target, the small hole diaphragm (12) is arranged behind the reflecting prism (11), the plano-convex lens (13) is arranged between the small hole diaphragm (12) and the photosensitive screen (14), and the industrial camera (9) is arranged in front of the photosensitive screen (14).
8. The guiding method of the curve boring machine with variable curvature and small caliber according to the claim 7, characterized in that the top of the reflecting prism (11) is provided with a notch, and the parallel light beam emitted by the plain light tube (10) or the total station (7) passes through the reflecting prism (11) from the notch.
CN201910090015.4A 2019-01-30 2019-01-30 Guiding method of variable-curvature small-caliber curve tunneling machine Active CN109611111B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910090015.4A CN109611111B (en) 2019-01-30 2019-01-30 Guiding method of variable-curvature small-caliber curve tunneling machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910090015.4A CN109611111B (en) 2019-01-30 2019-01-30 Guiding method of variable-curvature small-caliber curve tunneling machine

Publications (2)

Publication Number Publication Date
CN109611111A CN109611111A (en) 2019-04-12
CN109611111B true CN109611111B (en) 2020-03-31

Family

ID=66019372

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910090015.4A Active CN109611111B (en) 2019-01-30 2019-01-30 Guiding method of variable-curvature small-caliber curve tunneling machine

Country Status (1)

Country Link
CN (1) CN109611111B (en)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111005730B (en) * 2019-12-11 2020-11-24 中国矿业大学 Tunneling machine footage measuring method
CN111197486A (en) * 2020-01-18 2020-05-26 广州鑫唐夏信息科技有限公司 Push bench guiding method based on machine vision
CN111648774B (en) * 2020-06-11 2024-08-23 中铁工程装备集团技术服务有限公司 Heading machine guiding system and method suitable for small-diameter variable-curvature visual transmission measurement
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
CN112902845B (en) * 2021-03-04 2022-07-08 黄河勘测规划设计研究院有限公司 Track type pipe jacking automatic guiding method
CN116291518B (en) * 2023-02-13 2023-09-19 石家庄铁道大学 TBM tunneling direction posture regulation and control method for large-diameter small-turn tunnel

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102733273A (en) * 2012-07-05 2012-10-17 中铁上海工程局华海工程有限公司 Method for adjusting control benchmark point of rail by means of approximate adjustment
CN202734811U (en) * 2012-06-29 2013-02-13 上海米度测量技术有限公司 Electron laser target and measuring device of electron laser target
CN108150154A (en) * 2017-04-05 2018-06-12 湖南科天健光电技术有限公司 The laser target and its measuring device of guidance system in railroad survey and constructing tunnel
CN108301766A (en) * 2018-02-08 2018-07-20 北京科技大学 A kind of double drill boom Location vehicle methods of drilling automatic positioning drill jumbo
CN109059879A (en) * 2018-08-03 2018-12-21 华中科技大学 A kind of guidance method for determining the small-bore Curve Pipe Jacking of curvature
CN109209418A (en) * 2018-09-28 2019-01-15 三重型装备有限公司 Development machine and its control method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN202734811U (en) * 2012-06-29 2013-02-13 上海米度测量技术有限公司 Electron laser target and measuring device of electron laser target
CN102733273A (en) * 2012-07-05 2012-10-17 中铁上海工程局华海工程有限公司 Method for adjusting control benchmark point of rail by means of approximate adjustment
CN108150154A (en) * 2017-04-05 2018-06-12 湖南科天健光电技术有限公司 The laser target and its measuring device of guidance system in railroad survey and constructing tunnel
CN108301766A (en) * 2018-02-08 2018-07-20 北京科技大学 A kind of double drill boom Location vehicle methods of drilling automatic positioning drill jumbo
CN109059879A (en) * 2018-08-03 2018-12-21 华中科技大学 A kind of guidance method for determining the small-bore Curve Pipe Jacking of curvature
CN109209418A (en) * 2018-09-28 2019-01-15 三重型装备有限公司 Development machine and its control method

Also Published As

Publication number Publication date
CN109611111A (en) 2019-04-12

Similar Documents

Publication Publication Date Title
CN109611111B (en) Guiding method of variable-curvature small-caliber curve tunneling machine
CN109059879B (en) Guiding method for fixed-curvature small-caliber curve jacking pipe
US4656743A (en) Arrangement for determining the position of a hollow section system which is pressed forward
CN102052078A (en) Real-time guide system of multi-sensor data fusion shield machine
CN110513116A (en) A kind of monitoring device and monitoring method of tunnel jacking construction guiding
CN111485892B (en) Tube curtain machine pose measuring method and system
US6480289B1 (en) Position measuring apparatus and optical deflection angle measuring apparatus for underground excavators
JP4642576B2 (en) Baseline measurement system and baseline measurement method
CN203857967U (en) Initial posture field calibration system of combined guidance system
JPH1123271A (en) Method for measuring pipe-jacking
CN111608664A (en) Automatic guiding method for long-distance curved jacking pipe
JP3323779B2 (en) Surveying instrument with reflective prism
CN111197486A (en) Push bench guiding method based on machine vision
JP3429046B2 (en) Position measurement light emitting device and light emitting device mounting structure
CN112902845B (en) Track type pipe jacking automatic guiding method
CN103245362A (en) Method for correcting prism error of automatic pipe-jacking measurement guide system
CN112855173B (en) Shield posture adjustment laser target continuous measuring system
JP3759281B2 (en) Underground excavator position measurement device
JP2000356515A (en) Method for measuring position and posture of shield excavation machine
CN113756721B (en) Method for eliminating inclination angle accumulation error of drilling system
JPH08338721A (en) Posture measuring instrument of shield machine for pipe with small diameter
CN115142855B (en) Intelligent pipe jacking guiding method and system based on machine vision
CN204421905U (en) One stands firm line formula laser orientation instrument
JPH07280567A (en) Method for measuring conduit
JPH09126774A (en) Method and device for measuring position and posture of tunnel machine

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant