CN110513116A - A kind of monitoring device and monitoring method of tunnel jacking construction guiding - Google Patents
A kind of monitoring device and monitoring method of tunnel jacking construction guiding Download PDFInfo
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- CN110513116A CN110513116A CN201910938500.2A CN201910938500A CN110513116A CN 110513116 A CN110513116 A CN 110513116A CN 201910938500 A CN201910938500 A CN 201910938500A CN 110513116 A CN110513116 A CN 110513116A
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- jacking construction
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- 238000010276 construction Methods 0.000 title claims abstract description 30
- 238000012544 monitoring process Methods 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000012806 monitoring device Methods 0.000 title claims abstract description 15
- 238000005259 measurement Methods 0.000 claims abstract description 12
- 230000008878 coupling Effects 0.000 claims abstract description 11
- 238000010168 coupling process Methods 0.000 claims abstract description 11
- 238000005859 coupling reaction Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 8
- 239000003292 glue Substances 0.000 claims description 10
- 238000013461 design Methods 0.000 claims description 9
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- 238000012937 correction Methods 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 3
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- 239000002344 surface layer Substances 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 2
- 238000007781 pre-processing Methods 0.000 claims description 2
- 238000011084 recovery Methods 0.000 claims description 2
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Classifications
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- 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
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- 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Environmental & Geological Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Lining And Supports For Tunnels (AREA)
Abstract
The present invention relates to tunnel monitoring technical fields, more particularly to the monitoring device and monitoring method of a kind of tunnel jacking construction guiding.The device includes main top oil cylinder, rock tunnel(ling) machine head, tube coupling, laser target, laser light source, CCD binocular camera, inclinator, controller, coaxial cable, fixation kit；Laser light source issues on laser beam to laser target, the deflection angle of inclinator real-time measurement CCD binocular camera, then the image of the collected laser target of CCD binocular camera is modified and is handled, real-time position information of the push-bench head in jack-in process can be calculated, to monitor tunnel jacking construction guiding, if it find that deviation exceeds allowed band, should rectify a deviation in time.It is not only at low cost, precision is high using the device of the invention or method, and can be long when continuously intelligently monitoring tunnel jacking construction guiding, data can also save in real time.
Description
Technical field
The present invention relates to tunnel monitoring technical field, monitoring device more particularly to a kind of tunnel jacking construction guiding and
Monitoring method.
Background technique
Tunnel jacking construction is a kind of mechanized construction method do not excavated or excavated less, be exactly in working pit by
In the thrust that jacking device generates, overcomes the frictional force of pipeline and surrounding soil, pipeline is headed into soil by the gradient of design, and
The earthwork is transported.The completion of one section pipe heads into soil layer and then lower second section pipe continues jacking.Its principle is by means of main top
The thrusts such as oil cylinder and pipeline enclosure, relay well pass through tool pipe or development machine out of active well soil layer and are advanced to received well always
Inside sling.After pipeline follows tool pipe or development machine closely, it is embedded between two holes.
Construction Technology of With standing Operation is widely used in Urban Underground water supply and sewerage pipeline, natural gas stone in China coast developed area
The non-excavation laying of the various pipelines such as oil-piping, communication cable.It can highway crossing, railway, bridge, high mountain, river, straits and
Any building in ground.With the rapid development of the national economy, Urbanization in China is constantly accelerated, quite long period from now on
It is interior, the Tunnel Engineering such as domestic urban subway tunnel, Hydraulic Tunnel, cross-river tunnel, railway tunnel, vcehicular tunnel, municipal pipeline
It will be constructed using the technology, a large number of earth clearance expense can not only be saved, moreover it is possible to the blocking of environmental pollution and road is reduced,
With significant economic benefit and social benefit.
Although Construction Technology of With standing Operation is mature, is widely used, also defective, the difficult point of the technology is that monitoring push-bench
Excavation guiding and correct the deviation that extends in underground of pipe.The monitoring guiding technique of jacking construction has at present: personal monitoring,
Theodolite monitoring, robot measurement, total station monitor automatically.
1. personal monitoring's method: traditional artificial monitoring is mainly 3 points of shifting collimation methods, is exactly that two vertical lines are hung in active well, two
Vertical line draws a filaments by two surveyors on heart line in the design, makes filament and two vertical lines in same vertical plane, to judge head
Section manages opposite design centre line horizontal departure, and this method apex distance is longer, and precision is lower.
2. theodolite monitors: when monitoring, with plumb bob or optical plummet by the measuring point of centre alignment push-bench, using water
Quasi- device allocates instrument, measures target with collimation telescope, with horizontal limb and altitude circle measurement horizontal angle and vertical angle.It should
Method cannot save data in real time, and complicated construction environment is easy to cause large error.
3. robot measurement: installing robot measurement in well head, reflecting prism is installed on push-bench, works out engineering software
The coordinate for controlling the reflecting prism on robot measurement measurement push-bench, calculates the position of push-bench and deviation and shows in real time
Show.But when robot measurement at a distance from push-bench more than 100 meters when, measurement vertical error it is too big, the data precision cannot expire
Foot requires；And robot cost is too high.
4. total station monitors automatically: the monitoring method is mainly by prism, angular transducer, total station and computer Lai complete
At by the coordinate and angle of monitoring prism come the position of inverse push-bench.Disadvantage: higher cost, hardware is more, installation equipment compared with
It is difficult.
Summary of the invention
The disadvantages of low, at high cost, time-consuming in view of precision in existing monitoring technology, the present invention provides a kind of tunnel jackings
The monitoring device and monitoring method of construction guidance.
In order to achieve the above objectives, The technical solution adopted by the invention is as follows:
A kind of monitoring device of tunnel jacking construction guiding, including main top oil cylinder, push-bench head, the main top oil cylinder are put
It is placed in working pit, tube coupling is equipped in tunnel；The device further includes laser target, laser light source, CCD binocular camera, inclinator,
Controller, coaxial cable and fixation kit；The laser target is fixed on the push-bench back-end of machine head center position；It is described
Laser light source is fixed on the inner wall of the main top oil cylinder；The CCD binocular camera is fixed on the inner wall of the first root canal section
On；The inclinator is fixed on the CCD binocular camera；The controller passes through the coaxial cable and the laser mark
Target, the inclinator, the CCD binocular camera and the laser light source are connected.
Preferably, the laser target uses double layer design, and surface layer uses the material with diffusing reflection property, prevents other
Laser is imaged can on target in range at a certain angle in the interference of light source；The second layer, which uses, has certain mechanical strength
Steel plate protect, prevent the vibration in work progress；In addition, the size of the laser target is 240mm × 240mm, it is described
4 LED light sources are arranged as check point in the quadrangle of laser target equidistant (200mm), the laser target are divided into several
The lattice of 10mm × 10mm is used for the correction and calibration of laser facula.
Preferably, the CCD binocular camera is to be shot using the fixed camera in two relative positions to object, is then led to
Cross subsequent image procossing, correction, analytical Calculation go out the three dimensional space coordinate of laser facula, to obtain the push-bench head
Location information.
Preferably, the fixation kit includes: that several nail-free glue, pernetti three, expansion bolt are several.
Further, the inclinator is fixed on the CCD binocular camera by the nail-free glue level.
Further, the pernetti is separately fixed at push-bench back-end of machine head center by the nail-free glue
On the inner wall basic point of place and the main top oil cylinder；The laser target and the laser light source are individually fixed in corresponding position again
On the pernetti.Further, the pernetti is fixed on the inner wall of the tube coupling by the expansion bolt；It is described
CCD binocular camera is fixed on the pernetti.
A kind of monitoring method of tunnel jacking construction guiding, comprising the following steps:
Step 1: installation sets up all appts equipment, issues laser beam using laser light source and carries out initial alignment, positioning, tune
Whole angle and direction, the laser beam for issuing laser light source are parallel with Tunnel Design axis；
Step 2: before jacking, inclinator being calibrated first, so that the initial tilt of CCD binocular camera is 0 °, so
CCD binocular camera carries out first time shooting to laser target afterwards, and obtained image is transferred to computer terminal by controller, calculates
Machine calculates the initial coordinate of laser facula by a series of processing, to obtain the initial position message of push-bench head；
Step 3: in jack-in process, CCD binocular camera carries out captured in real-time to laser target, and inclinator is to CCD binocular phase
Machine carries out real-time measurement, and the data then measured using inclinator are modified the collected monitoring image of CCD binocular camera,
Using a series of processing of the step 2, the real-time position information of push-bench head is finally obtained；
Step 4: the variation of the location information at moment can determine the guiding of tunnel jacking construction before and after comparison push-bench head,
If it find that deviation exceeds allowed band, should rectify a deviation in time.
Preferably, in the step 2, the image of acquisition first corrects 4 after pre-processing (noise reduction, recovery etc.)
Point is positioned, and is then eliminated camera distortion using the location information of this 4 check points, is obtained laser facula in the camera of left and right
Imager coordinate, then the image that left and right camera is obtained carries out Stereo matching, finally by calculating and coordinate transform obtains laser
The space coordinate of hot spot, to obtain the location information of push-bench head.
Preferably, in the step 3, since small vibration may occur in jack-in process for tube coupling, lead to CCD binocular phase
Minor change occurs for the angle that machine shoots image, so the data to be measured using inclinator are collected to CCD binocular camera
Monitoring image is modified, i.e., is modified to the location information of 4 check points, recycles the real time position of this 4 check points
Information eliminates camera distortion, and a series of processing for eventually passing through the step 2 obtain the real time position of correct push-bench head
Information.
Compared with prior art, the invention has the following advantages:
(1) apparatus structure of the present invention is simple, easy for installation and at low cost；
(2) when device and method of the present invention can be long, real-time monitoring continuously, intelligently is carried out to push-bench,
In order to which staff analyzes the guiding of tunnel jacking in real time；
(3) device and method precision of the present invention is high, and data can save in real time, convenient for comparison and analysis.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the invention；
Fig. 2 is the facade of laser target, floor map；
In figure: 1-main top oil cylinder, 2-push-bench heads, 3-tube couplings, 4-laser targets, 5-laser light sources, 6-CCD
Binocular camera, 7-inclinators, 8-controllers, 9-coaxial cables, 10-nail-free glues, 11-pernettis, 12-expansion bolts.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing, to the present invention into
Row is further described.
As shown in Figure 1, the monitoring device of jacking construction guiding in tunnel disclosed by the invention, including main top oil cylinder 1, push-bench
Head 2, main top oil cylinder 1 are placed in working pit, and tube coupling 3 is equipped in tunnel；The device further includes laser target 4, laser light source
5, CCD binocular cameras 6, inclinator 7, controller 8, coaxial cable 9, fixation kit；Laser target 4 is fixed on push-bench head 2
At back-end central position；Laser light source 5 is fixed on the inner wall of main top oil cylinder 1；CCD binocular camera 6 is fixed on the first root canal section 3
Inner wall on；Inclinator 7 is fixed on CCD binocular camera 6；Controller 8 by coaxial cable 9 and laser target 4, inclinator 7,
CCD binocular camera 6 and laser light source 5 are connected.
Preferably, as shown in Fig. 2, laser target 4 uses double layer design, surface layer uses the material with diffusing reflection property,
Laser is imaged can on target in range at a certain angle in the interference for preventing other light sources；The second layer, which uses, to be had centainly
The steel plate of mechanical strength is protected, and the vibration in work progress is prevented；In addition, the size of laser target 4 is 240mm × 240mm,
4 LED light sources are arranged as check point in the quadrangle of laser target 4 equidistant (200mm), and laser target 4 is divided into several 10mm
The lattice of × 10mm is used for the correction and calibration of laser facula.
Preferably, as shown in Figure 1, CCD binocular camera 6 is to be clapped using the fixed camera in two relative positions object
It takes the photograph, the three dimensional space coordinate of laser facula is then gone out by subsequent image procossing, correction, analytical Calculation, to obtain push pipe
The location information of machine head 2.
Preferably, as shown in Figure 1, 2, fixation kit includes: that nail-free glue 10 is several, pernetti 11 3, expansion bolt 12
It is several.Inclinator 7 is fixed on CCD binocular camera 6 by 10 level of nail-free glue；Pernetti 11 is fixed respectively by nail-free glue 10
At 2 back-end central position of push-bench head and on the inner wall basic point of main top oil cylinder 1, laser target 4 and laser light source 5 are distinguished again
It is fixed on the pernetti 11 of corresponding position；Pernetti 11 is fixed on the inner wall of tube coupling 3 by expansion bolt 12, CCD binocular
Camera 6 is fixed on pernetti 11.
Utilize the method for above-mentioned monitoring device monitoring tunnel jacking construction guiding, comprising the following steps:
Step 1: installation sets up all appts equipment, using laser light source 5 issue laser beam carry out initial alignment, positioning,
It adjusts the angle and direction, the laser beam for issuing laser light source 5 is parallel with Tunnel Design axis；
Step 2: before jacking, inclinator 7 is calibrated first, so that the initial tilt of CCD binocular camera 6 is 0 °,
Then CCD binocular camera 6 carries out first time shooting to laser target 4, and obtained image is transferred to computer end by controller 8
End utilizes the program and software that write in advance to carry out computer disposal resolving, it may be assumed that the image of acquisition by pretreatment (noise reduction,
Restore etc.) after, 4 check points are positioned first, then eliminate camera distortion using the location information of this 4 check points,
Laser facula is obtained in the magazine imager coordinate in left and right, then the image that left and right camera is obtained carries out Stereo matching, finally leads to
It crosses calculating and coordinate transform obtains the space coordinate of laser facula, since laser target 4 is fixed at push-bench head 2, then swash
The offset of cursor target 4 and the offset synchronous of push-bench head 2 develop, therefore can obtain push-bench by the space coordinate of laser facula
The initial position message of head 2；
Step 3: in jack-in process, CCD binocular camera 6 carries out captured in real-time to laser target 4 (can self-setting shooting frequency
Rate, such as: taken a picture every 15 seconds), inclinator 7 carries out real-time measurement to CCD binocular camera 6, since tube coupling 3 is in jacking
Small vibration may occur in the process, minor change occurs for the angle for causing CCD binocular camera 6 to shoot image, so to utilize
The data that inclinator 7 measures are modified the collected monitoring image of CCD binocular camera 6, i.e., believe the positioning of 4 check points
Breath is modified, and is recycled the real-time position information of this 4 check points to eliminate camera distortion, is eventually passed through the one of the step 2
Series of processes obtains the real-time position information of correct push-bench head 2；
Step 4: the variation of the location information at comparison 2 front and back moment of push-bench head can determine leading for tunnel jacking construction
To if it find that deviation should rectify a deviation in time beyond allowed band.
Claims (9)
1. a kind of monitoring device of tunnel jacking construction guiding, including main top oil cylinder (1), push-bench head (2), the main top oil
Cylinder (1) is placed in working pit, is equipped with tube coupling (3) in tunnel；The monitoring device of the tunnel jacking construction guiding, mainly by swashing
Cursor target (4), laser light source (5), CCD binocular camera (6), inclinator (7), controller (8), coaxial cable (9), fixation kit
Composition；It is characterized in that, the laser target (4) is fixed at push-bench head (2) the back-end central position；The laser
Light source (5) is fixed on the inner wall of main top oil cylinder (1)；The CCD binocular camera (6) is fixed on the first root canal section
(3) on inner wall；The inclinator (7) is fixed on the CCD binocular camera (6)；The controller (8) passes through described coaxial
Cable (9) and the laser target (4), the inclinator (7), the CCD binocular camera (6) and the laser light source (5)
It is connected.
2. the monitoring device of jacking construction guiding in tunnel according to claim 1, it is characterised in that: the laser target
(4) double layer design is used, surface layer uses the material with diffusing reflection property, prevents the interference of other light sources, makes laser can be with
It is imaged on target within the scope of certain angle；The second layer uses the steel plate with certain mechanical strength to protect, and prevents from constructing
Vibration in journey；In addition, the size of the laser target (4) is 240mm × 240mm, the quadrangle of the laser target (4) is equidistant
(200mm) arranges 4 LED light sources as check point, and the laser target (4) is divided into the lattice of several 10mm × 10mm
Correction and calibration for laser facula.
3. the monitoring device of jacking construction guiding in tunnel according to claim 1, it is characterised in that: the CCD binocular phase
Machine (6) is to be shot using the fixed camera in two relative positions to object, then passes through subsequent image procossing, correction, solution
Analysis calculates the three dimensional space coordinate of laser facula, to obtain the location information of the push-bench head (2).
4. the monitoring device of jacking construction guiding in tunnel according to claim 1, it is characterised in that: the fixation kit packet
Include: nail-free glue (10) is several；The inclinator (7) is fixed on the CCD binocular camera (6) by the nail-free glue (10) level
On.
5. the monitoring device of jacking construction guiding in tunnel according to claim 1 or 4, it is characterised in that: described fixed group
Part includes: pernetti (11) three, and expansion bolt (12) is several；The pernetti (11) is fixed by the expansion bolt (12)
On the inner wall of the tube coupling (3), the CCD binocular camera (6) is fixed on the pernetti (11).
6. the monitoring device being oriented to according to tunnel jacking construction described in claim 4 and 5, it is characterised in that: the pernetti
(11) it is separately fixed at push-bench head (2) the back-end central position and the main top oil cylinder by the nail-free glue (10)
(1) on inner wall basic point, the laser target (4) and the laser light source (5) are individually fixed in the branch of corresponding position again
On bracket (11).
7. a kind of monitoring method of tunnel jacking construction guiding, which comprises the following steps:
Step 1: installation sets up all appts equipment, issues laser beam using laser light source (5) and carries out initial alignment, positioning, tune
Whole angle and direction, the laser beam for issuing laser light source (5) are parallel with Tunnel Design axis；
Step 2: before jacking, inclinator (7) is calibrated first, so that the initial tilt of CCD binocular camera (6) is 0 °,
Then CCD binocular camera (6) carries out first time shooting to laser target (4), and obtained image is transferred to electricity by controller (8)
Brain terminal, computer calculate the initial coordinate of laser facula by a series of processing, to obtain the first of push-bench head (2)
Beginning location information；
Step 3: in jack-in process, CCD binocular camera (6) carries out captured in real-time to laser target (4), and inclinator (7) is bis- to CCD
Mesh camera (6) carries out real-time measurement, and the data then measured using inclinator (7) are to CCD binocular camera (6) collected monitoring
Image is modified, and using a series of processing of the step 2, finally obtains the real-time position information of push-bench head (2)；
Step 4: the variation of the location information at moment can determine the guiding of tunnel jacking construction before and after comparison push-bench head (2),
If it find that deviation exceeds allowed band, should rectify a deviation in time.
8. the monitoring method of jacking construction guiding in tunnel according to claim 7, it is characterised in that: in the step 2, obtain
The image taken first positions 4 check points after pre-processing (noise reduction, recovery etc.), then utilizes this 4 check points
Location information eliminate camera distortion, obtain laser facula in the magazine imager coordinate in left and right, then left and right camera is obtained
Image carries out Stereo matching, the three dimensional space coordinate of laser facula is obtained with coordinate transform finally by calculating, to be pushed up
The location information of pipe machine head (2).
9. the monitoring method of jacking construction guiding in tunnel according to claim 7, it is characterised in that: in the step 3, by
Small vibration may occur in jack-in process in tube coupling (3), cause the angle of CCD binocular camera (6) shooting image to occur micro-
Small variation, so the data to be measured using inclinator (7) are modified CCD binocular camera (6) collected monitoring image,
The location information of 4 check points is modified, the real-time position information of this 4 check points is recycled to eliminate camera distortion,
A series of processing for eventually passing through the step 2 obtain the real-time position information of correct push-bench head (2).
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| CN111236957A (en) * | 2020-01-14 | 2020-06-05 | 广州坚磊建设有限公司 | Mechanical pipe jacking construction process |
| CN111502671A (en) * | 2020-04-20 | 2020-08-07 | 中铁工程装备集团有限公司 | Comprehensive guiding device and method for guiding and carrying binocular camera by shield laser target |
| CN111980751A (en) * | 2020-07-30 | 2020-11-24 | 中煤科工集团西安研究院有限公司 | Portable mining roadway multi-source sensor scanning device and construction method |
| CN112925263A (en) * | 2021-01-25 | 2021-06-08 | 深圳市玄羽科技有限公司 | CNC (computer numerical control) machine probe and control method thereof |
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| CN113847866A (en) * | 2020-06-15 | 2021-12-28 | 湖南科天健光电技术有限公司 | Target object position measuring method and device based on incoming light beams |
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| KR20220062744A (en) * | 2020-11-09 | 2022-05-17 | 한국남동발전 주식회사 | The improved safety management device, system of shield TBM tunnel construction segment assembly work and safety management method thereof |
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