CN110726373A - Dynamic real-time measuring device for shield tail clearance of shield machine - Google Patents
Dynamic real-time measuring device for shield tail clearance of shield machine Download PDFInfo
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- CN110726373A CN110726373A CN201911044718.XA CN201911044718A CN110726373A CN 110726373 A CN110726373 A CN 110726373A CN 201911044718 A CN201911044718 A CN 201911044718A CN 110726373 A CN110726373 A CN 110726373A
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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
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
Abstract
The invention relates to a dynamic real-time measuring device for a shield tail gap of a shield machine, which comprises a laser measuring device and a controller, wherein the laser measuring device comprises a linear laser transmitter and an image acquisition device which are coaxially arranged, and the linear laser transmitter and the image acquisition device are both arranged at the tail part of the shield machine and are both connected with the controller; the linear laser emitter is used for emitting linear laser to the pipe ring direction, and the linear laser passes through the central line of the pipe ring; the shooting direction of the image acquisition equipment is parallel to the emission direction of the linear laser emitter, and the image acquisition equipment is used for shooting a laser projection picture and transmitting the obtained laser projection picture to the controller; and the controller calculates the shield tail clearance according to the laser projection in the laser projection picture and the picture pixel distance. The method can automatically and dynamically measure the shield tail clearance of the shield tunneling machine in real time, and the whole process does not need manual participation.
Description
Technical Field
The invention relates to the technical field of shield tail clearance measurement, in particular to a dynamic real-time shield tail clearance measuring device of a shield tunneling machine.
Background
The shield tail clearance refers to the width of a gap between a shield shell at the tail part of the shield machine and the last ring pipe piece, the clearance values in the radial directions of the ring pipes in the upper, lower, left and right directions, namely, in the directions of 0 degree, 90 degree, 180 degree and 270 degree are selected as evaluation standards during measurement, the shield tail clearance is important data for normal operation of the shield machine, and unreasonable shield tail clearance can cause the conditions of shield shell deformation, shield tail brush breakage, pipe piece fragmentation and the like, and even cause water burst and mud burst and other dangers.
Although other technologies of the shield are mature, the tail clearance measurement mode of the shield has no application of new technologies. The current measurement mode of the shield tail clearance is manual measurement.
The manual measurement of the shield tail clearance refers to that a measurer uses a measuring tape or a caliper and other tools to manually measure the shield tail clearance. The shield machine has high temperature and humidity at the front end, narrow personnel operating space and severe environment, and measurement personnel are difficult to stay for a long time, so the measurement real-time performance is poor; the tail structure of the shield tunneling machine is complex, a special measuring channel is not arranged in a shield tail gap, the measuring difficulty is high, the measuring accuracy is poor, errors are easy to occur, and the safety risk of personnel is increased; the measurement position is near the pipe ring and is difficult to mark, so that the repeated detection and checking are difficult; data is manually recorded, errors are easy to occur, the data is difficult to store, and query is inconvenient.
Disclosure of Invention
The invention aims to solve the technical problem of providing a dynamic real-time measurement device for the shield tail clearance of a shield machine, which can automatically and dynamically measure the shield tail clearance of the shield machine in real time.
The technical scheme adopted by the invention for solving the technical problems is as follows: the dynamic real-time measuring device for the shield tail clearance of the shield tunneling machine comprises a laser measuring device and a controller, wherein the laser measuring device comprises a linear laser transmitter and an image acquisition device which are coaxially arranged, and the linear laser transmitter and the image acquisition device are both arranged at the tail part of the shield tunneling machine and are both connected with the controller; the linear laser emitter is used for emitting linear laser to the pipe ring direction, and the linear laser passes through the central line of the pipe ring; the shooting direction of the image acquisition equipment is parallel to the emission direction of the linear laser emitter, and the image acquisition equipment is used for shooting a laser projection picture and transmitting the obtained laser projection picture to the controller; and the controller calculates the shield tail clearance according to the laser projection in the laser projection picture and the picture pixel distance.
The controller extracts a linear equation of a straight line projected on the shield shell by the laser and a linear equation of a line segment projected on the pipe ring by the laser in the laser projection picture, and calculates the intersection point of the two linear equations to obtain an intersection point coordinate; and then acquiring coordinates of an inner end point and an outer end point of a line segment projected on the tube ring by the laser, calculating the proportion of the pixel distance between the inner end point and the outer end point to the pixel distance between the intersection point and the outer end point to obtain the proportion between the width of the tube ring and the gap of the shield tail, and obtaining the gap of the shield tail according to the known width of the tube ring.
The number of the laser measuring devices is four, and the laser measuring devices are uniformly distributed on the periphery of the tail of the shield tunneling machine.
And the controller controls the laser measuring device through a relay in the control box.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: according to the invention, the laser projects a straight line and a line segment on the shield shell and the pipe ring, the projected straight line and the projected line segment are shot by the industrial camera, the projected straight line equation and the projected line segment equation of the laser are extracted by the computer, and the shield tail clearance is calculated according to the straight line equation and the line segment equation. The invention can store the detected data, and is convenient for later inquiry.
Drawings
FIG. 1 is a sectional view of a shield tail clearance dynamic real-time measurement device of a shield tunneling machine according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a device for dynamically measuring the shield tail clearance of a shield tunneling machine in real time according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a laser projection picture acquired by a laser measurement device located on the left side in the embodiment of the present invention.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
The embodiment of the invention relates to a dynamic real-time measuring device for a shield tail clearance of a shield machine, which comprises a laser measuring device 1 and a controller 3, wherein the laser measuring device 1 comprises a linear laser transmitter 11 and an image acquisition device 12 which are coaxially arranged, and the linear laser transmitter and the image acquisition device are both arranged at the tail part of the shield machine and are both connected with the controller. In this embodiment, the image acquisition apparatus employs an industrial camera.
The shield tail clearance of the shield machine in four directions, namely the upper direction, the lower direction, the left direction and the right direction, is respectively measured, the four laser measuring devices are connected to the control box 2 through cables, and the control box 2 is provided with two cables connected to the controller 3.
During measurement, the controller 3 respectively opens the linear laser transmitters of the four laser measurement devices through the relays in the control box 2, the linear laser transmitters can emit linear laser towards the direction of the pipe ring 4, the linear laser can pass through the actual central line of the pipe ring 4, and the projection of the linear laser at the position to be measured of the pipe ring can pass through the circle center of the measured pipe ring. The line laser emitted by the linear laser emitter is projected onto the shield shell 5 and the pipe ring 4 respectively, the shooting direction of the industrial camera is parallel to the emitting direction of the line laser, at the moment, the controller 3 can control the industrial camera of the laser measuring device to shoot a laser projection picture, and the laser projection picture is transmitted to the controller 3 and stored by the controller 3.
According to the definition of the shield tail clearance, the shield tail clearance is the distance from the outer side of the pipe ring to the extension line of the shield shell in the radial direction of the pipe ring, the line is the intersection line of the plane formed by the line laser and the normal plane of the pipe ring, the shield shell measuring point of the shield tail clearance is the intersection point of the intersection line of the plane formed by the line laser and the normal plane of the pipe ring and the shield shell surface, the point is the intersection point of the plane formed by the shield shell surface and the line laser and the normal plane of the pipe ring, the point is also necessarily located on the intersection line of the plane formed by the line laser and the shield shell surface, namely the intersection line of the plane formed by the line laser and the shield shell surface is necessary to pass through the point, the point is calculated as the key of the shield tail clearance measuring system, and the distance between the point and the outer side point where the pipe ring and the line laser intersect is obtained as the shield tail clearance value of the position.
Fig. 3 is a schematic diagram of a laser projection picture acquired by the laser measuring device located on the left side. From the knowledge of photogrammetry, the ratio of the shield tail clearance which is in the same line with the radius of the tube ring and the projection of the line laser on the tube ring is fixed, so that the ratio can be obtained by means of monocular photogrammetry. The specific mode is as follows: after the controller receives the laser projection picture, firstly, a linear equation of a line A projected on the shield shell 5 by the laser and an equation of a line B projected on the tube ring 4 by the laser are extracted from the laser projection picture, the coordinate of the intersection point O of the two linear equations is calculated, the coordinates of an outer end point M and an inner end point N of the line of the laser projection on the tube ring are obtained, the pixel distance between the outer end point M and the inner end point N can be obtained by the coordinates of the outer end point M and the inner end point N, the pixel distance between the outer end point M and the intersection point O of the line of the laser projection on the tube ring is calculated, the ratio of the pixel distance between the outer end point M and the inner end point N to the pixel distance between the outer end point M and the intersection point O is the same as the ratio of the tube ring width to the shield tail gap, and the tube ring width is known, so that the shield tail gap can.
The method has the advantages that the laser is used for projecting straight lines and line segments on the shield shell and the pipe ring, the projected straight lines and line segments are shot through the industrial camera, the computer is used for extracting the projected straight line equation and line segment equation of the laser, and the shield tail clearance is obtained through calculation according to the straight line equation and the line segment equation. The invention can store the detected data, and is convenient for later inquiry.
Claims (4)
1. A dynamic real-time measuring device for shield tail clearance of a shield tunneling machine comprises a laser measuring device and a controller, and is characterized in that the laser measuring device comprises a linear laser transmitter and an image acquisition device which are coaxially arranged, wherein the linear laser transmitter and the image acquisition device are both arranged at the tail part of the shield tunneling machine and are both connected with the controller; the linear laser emitter is used for emitting linear laser to the pipe ring direction, and the linear laser passes through the central line of the pipe ring; the shooting direction of the image acquisition equipment is parallel to the emission direction of the linear laser emitter, and the image acquisition equipment is used for shooting a laser projection picture and transmitting the obtained laser projection picture to the controller; and the controller calculates the shield tail clearance according to the laser projection in the laser projection picture and the picture pixel distance.
2. The dynamic real-time measurement device for the shield tail clearance of the shield tunneling machine of claim 1, wherein the controller extracts a linear equation of a straight line projected on the shield shell by the laser and a linear equation of a line segment projected on the pipe ring by the laser in the laser projection picture, and calculates an intersection point of the two linear equations to obtain an intersection point coordinate; and then acquiring coordinates of an inner end point and an outer end point of a line segment projected on the tube ring by the laser, calculating the proportion of the pixel distance between the inner end point and the outer end point to the pixel distance between the intersection point and the outer end point to obtain the proportion between the width of the tube ring and the gap of the shield tail, and obtaining the gap of the shield tail according to the known width of the tube ring.
3. The dynamic real-time shield tail clearance measuring device of the shield tunneling machine of claim 1, wherein the number of the laser measuring devices is four, and the laser measuring devices are uniformly distributed around the tail of the shield tunneling machine.
4. The dynamic real-time measurement device for shield tail clearance of the shield tunneling machine of claim 1, wherein the controller controls the laser measurement device through a relay in a control box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911044718.XA CN110726373A (en) | 2019-10-30 | 2019-10-30 | Dynamic real-time measuring device for shield tail clearance of shield machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911044718.XA CN110726373A (en) | 2019-10-30 | 2019-10-30 | Dynamic real-time measuring device for shield tail clearance of shield machine |
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| CN110726373A true CN110726373A (en) | 2020-01-24 |
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| CN201911044718.XA Pending CN110726373A (en) | 2019-10-30 | 2019-10-30 | Dynamic real-time measuring device for shield tail clearance of shield machine |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111457851A (en) * | 2020-04-14 | 2020-07-28 | 中国铁建重工集团股份有限公司 | Shield tail clearance measurement system and method for shield machine |
| CN112033293A (en) * | 2020-08-12 | 2020-12-04 | 上海隧道工程有限公司 | Method for automatically tracking effective boundary characteristic points of duct piece in machine vision shield tail clearance detection |
| CN112525158A (en) * | 2020-11-16 | 2021-03-19 | 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 monocular vision system |
| CN112556592A (en) * | 2020-12-23 | 2021-03-26 | 中铁工程装备集团有限公司 | Shield tail clearance measurement system and method based on visual positioning |
| CN112945115A (en) * | 2021-02-04 | 2021-06-11 | 中铁工程装备集团有限公司 | Shield tail gap vision measurement method and device based on double laser structure lines |
| CN113358046A (en) * | 2021-05-19 | 2021-09-07 | 上海隧道工程有限公司 | Visual measurement method and system for shield tail clearance |
| JP6941899B1 (en) * | 2020-11-20 | 2021-09-29 | 計測技研株式会社 | Clearance measurement system and clearance measurement method |
| CN114413775A (en) * | 2022-03-28 | 2022-04-29 | 天津恒度量子精密仪器技术有限公司 | Shield tail gap measuring method and system of shield machine based on double-line laser vision |
-
2019
- 2019-10-30 CN CN201911044718.XA patent/CN110726373A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111457851A (en) * | 2020-04-14 | 2020-07-28 | 中国铁建重工集团股份有限公司 | Shield tail clearance measurement system and method for shield machine |
| CN111457851B (en) * | 2020-04-14 | 2021-11-23 | 中国铁建重工集团股份有限公司 | Shield tail clearance measurement system and method for shield machine |
| CN112033293A (en) * | 2020-08-12 | 2020-12-04 | 上海隧道工程有限公司 | Method for automatically tracking effective boundary characteristic points of duct piece in machine vision shield tail clearance detection |
| CN112525158A (en) * | 2020-11-16 | 2021-03-19 | 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 monocular vision system |
| JP6941899B1 (en) * | 2020-11-20 | 2021-09-29 | 計測技研株式会社 | Clearance measurement system and clearance measurement method |
| CN112556592A (en) * | 2020-12-23 | 2021-03-26 | 中铁工程装备集团有限公司 | Shield tail clearance measurement system and method based on visual positioning |
| CN112556592B (en) * | 2020-12-23 | 2022-08-19 | 中铁工程装备集团有限公司 | Shield tail clearance measurement system and method based on visual positioning |
| CN112945115A (en) * | 2021-02-04 | 2021-06-11 | 中铁工程装备集团有限公司 | Shield tail gap vision measurement method and device based on double laser structure lines |
| CN113358046A (en) * | 2021-05-19 | 2021-09-07 | 上海隧道工程有限公司 | Visual measurement method and system for shield tail clearance |
| CN114413775A (en) * | 2022-03-28 | 2022-04-29 | 天津恒度量子精密仪器技术有限公司 | Shield tail gap measuring method and system of shield machine based on double-line laser vision |
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