CN111485892B - Tube curtain machine pose measuring method and system - Google Patents

Tube curtain machine pose measuring method and system Download PDF

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Publication number
CN111485892B
CN111485892B CN202010596791.4A CN202010596791A CN111485892B CN 111485892 B CN111485892 B CN 111485892B CN 202010596791 A CN202010596791 A CN 202010596791A CN 111485892 B CN111485892 B CN 111485892B
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shield
shield body
initial position
current position
light
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CN111485892A (en
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刘飞香
程永亮
赵松华
彭红军
赵宗华
贺泊宁
王理
毛成
王宁
陈焕昱
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China Railway Construction Heavy Industry Group Co Ltd
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China Railway Construction Heavy Industry Group Co Ltd
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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
    • 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
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining

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  • Mining & Mineral Resources (AREA)
  • Environmental & Geological Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • Geochemistry & Mineralogy (AREA)
  • Geology (AREA)
  • Excavating Of Shafts Or Tunnels (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a method and a system for measuring the pose of a pipe curtain machine. In the tunneling process of the tube curtain machine, the position deviation of the current position relative to the front end of the first shield body at the initial position is obtained according to the central position of the first light spot on the light target at the current position, the central position of the first light spot on the light target at the initial position and the rolling angle deviation of the current position relative to the second shield body at the initial position, so that the pose of the shield head of the first shield body can be measured in real time. According to the method and the system for measuring the pose of the tube curtain machine, the light target is arranged on the second shield body positioned at the rear, so that the method and the system can be applied to the condition that the installation space of the tube curtain machine is limited, and the real-time direction adjustment and the correction of the tube curtain machine are facilitated.

Description

Tube curtain machine pose measuring method and system
Technical Field
The invention relates to the technical field of pipe jacking construction, in particular to a method and a system for measuring the pose of a pipe curtain machine.
Background
With the development of science and technology and economic society, underground engineering is increasingly developed rapidly in recent years, and mainly comprises urban subway and urban underground comprehensive pipe gallery engineering. The pipe curtain construction method becomes a common construction method of urban engineering, and has the advantage that a large tunnel with a complex section can be constructed by using miniaturized equipment.
In the prior art, a guiding mode based on a laser source, a light target and a camera device is usually adopted in the construction of a short-distance or medium-long-distance linear pipe curtain machine, the working principle of the linear pipe curtain machine is that the laser source emits a laser beam, the light target receives the laser beam, the camera device collects an image of the light target, and then the pose of a shield body is obtained according to the position information of laser beam spots on the image. However, under the condition that the installation space of the screen machine is limited, the light target can only be installed on the rear half part of the shield body, so that only the posture of the shield body at the position of the light target can be obtained, and the posture of the shield head cannot be measured, which causes great difficulty in real-time direction adjustment and deviation correction of the screen machine.
Disclosure of Invention
In view of the above, the present invention provides a method and a system for measuring a pose of a pipe curtain machine, which can measure and obtain a pose of a shield head of a shield body, and facilitate real-time direction adjustment and deviation correction of the pipe curtain machine.
In order to achieve the purpose, the invention provides the following technical scheme:
a tube curtain machine pose measuring method comprises a first laser source, a light target, a camera device and an angle acquisition device, wherein the first laser source is arranged at a turning fulcrum of a first shield body and used for emitting a laser beam towards the light target so that a first light spot is formed on the light target, the light target is arranged at the front end of a second shield body, the camera device is used for acquiring an image of the light target, and the angle acquisition device is arranged on the second shield body and used for acquiring a rolling angle of the second shield body;
the method comprises the following steps:
when the shield is at the initial position, the central position of a first light spot on the light target is obtained according to the image obtained by the camera device, and the rolling angle of the second shield is obtained by the angle obtaining device;
in the tunneling process of the tube curtain machine, the central position of a first light spot on the light target is obtained at the current position according to the image obtained by the camera device, the rolling angle of the second shield body is obtained through the angle obtaining device, and the position deviation of the current position relative to the initial position and the front end of the first shield body is obtained according to the central position of the first light spot on the light target at the current position, the central position of the first light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield body.
Preferably, the first laser source corresponds to the center of the rear end face of the first shield body, and calibrating the position of the first laser source includes:
arranging a reflecting element on the outer side surface of the rear end of the first shield body, moving the position of the reflecting element along the circumference of the first shield body until the reflecting element surrounds a circle, measuring position data of the reflecting element in a geodetic coordinate system when the reflecting element is moved to each position, and obtaining the central position of the rear end surface of the first shield body according to the position data of the reflecting element obtained by measuring each position;
the first laser source is arranged at a direction-adjusting branch point of the first shield body, and the first laser source corresponds to the center of the rear end face of the first shield body.
Preferably, the preset point on the optical target corresponds to the center of the front end face of the second shield, and calibrating the position of the optical target includes:
arranging a reflecting element on the outer side face of the front end of the second shield, moving the position of the reflecting element along the circumference of the second shield until the reflecting element surrounds a circle, measuring position data of the reflecting element in a geodetic coordinate system when the reflecting element is moved to each position, and obtaining the central position of the front end face of the second shield according to the position data of the reflecting element obtained by measuring each position;
and arranging the light target at the front end of the second shield body, wherein a preset point on the light target corresponds to the center of the front end surface of the second shield body.
Preferably, a connection line between the center of the front end surface of the first shield body and the center of the rear end surface of the second shield body in the initial position is parallel to the central axis of the tunnel, and the determining the poses of the first shield body and the second shield body in the initial position includes:
acquiring the central position of the front end face of the first shield body and the central position of the rear end face of the second shield body;
and adjusting the pose of the first shield body and the pose of the second shield body to enable the connecting line of the center of the front end face of the first shield body and the center of the rear end face of the second shield body to be parallel to the central axis of the tunnel.
Preferably, the obtaining the position deviation of the current position relative to the initial position of the front end of the first shield according to the central position of the first light spot on the light target at the current position, the central position of the first light spot on the light target at the initial position, and the rolling angle difference of the current position relative to the initial position of the second shield comprises:
calculating the horizontal deviation of the current position relative to the center of the front end of the first shield at the initial position according to the following formula: h = (x 1 × cos θ -y1 × sin θ) — (L1-L)/L1;
calculating the vertical deviation of the current position relative to the center of the front end of the first shield at the initial position according to the following formula: v = (x 1 × sin θ + y1 × cos θ) (L1-L)/L1;
wherein θ = β ″, β, and β ″' respectively denote a rolling angle obtained by the angle obtaining device at the initial position and at the current position, θ denotes a rolling angle difference of the current position with respect to the initial position by the second shield, a central position coordinate of the first light spot on the optical target at the initial position is (0, 0), a central position coordinate of the first light spot on the optical target at the current position is (x 1, y 1), L1 denotes a distance from a direction-adjusting fulcrum of the first shield to a rear end face of the first shield, and L denotes a length of the first shield.
Preferably, the method further comprises the following steps: according to the center position of the first light spot on the light target at the current position, the center position of the first light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield, the deflection angle of the front end of the first shield relative to the central axis of the tunnel at the current position is obtained, and specifically, the deflection angle is calculated according to the following formula:
α=（x1*cosθ-y1*sinθ）/L1；
where α denotes a deflection angle of the front end of the first shield with respect to the central axis of the tunnel at the current position, θ = β '- β, β and β' denote rolling angles obtained by the angle obtaining means at the initial position and at the current position, respectively, θ denotes a rolling angle difference of the current position with respect to the initial position of the second shield, a center position coordinate of the first light spot on the optical target at the initial position is (0, 0), a center position coordinate of the first light spot on the optical target at the current position is (x 1, y 1), and L1 denotes a distance from a steering fulcrum of the first shield to the rear end face of the first shield.
Preferably, the laser device further comprises a second laser source arranged at the originating well for emitting a laser beam towards the optical target so as to form a second light spot on the optical target;
the method further comprises the following steps:
when the light target is at the initial position, the central position of a second light spot on the light target is obtained according to the image acquired by the camera device;
and in the tunneling process of the curtain machine, the central position of a second light spot on the light target is obtained at the current position according to the image acquired by the camera device, and the position deviation of the current position relative to the initial position and the front end of the second shield body is obtained according to the central position of the second light spot on the light target at the current position, the central position of the second light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield body.
Preferably, the laser beam emitted by the second laser source coincides with the central axis of the tunnel, and calibrating the position of the second laser source includes:
marking any three positions on the central axis of the tunnel, arranging the second laser source at one position which is farthest away from the light target in the three positions, and enabling the laser beam emitted by the second laser source to pass through the other two positions.
Preferably, the obtaining the position deviation of the current position relative to the initial position and the front end of the second shield according to the center position of the second light spot on the light target at the current position, the center position of the second light spot on the light target at the initial position, and the rolling angle difference of the current position relative to the initial position and the second shield comprises:
calculating the horizontal deviation of the current position relative to the center of the front end of the second shield at the initial position according to the following formula: h ″ = y2 × sin θ -x2 × cos θ;
calculating the vertical deviation of the current position relative to the center of the front end of the second shield at the initial position according to the following formula: v = -x2 = -sin θ -y2 ═ cos θ;
where θ = β ″, β, and β ″' respectively denote a rolling angle obtained by the angle obtaining device at the initial position and at the current position, θ denotes a rolling angle difference amount of the current position with respect to the initial position by the second shield, a center position coordinate of the second light spot on the optical target at the initial position is (0, 0), and a center position coordinate of the second light spot on the optical target at the current position is (x 2, y 2).
A tube curtain machine pose measuring system comprises a first laser source, a light target, a camera device, an angle acquiring device and a data processing device, wherein the first laser source is arranged at a direction-adjusting fulcrum of a first shield body and used for emitting a laser beam towards the light target so that a first light spot is formed on the light target, the light target is arranged at the front end of a second shield body, the camera device is used for acquiring an image of the light target, and the angle acquiring device is arranged on the second shield body and used for acquiring a rolling angle of the second shield body;
the data processing apparatus is configured to:
when the shield is at the initial position, the central position of a first light spot on the light target is obtained according to the image obtained by the camera device, and the rolling angle of the second shield is obtained by the angle obtaining device;
in the tunneling process of the tube curtain machine, the central position of a first light spot on the light target is obtained at the current position according to the image obtained by the camera device, the rolling angle of the second shield body is obtained through the angle obtaining device, and the position deviation of the current position relative to the initial position and the front end of the first shield body is obtained according to the central position of the first light spot on the light target at the current position, the central position of the first light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield body.
According to the technical scheme, the first laser source is arranged at the steering fulcrum of the first shield body and used for emitting laser beams towards the light target to enable the light target to form a first light spot, the light target is arranged at the front end of the second shield body, the image of the light target is obtained through the camera device, and the rolling angle of the second shield body is obtained through the angle obtaining device. In the tunneling process of the tube curtain machine, the position deviation of the current position relative to the front end of the first shield body at the initial position is obtained according to the central position of the first light spot on the light target at the current position, the central position of the first light spot on the light target at the initial position and the rolling angle deviation of the current position relative to the second shield body at the initial position, so that the pose of the shield head of the first shield body can be measured and obtained in real time in the tunneling process of the tube curtain machine. According to the method and the system for measuring the pose of the tube curtain machine, the light target is arranged on the second shield body positioned at the rear, the method and the system can be applied to the condition that the installation space of the tube curtain machine is limited, the pose of the shield head of the first shield body positioned at the front can be measured, and the real-time direction adjustment and deviation correction of the tube curtain machine are facilitated.
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 schematic layout diagram of a tube curtain machine, a first laser source, an optical target, a camera device and an angle acquisition device at an initial position in a tube curtain machine pose measurement method according to an embodiment of the invention;
FIG. 2 is a flowchart of a method for measuring pose of a tube curtain machine according to an embodiment of the present invention;
fig. 3 is a schematic layout diagram of a tube curtain machine, a first laser source, a light target, a camera device and an angle acquisition device at a current position in the tube curtain machine pose measurement method according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a principle of calculating a position deviation of a current position relative to a front end of a first shield body at an initial position in the pose measurement method of the pipe curtain machine according to the embodiment of the present invention;
fig. 5 is a schematic diagram of a transformation relationship between the XOY coordinate system and the XOY coordinate system in the embodiment of the present invention;
FIG. 6 is a schematic view of a method for calibrating the center of the rear end face of the first shield according to the embodiment of the present invention;
fig. 7 is a schematic layout diagram of the tube curtain machine, the first laser source, the optical target, the camera, the angle acquisition device and the second laser source in the initial position in the tube curtain machine pose measurement method according to still another embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a pipe curtain machine pose measuring method which is applied to a pipe curtain machine and comprises a first section shield body and a second section shield body, wherein the first section shield body is arranged in front, and the second section shield body is arranged behind the first section shield body. Referring to fig. 1, fig. 1 is a schematic layout diagram of a tube curtain machine, a first laser source, a light target, an image pickup device, and an angle acquisition device at an initial position in a tube curtain machine pose measurement method of this embodiment, the used devices include a first laser source 11, a light target 10, an image pickup device 12, and an angle acquisition device 13, the first laser source 11 is disposed at a turning fulcrum of a first shield 21 and is used for emitting a laser beam toward the light target 10 so as to form a first light spot on the light target 10, the light target 10 is disposed at a front end of a second shield 22, the image pickup device 12 is used for acquiring an image of the light target 10, and the angle acquisition device 13 is disposed on the second shield 22 and is used for acquiring a rolling angle of the second shield 22. The direction-adjusting fulcrum of the first shield body 21 refers to a fulcrum on which the direction adjustment of the first shield body 21 is operated during the heading process.
Referring to fig. 2, fig. 2 is a flowchart of a method for measuring a pose of a tube curtain machine in the present embodiment, where the method for measuring the pose of the tube curtain machine in the present embodiment includes the following steps:
s100: and when the shield is at the initial position, the central position of the first light spot on the light target is obtained according to the image acquired by the camera device, and the rolling angle of the second shield is acquired by the angle acquisition device.
S101: in the tunneling process of the tube curtain machine, the central position of a first light spot on the light target is obtained at the current position according to the image obtained by the camera device, the rolling angle of the second shield body is obtained through the angle obtaining device, and the position deviation of the current position relative to the initial position and the front end of the first shield body is obtained according to the central position of the first light spot on the light target at the current position, the central position of the first light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield body.
Specifically, the obtaining of the position deviation of the current position relative to the front end of the initial position first shield 21 according to the center position of the first light spot on the target 10 at the current position, the center position of the first light spot on the target 10 at the initial position, and the rolling angle difference of the current position relative to the initial position second shield 22 may specifically be calculated by the following method, including:
calculating the horizontal deviation of the current position relative to the center of the front end of the first shield 21 at the initial position according to the following formula:
H=（x1*cosθ-y1*sinθ）*（L1-L）/L1；
the vertical deviation of the current position relative to the center of the front end of the first shield 21 at the initial position is calculated according to the following formula:
V=（x1*sinθ+y1*cosθ）*（L1-L）/L1；
wherein θ = β ″, β, and β ″' respectively denote a rolling angle obtained by the angle obtaining device at the initial position and at the current position, θ denotes a rolling angle difference of the current position with respect to the initial position by the second shield, a central position coordinate of the first light spot on the optical target at the initial position is (0, 0), a central position coordinate of the first light spot on the optical target at the current position is (x 1, y 1), L1 denotes a distance from a direction-adjusting fulcrum of the first shield to a rear end face of the first shield, and L denotes a length of the first shield.
Referring to fig. 3 and fig. 4 in combination, fig. 3 is a schematic layout diagram of a tube curtain machine, a first laser source, an optical target, an image pickup device and an angle acquisition device at a current position in the tube curtain machine pose measurement method of the present embodiment, and fig. 4 is a schematic diagram of a principle of calculating a position deviation of a current position with respect to a front end of a first shield at an initial position in the present embodiment. In the initial position, the coordinate system of the light target 10 is the XOY coordinate system, the rolling angle of the second shield 22 obtained by the angle obtaining device 13 is β, and the initial coordinate of the center position of the first spot on the light target 10 is P (0, 0).
The first shield body 21 and the second shield body 22 of the curtain machine are continuously corrected and rolled during the tunneling process, so that the position of the first light spot on the light target 10 is continuously changed. When the current position is set, the coordinate system of the optical target 10 is an X 'OY' coordinate system, and the coordinate system of the center position of the first light spot on the optical target 10 is P (X1, y 1). Referring to fig. 5, fig. 5 is a schematic diagram of a transformation relationship between an XOY coordinate system and an XOY coordinate system in this embodiment, coordinates (X, y) of a point P (X1, y 1) in the XOY coordinate system are obtained according to a rolling angle change of the second shield 22, and a calculation process is as follows:
θ=β´-β；
x = x1 × cos θ -y1 × sin θ, y = x1 × sin θ + y1 × cos θ, i.e., x = x1 × sin θ + y1 × cos θ
Figure 224896DEST_PATH_IMAGE001
。
Then, the horizontal deviation of the current position from the center of the front end of the first shield 21 in the initial position is: h = - (L-L1) × L1= (x 1 × cos θ -y1 × sin θ) × (L1-L)/L1. The vertical deviation of the current position relative to the center of the front end of the first shield body 21 at the initial position is as follows: v = - (L-L1) × y/L1= (x 1 × sin θ + y1 × cos θ) × (L1-L)/L1. Wherein the offset direction of the first light spot in the light target coordinate system relative to the initial position of the current position is opposite to the offset direction of the center of the front end of the first shield body 21.
Further, if the laser beam emitted from the first laser source 11 is calibrated to be parallel to the central axis of the tunnel at the initial position, the deflection angle of the front end of the first shield 21 at the current position relative to the central axis of the tunnel can be obtained according to the central position of the first spot on the light target 10 at the current position, the central position of the first spot on the light target 10 at the initial position, and the rolling angle difference between the current position and the second shield 22 at the initial position. Specifically, the calculation can be performed according to the following formula: α = x/L1= (x 1 × cos θ -y1 × sin θ)/L1, where α represents the angle of deflection of the front end of the first shield relative to the central axis of the tunnel in the current position.
Therefore, the method for measuring the pose of the pipe curtain machine can measure and obtain the pose of the first shield head in real time in the tunneling process of the pipe curtain machine, measure and obtain the horizontal offset and the vertical offset of the first shield head, and measure and obtain the deflection angle of the first shield head relative to the central axis of the tunnel. According to the pose measuring method of the tube curtain machine, the light target is arranged on the second shield body located at the rear, the method can be applied to the condition that the installation space of the tube curtain machine is limited, the pose of the shield head of the first shield body located at the front can be measured and obtained, and real-time direction adjustment and deviation correction of the tube curtain machine are facilitated.
The first laser source 11 is arranged at the steering fulcrum 23 of the first shield body 21, and preferably, the first laser source 11 can be arranged corresponding to the center of the rear end surface of the first shield body 21, that is, the position of the first laser source 11 in the cross section of the first shield body 21 corresponds to the center of the rear end surface of the first shield body 21. Calibrating the position of the first laser source 11 may be performed by the following method, which specifically includes the following steps: firstly, arranging a reflecting element on the outer side surface of the rear end of the first shield body, moving the position of the reflecting element along the circumference of the first shield body until the reflecting element surrounds a circle, measuring position data of the reflecting element in a geodetic coordinate system when the reflecting element is moved to each position, and obtaining the central position of the rear end surface of the first shield body according to the position data of the reflecting element obtained by measuring each position; then, the first laser source is arranged at the steering branch point of the first shield body, and the first laser source corresponds to the center of the rear end face of the first shield body.
Optionally, referring to fig. 6, fig. 6 is a schematic diagram of a method for calibrating the center of the rear end surface of the first shield in this embodiment, when the reflective element 16 is moved to each position of the rear end of the first shield along the circumferential direction, a station can be set by a total station 17, and position data of the reflective element 16 at the current position is measured. It is further preferred that the respective measuring positions of the reflective element 16 are evenly distributed around the circumference of the first shield body, which contributes to an improved accuracy of the measured central position of the rear end face of the first shield body. Specifically, based on the position data of the reflective element 16 obtained by the position measurement, the position data can be input into the calculation software, and the central position of the rear end face of the first shield body can be obtained by fitting calculation. Further alternatively, the calculated center position of the rear end surface of the first shield body may be input to the total station 17, the position of the first laser source is calibrated and adjusted by means of lofting of the total station 17, so that the first laser source corresponds to the center of the rear end surface of the first shield body. Alternatively, the reflecting element 16 can be a prism, in particular a prism with a magnetic base, which can be conveniently fixed on the shield housing and can be conveniently moved.
The light target 10 is arranged at the front end of the second shield 22, and preferably, when the light target 10 is calibrated, the preset point on the light target 10 corresponds to the center of the front end face of the second shield 22, that is, the position of the preset point on the light target 10 in the cross section of the second shield 22 corresponds to the center of the front end face of the second shield 22. The light target 10 can be preferably arranged on the front end face of the second shield 22, and the preset point on the light target 10 can be corresponding to the center of the front end face of the second shield 22 when the position of the light target 10 is calibrated. Optionally, the position of the optical target may be calibrated by the following method, specifically including the following processes: firstly, arranging a reflecting element on the outer side surface of the front end of the second shield body, moving the position of the reflecting element along the circumference of the second shield body until the reflecting element surrounds a circle, measuring position data of the reflecting element in a geodetic coordinate system when the reflecting element is moved to each position, and obtaining the central position of the front end surface of the second shield body according to the position data of the reflecting element obtained by measuring each position; then, the light target is arranged at the front end of the second shield body, and a preset point on the light target corresponds to the center of the front end face of the second shield body.
Alternatively, when the reflecting element is moved to each position of the front end of the second shield 22 along the circumferential direction, a station can be set by a total station, and position data of the reflecting element at each position can be measured. It is further preferred that the respective measuring positions of the reflecting elements are evenly distributed around the circumference of the second shield 22, which improves the accuracy of the measured central position of the front face of the second shield. Specifically, based on the position data of the reflecting element obtained by the position measurement, the position data can be input into the calculation software, and the center position of the front end surface of the second shield 22 can be obtained by fitting calculation.
The camera device 12 is used for acquiring an image of the light target 10, and when the position of the camera device 12 is calibrated in practical application, the position of the light target and the definition of a light spot formed on the light target in the image can be observed by observing the light target image shot by the camera device 12, and the position and the lens angle of the camera device 12 are adjusted until the whole light target and the clear light spot on the light target can be observed in the image shot by the camera device 12.
Preferably, if a connecting line of the center of the front end face of the first shield body 21 and the center of the rear end face of the second shield body 22 is parallel to the central axis of the tunnel at the initial position, the deflection angle of the shield head of the first shield body relative to the central axis of the tunnel can be measured and obtained in real time in the tunneling process of the tube curtain machine. The method for calibrating the poses of the first shield body 21 and the second shield body 22 in the initial position can be the following method, and specifically comprises the following steps:
s200: and acquiring the central position of the front end face of the first shield body and the central position of the rear end face of the second shield body.
Alternatively, the central position of the front end face of the first shield body 21 can be obtained by the following method: a reflecting element is arranged on the outer side face of the front end of the first shield body 21, the position of the reflecting element is moved along the circumference of the first shield body 21 until the reflecting element surrounds a circle, position data of the reflecting element in a geodetic coordinate system are measured when the reflecting element is moved to each position, and the central position of the front end face of the first shield body 21 is obtained according to the position data of the reflecting element obtained by measuring each position. When the reflecting element is moved to each position of the front end of the first shield body 21 along the circumferential direction, a station can be set by a total station in a self-defined manner, and position data of the reflecting element at the current position can be measured.
Alternatively, the central position of the rear end face of the second shield 22 can be obtained by the following method: a reflecting element is arranged on the outer side face of the rear end of the second shield body 22, the position of the reflecting element is moved along the circumference of the second shield body 22 until the reflecting element surrounds a circle, the position data of the reflecting element in a geodetic coordinate system is measured when the reflecting element is moved to each position, and the central position of the rear end face of the second shield body 22 is obtained according to the position data of the reflecting element obtained by measuring each position. When the reflecting element is moved to each position of the rear end of the second shield 22 along the circumferential direction, a station can be set by a total station, and the position data of the reflecting element can be measured.
S201: and adjusting the pose of the first shield body and the pose of the second shield body to enable the connecting line of the center of the front end face of the first shield body and the center of the rear end face of the second shield body to be parallel to the central axis of the tunnel.
The connecting line of the center of the front end surface of the first shield body 21 and the center of the rear end surface of the second shield body 22 is the center line of the tube curtain machine. In practical application, when the pose of the pipe curtain machine is calibrated at the initial position, the connecting line of the center of the front end face of the first shield body 21 and the center of the rear end face of the second shield body 22 coincides with the central axis of the tunnel.
Further, in a further embodiment, a tube curtain machine pose measuring method is provided, in which on the basis of the above embodiment, the used apparatus further includes a second laser source, please refer to fig. 7, fig. 7 is a schematic layout diagram of the tube curtain machine, the first laser source, the optical target, the camera, the angle acquisition device and the second laser source in the initial position in the tube curtain machine pose measuring method according to yet another embodiment, and it can be seen that the second laser source 14 is disposed at the originating well and is used for emitting a laser beam toward the optical target 10 so as to form a second light spot on the optical target 10.
The method for measuring the pose of the tube curtain machine further comprises the following steps:
when the light target is at the initial position, the central position of a second light spot on the light target is obtained according to the image acquired by the camera device;
and in the tunneling process of the curtain machine, the central position of a second light spot on the light target is obtained at the current position according to the image acquired by the camera device, and the position deviation of the current position relative to the initial position and the front end of the second shield body is obtained according to the central position of the second light spot on the light target at the current position, the central position of the second light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield body.
Specifically, the obtaining of the position deviation of the current position relative to the front end of the initial position second shield 22 according to the center position of the second light spot on the target 10 at the current position, the center position of the second light spot on the target 10 at the initial position, and the rolling angle difference of the current position relative to the initial position second shield 22 can be specifically calculated by the following method, including:
calculating the horizontal deviation of the current position relative to the center of the front end of the second shield 22 at the initial position according to the following formula: h ″ = y2 × sin θ -x2 × cos θ;
the vertical deviation of the current position with respect to the center of the front end of the second shield 22 at the initial position is calculated according to the following formula: v = -x2 = -sin θ -y2 ═ cos θ;
where θ = β ″, β, and β ″' respectively denote a rolling angle obtained by the angle obtaining device at the initial position and at the current position, θ denotes a rolling angle difference amount of the current position with respect to the initial position by the second shield, a center position coordinate of the second light spot on the optical target at the initial position is (0, 0), and a center position coordinate of the second light spot on the optical target at the current position is (x 2, y 2).
In the initial position, the coordinate system of the optical target 10 is an XOY coordinate system, the rolling angle of the second shield 22 obtained by the angle obtaining device 13 is β, and the initial coordinate of the central position of the second light spot on the optical target 10 is P' (0, 0).
The first shield body 21 and the second shield body 22 of the curtain machine are continuously corrected and rolled during the tunneling process, so that the position of the second light spot on the light target 10 is continuously changed. When the current position is set, the coordinate system of the optical target 10 is an X ' OY ' coordinate system, and the central position coordinate of the second light spot on the optical target 10 is P ' (X2, y 2). Referring to fig. 4, the coordinates (x ', y') of the point P ″ (x 2, y 2) in the XOY coordinate system are obtained according to the rolling angle variation of the second shield 22, and the calculation process is as follows:
θ=β´-β；
x´=x2*cosθ-y2*sinθ，y´=x2*sinθ+y2*cosθ；
namely, it is
Figure 673195DEST_PATH_IMAGE002
。
Then, the horizontal deviation of the current position from the center of the front end of the second shield 22 in the initial position is: h = -x = -y2 × sin θ -x2 × cos θ. The vertical deviation of the current position from the center of the front end of the second shield 22 at the initial position is: v = -y = -x2 × sin θ -y2 × cos θ; wherein the offset direction of the second light spot in the light target coordinate system relative to the initial position is opposite to the offset direction of the front center of the second shield 22.
Preferably, the laser beam emitted by the second laser source 14 coincides with the central axis of the tunnel, and the calibrating of the position of the second laser source 14 may be performed by the following method, which specifically includes: marking any three positions on the central axis of the tunnel, arranging the second laser source at one position which is farthest away from the light target in the three positions, and enabling the laser beam emitted by the second laser source to pass through the other two positions. The total station can be used specifically, the total station adopts a construction site construction coordinate system to set a station, position data of a tunnel central axis is guided into the total station, three actual points of the tunnel central axis are lofted and marked, the last point is used as the position of the second laser source and is fixed, and the position of the second laser source is adjusted to enable a laser beam emitted by the second laser source to be projected to the other two points which are marked. Optionally, the second laser source 14 may use a laser theodolite, and after the position of the laser theodolite is determined, the vertical angle and the horizontal angle knob of the laser theodolite are locked and recorded, so as to prevent the position of the laser theodolite from being changed in a later period and needing to be calibrated again. The direction of the laser beam emitted by the laser theodolite at the moment is the direction of the central axis of the tunnel.
Preferably, when calibrating the position of the second laser source 14 at the initial position, the laser beam emitted by the second laser source 14 is required to be projected to the center of the front end face of the second shield 22, so that if the position of the first laser source 11 is calibrated to correspond to the center of the rear end face of the first shield 21, the first light spot and the second light spot formed on the optical target 10 at the initial position coincide.
Therefore, the pose measuring method of the pipe curtain machine in the embodiment can measure and obtain the pose of the shield head of the first shield body and the pose of the front end of the second shield body in real time in the tunneling process of the pipe curtain machine. According to the pose measuring method of the tube curtain machine, the light target is arranged on the second shield body located at the rear, the method can be applied to the condition that the installation space of the tube curtain machine is limited, the pose of the shield head of the first shield body located at the front can be measured and obtained, and real-time direction adjustment and deviation correction of the tube curtain machine are facilitated.
The embodiment of the invention also provides a tube curtain machine pose measuring system which comprises a first laser source, a light target, a camera device, an angle acquisition device and a data processing device, wherein the first laser source is arranged at the steering fulcrum of a first shield body and used for emitting laser beams towards the light target so that a first light spot is formed on the light target, the light target is arranged at the front end of a second shield body, the camera device is used for acquiring an image of the light target, and the angle acquisition device is arranged on the second shield body and used for acquiring the rolling angle of the second shield body;
the data processing apparatus is configured to:
when the shield is at the initial position, the central position of a first light spot on the light target is obtained according to the image obtained by the camera device, and the rolling angle of the second shield is obtained by the angle obtaining device;
in the tunneling process of the tube curtain machine, the central position of a first light spot on the light target is obtained at the current position according to the image obtained by the camera device, the rolling angle of the second shield body is obtained through the angle obtaining device, and the position deviation of the current position relative to the initial position and the front end of the first shield body is obtained according to the central position of the first light spot on the light target at the current position, the central position of the first light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield body.
The tube curtain machine pose measuring system can obtain the position deviation of the current position relative to the front end of the first shield body at the initial position according to the central position of the first light spot on the light target at the current position, the central position of the first light spot on the light target at the initial position and the rolling angle deviation of the current position relative to the second shield body at the initial position in the tunneling process of the tube curtain machine, so that the pose of the shield head of the first shield body can be measured and obtained in real time in the tunneling process of the tube curtain machine. According to the pose measuring system of the tube curtain machine, the light target is arranged on the second shield body located at the rear side, the pose measuring system can be applied to the condition that the installation space of the tube curtain machine is limited, the pose of the shield head of the first shield body located in the front side can be measured and obtained, and the real-time direction adjustment and the correction of the tube curtain machine are facilitated.
Further, in the tube curtain machine pose measuring system of this embodiment, the data processing device may further obtain a deflection angle of the front end of the first shield relative to the central axis of the tunnel at the current position according to the central position of the first light spot on the light target at the current position, the central position of the first light spot on the light target at the initial position, and the rolling angle difference between the current position and the initial position and the second shield.
Further, the tube curtain machine pose measurement system of the embodiment further comprises a second laser source, wherein the second laser source is arranged at the originating well and used for emitting the laser beam towards the optical target so that a second light spot is formed on the optical target.
The data processing apparatus is further configured to:
when the light target is at the initial position, the central position of a second light spot on the light target is obtained according to the image acquired by the camera device;
and in the tunneling process of the curtain machine, the central position of a second light spot on the light target is obtained at the current position according to the image acquired by the camera device, and the position deviation of the current position relative to the initial position and the front end of the second shield body is obtained according to the central position of the second light spot on the light target at the current position, the central position of the second light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield body.
Therefore, the pose measurement system of the pipe curtain machine of the embodiment can measure and obtain the pose of the shield head of the first shield body and the pose of the front end of the second shield body in real time in the tunneling process of the pipe curtain machine. The tube curtain machine pose measuring system of the embodiment arranges the light target on the second shield body at the rear, can be applied to the condition that the installation space of the tube curtain machine is limited, can measure and obtain the pose of the shield head of the first shield body at the front, and facilitates the real-time direction adjustment and deviation correction of the tube curtain machine.
The detailed description of the position and orientation measurement method of the screen generator can be referred to in the detailed description of the position and orientation measurement method of the screen generator.
The method and the system for measuring the pose of the pipe curtain machine provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.

Claims (10)

1. The method for measuring the pose of the pipe curtain machine is characterized in that a used device comprises a first laser source, a light target, a camera device and an angle acquisition device, wherein the first laser source is arranged at a direction-adjusting fulcrum of a first shield body and used for emitting a laser beam towards the light target so that a first light spot is formed on the light target, the light target is arranged at the front end of a second shield body, the camera device is used for acquiring an image of the light target, and the angle acquisition device is arranged on the second shield body and used for acquiring the rolling angle of the second shield body;
the method comprises the following steps:
when the shield is at the initial position, the central position of a first light spot on the light target is obtained according to the image obtained by the camera device, and the rolling angle of the second shield is obtained by the angle obtaining device;
in the tunneling process of the tube curtain machine, the central position of a first light spot on the light target is obtained at the current position according to the image obtained by the camera device, the rolling angle of the second shield body is obtained through the angle obtaining device, and the position deviation of the current position relative to the initial position and the front end of the first shield body is obtained according to the central position of the first light spot on the light target at the current position, the central position of the first light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield body;
the position deviation of the current position relative to the initial position of the front end of the first shield body comprises a horizontal deviation and a vertical deviation of the current position relative to the initial position of the front end center of the first shield body, and the horizontal deviation of the current position relative to the initial position of the front end center of the first shield body is calculated according to the following formula: h = - (L-L1) × L1;
calculating the vertical deviation of the current position relative to the center of the front end of the first shield at the initial position according to the following formula: v = - (L-L1) × y/L1;
wherein, the coordinates of the central position of the first light spot on the light target at the initial position are (0, 0), x represents the horizontal deviation of the current position relative to the central position of the first light spot on the light target at the initial position, y represents the vertical deviation of the current position relative to the central position of the first light spot on the light target at the initial position, L1 represents the distance from the direction-adjusting fulcrum of the first shield to the rear end face of the first shield, and L represents the length of the first shield.
2. The curtain machine pose measurement method according to claim 1, wherein the first laser source corresponds to a center of the rear end face of the first shield body, and calibrating the position of the first laser source comprises:
arranging a reflecting element on the outer side surface of the rear end of the first shield body, moving the position of the reflecting element along the circumference of the first shield body until the reflecting element surrounds a circle, measuring position data of the reflecting element in a geodetic coordinate system when the reflecting element is moved to each position, and obtaining the central position of the rear end surface of the first shield body according to the position data of the reflecting element obtained by measuring each position;
the first laser source is arranged at a direction-adjusting branch point of the first shield body, and the first laser source corresponds to the center of the rear end face of the first shield body.
3. The tube curtain machine pose measuring method according to claim 1, wherein a preset point on the light target corresponds to the center of the front end face of the second shield body, and calibrating the position of the light target comprises:
arranging a reflecting element on the outer side face of the front end of the second shield, moving the position of the reflecting element along the circumference of the second shield until the reflecting element surrounds a circle, measuring position data of the reflecting element in a geodetic coordinate system when the reflecting element is moved to each position, and obtaining the central position of the front end face of the second shield according to the position data of the reflecting element obtained by measuring each position;
and arranging the light target at the front end of the second shield body, wherein a preset point on the light target corresponds to the center of the front end surface of the second shield body.
4. The pipe curtain machine pose measurement method according to claim 1, wherein a line connecting a center of the front end surface of the first shield body and a center of the rear end surface of the second shield body in the initial position is parallel to a central axis of a tunnel, and the pose calibration of the first shield body and the second shield body in the initial position comprises:
acquiring the central position of the front end face of the first shield body and the central position of the rear end face of the second shield body;
and adjusting the pose of the first shield body and the pose of the second shield body to enable the connecting line of the center of the front end face of the first shield body and the center of the rear end face of the second shield body to be parallel to the central axis of the tunnel.
5. The curtain machine pose measurement method according to claim 1, wherein obtaining the position deviation of the current position relative to the initial position of the front end of the first shield according to the center position of the first light spot on the light target at the current position, the center position of the first light spot on the light target at the initial position, and the rolling angle difference of the current position relative to the initial position of the second shield comprises:
calculating the horizontal deviation of the current position relative to the center of the front end of the first shield at the initial position according to the following formula: h = (x 1 × cos θ -y1 × sin θ) — (L1-L)/L1;
calculating the vertical deviation of the current position relative to the center of the front end of the first shield at the initial position according to the following formula: v = (x 1 × sin θ + y1 × cos θ) (L1-L)/L1;
wherein θ = β ″, β, and β ″' respectively denote a rolling angle obtained by the angle obtaining device at the initial position and at the current position, θ denotes a rolling angle difference of the current position with respect to the initial position by the second shield, a central position coordinate of the first light spot on the optical target at the initial position is (0, 0), a central position coordinate of the first light spot on the optical target at the current position is (x 1, y 1), L1 denotes a distance from a direction-adjusting fulcrum of the first shield to a rear end face of the first shield, and L denotes a length of the first shield.
6. The tube curtain machine pose measuring method according to claim 1, further comprising: according to the center position of the first light spot on the light target at the current position, the center position of the first light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield, the deflection angle of the front end of the first shield relative to the central axis of the tunnel at the current position is obtained, and specifically, the deflection angle is calculated according to the following formula:
α=（x1*cosθ-y1*sinθ）/L1；
where α denotes a deflection angle of the front end of the first shield with respect to the central axis of the tunnel at the current position, θ = β '- β, β and β' denote rolling angles obtained by the angle obtaining means at the initial position and at the current position, respectively, θ denotes a rolling angle difference of the current position with respect to the initial position of the second shield, a center position coordinate of the first light spot on the optical target at the initial position is (0, 0), a center position coordinate of the first light spot on the optical target at the current position is (x 1, y 1), and L1 denotes a distance from a steering fulcrum of the first shield to the rear end face of the first shield.
7. The curtain machine pose measurement method according to claim 1, further comprising a second laser source provided at an originating well for emitting a laser beam toward the optical target so that a second light spot is formed at the optical target;
the method further comprises the following steps:
when the light target is at the initial position, the central position of a second light spot on the light target is obtained according to the image acquired by the camera device;
and in the tunneling process of the curtain machine, the central position of a second light spot on the light target is obtained at the current position according to the image acquired by the camera device, and the position deviation of the current position relative to the initial position and the front end of the second shield body is obtained according to the central position of the second light spot on the light target at the current position, the central position of the second light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield body.
8. The curtain machine pose measurement method according to claim 7, wherein a laser beam emitted by the second laser source coincides with a central axis of a tunnel, and calibrating the position of the second laser source comprises:
marking any three positions on the central axis of the tunnel, arranging the second laser source at one position which is farthest away from the light target in the three positions, and enabling the laser beam emitted by the second laser source to pass through the other two positions.
9. The curtain machine pose measurement method according to claim 7, wherein obtaining the position deviation of the current position relative to the initial position of the front end of the second shield according to the center position of the second light spot on the light target at the current position, the center position of the second light spot on the light target at the initial position, and the rolling angle difference of the current position relative to the initial position of the second shield comprises:
calculating the horizontal deviation of the current position relative to the center of the front end of the second shield at the initial position according to the following formula: h ″ = y2 × sin θ -x2 × cos θ;
calculating the vertical deviation of the current position relative to the center of the front end of the second shield at the initial position according to the following formula: v = -x2 = -sin θ -y2 ═ cos θ;
where θ = β ″, β, and β ″' respectively denote a rolling angle obtained by the angle obtaining device at the initial position and at the current position, θ denotes a rolling angle difference amount of the current position with respect to the initial position by the second shield, a center position coordinate of the second light spot on the optical target at the initial position is (0, 0), and a center position coordinate of the second light spot on the optical target at the current position is (x 2, y 2).
10. The tube curtain machine pose measuring system is characterized by comprising a first laser source, a light target, a camera device, an angle acquiring device and a data processing device, wherein the first laser source is arranged at a direction-adjusting fulcrum of a first shield body and used for emitting a laser beam towards the light target so that a first light spot is formed on the light target, the light target is arranged at the front end of a second shield body, the camera device is used for acquiring an image of the light target, and the angle acquiring device is arranged on the second shield body and used for acquiring a rolling angle of the second shield body;
the data processing apparatus is configured to:
when the shield is at the initial position, the central position of a first light spot on the light target is obtained according to the image obtained by the camera device, and the rolling angle of the second shield is obtained by the angle obtaining device;
in the tunneling process of the tube curtain machine, the central position of a first light spot on the light target is obtained at the current position according to the image obtained by the camera device, the rolling angle of the second shield body is obtained through the angle obtaining device, and the position deviation of the current position relative to the initial position and the front end of the first shield body is obtained according to the central position of the first light spot on the light target at the current position, the central position of the first light spot on the light target at the initial position and the rolling angle difference of the current position relative to the initial position and the second shield body;
the position deviation of the current position relative to the initial position of the front end of the first shield body comprises a horizontal deviation and a vertical deviation of the current position relative to the initial position of the front end center of the first shield body, and the horizontal deviation of the current position relative to the initial position of the front end center of the first shield body is calculated according to the following formula: h = - (L-L1) × L1;
calculating the vertical deviation of the current position relative to the center of the front end of the first shield at the initial position according to the following formula: v = - (L-L1) × y/L1;
wherein, the coordinates of the central position of the first light spot on the light target at the initial position are (0, 0), x represents the horizontal deviation of the current position relative to the central position of the first light spot on the light target at the initial position, y represents the vertical deviation of the current position relative to the central position of the first light spot on the light target at the initial position, L1 represents the distance from the direction-adjusting fulcrum of the first shield to the rear end face of the first shield, and L represents the length of the first shield.
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