CN111608664B - Automatic guiding method for long-distance curved jacking pipe - Google Patents

Automatic guiding method for long-distance curved jacking pipe Download PDF

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CN111608664B
CN111608664B CN202010353128.1A CN202010353128A CN111608664B CN 111608664 B CN111608664 B CN 111608664B CN 202010353128 A CN202010353128 A CN 202010353128A CN 111608664 B CN111608664 B CN 111608664B
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pipe joint
center
prism
total station
coordinates
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CN111608664A (en
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王浩
周毅
陈刚
顾广宇
李刚
沈尉
王延年
李玺琛
况亚明
麻逸山
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Shanghai Tunnel Shield Engineering Co ltd
Shanghai Tunnel Engineering Co Ltd
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Shanghai Tunnel Engineering 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
    • E21D9/10—Making by using boring or cutting machines
    • E21D9/1093—Devices for supporting, advancing or orientating the machine or the tool-carrier
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means

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Abstract

The invention relates to an automatic guiding method for a long-distance curved jacking pipe, which comprises the following steps: providing a target prism and a total station, and installing the target prism in a head of a push bench; before the pipe jacking machine starts tunneling construction from a working well, the total station is installed in the working well, so that the position is kept stable; along with the tunneling construction of the pipe jacking machine, when the target prism cannot be searched by the total station, the total station is moved to the corresponding pipe joint and is installed and fixed, so that the total station moves along with the propelling of the pipe jacking machine, and the total station can search the target prism; acquiring a correction coordinate of the total station, and correcting the total station; in the tunneling construction process of the push bench, the coordinates of the target prism are measured by using a total station, so that the posture of the push bench is obtained, and the construction of the push bench is guided by using the obtained posture of the push bench.

Description

Automatic guiding method for long-distance curved jacking pipe
Technical Field
The invention relates to the technical field of tunnel engineering, in particular to an automatic guiding method for a long-distance curved jacking pipe.
Background
Pipe jacking construction becomes a common construction method in municipal engineering construction, and automatic guiding of long-distance curved pipe jacking is a difficult point in the field.
Referring to fig. 1, a laser pipe jacking posture measuring device disclosed in patent application "laser measuring device for head posture of micro pipe jacking machine" (CN03229232.5), which is prepared from rolling solution, liuwenwei, lujianzhong wei, etc., shows a schematic diagram of a laser measuring device for head posture of a micro pipe jacking machine in the prior art. Referring to fig. 1, the device mainly comprises a laser light source 1, an optical target 2, a measuring ring 3, a camera 4, a computer 5 and an inclinometer 6, wherein the optical target 2 is arranged on the measuring ring 3, the camera 4 is arranged towards the optical target 2, proper illumination is assisted, the inclinometer 6 is fixed in the head of the micro push bench, signals of the inclinometer are sent to the computer 5 of a control console through a PLC programmable controller in the head of the micro push bench, and signals of the camera 4 are directly sent to the computer 5. The position of the light spot can be monitored on the control console, and the deviation of the push bench from the push axis and related construction parameters can be obtained through the computer 5.
An automatic long-distance curved pipe jacking guiding system is disclosed in the patent application of Long-distance curved pipe jacking guiding System (CN209413903U) of Zhengqing, Jiayi, Chayongjie and the like, a laser target is arranged on a pipe jacking machine head, a total station is arranged at an initial stage and is provided with a first prism, and the initial total station is arranged on a bracket in a tunnel starting wellhead; each secondary total station is provided with a second prism, and the secondary total stations are sequentially arranged between the laser target and the initial total station and advance together with the pipe jacking machine on the tunnel pipe slice which cannot be seen through; the rearview prism is arranged on the wall of the initial well mouth of the tunnel; and the initial total station and the plurality of secondary total stations are in communication connection with the computer.
The Zhu Li, Jia Lian Hui, Liu et al disclose a curved pipe-jacking guiding method in the patent application "a guiding method of a curved pipe-jacking with a fixed curvature and a small caliber" (CN109059879A), which comprises the following steps: (1) measuring the coordinates of the initial pipe joint end points to establish an equation of the curve pipe jacking ideal track of the pipe jacking machine; (2) constructing a laser target chain; (3) calculating the angle offset and the coordinate offset of the end points of the adjacent pipe joints relative to the ideal position; (4) correcting the ideal position of the pipe joint end point positioned in front of the pipe joint end point in the step 3 according to the shape of the pipe joint; (5) repeating the steps 3-4 from the coordinate of the end point of the last section of the pipe joint until the actual position of the first guide pipe of the pipe jacking machine is calculated; (6) and continuously propelling and installing new pipe joints, measuring the coordinate change of the tail end of the current last section of pipe joint by using a collimator installed on the ground, and repeating the steps 3-5 to update the actual coordinate of the head of the pilot pipe at the moment.
However, the conventional pipe jacking automatic system has the following disadvantages:
the pipe jacking guide system based on laser collimation can only be used for a straight line section within 200m, is easily influenced by factors such as water vapor and dust when in a long distance, has low precision and cannot be applied to a curve section;
the automatic pipe jacking guiding system based on a single total station has poor universality and cannot measure the posture of the pipe jacking at a curve section;
a plurality of motor-driven total stations need to be arranged in a tunnel, and a coaxial prism is installed on each total station, so that the pipe jacking guide system based on the total stations is high in cost and not easy to popularize and apply.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an automatic guiding method for long-distance curved jacking pipes, and solves the problems that the prior art is difficult to be suitable for guiding long-distance curved jacking pipes, and has low precision, low cost and poor universality.
The technical scheme for realizing the purpose is as follows:
the invention provides an automatic guiding method for a long-distance curved jacking pipe, which comprises the following steps:
providing a target prism and a total station, and installing the target prism in a head of a pipe jacking machine;
before a pipe jacking machine starts tunneling construction from a working well, installing the total station in the working well so that the position is kept stable;
along with the tunneling construction of the pipe jacking machine, when the total station cannot search the target prism, the total station is moved to a corresponding pipe joint and is installed and fixed, so that the total station moves along with the propelling of the pipe jacking machine, and the total station can search the target prism;
obtaining corrected coordinates of the total station, and correcting the total station; and
in the tunneling construction process of the pipe jacking machine, the total station is adopted to measure the coordinates of the target prism, so that the posture of the pipe jacking machine is obtained, and the obtained posture of the pipe jacking machine is used for guiding the construction of the pipe jacking machine.
The invention further improves the automatic guiding method for the long-distance curve jacking pipe, and the corrected coordinates of the total station are obtained, and the method comprises the following steps:
selecting two central points, namely a first pipe joint center and a second pipe joint center, from the front and the back of a pipe joint where the total station is located, establishing a measuring point coordinate system by using the first pipe joint center and the second pipe joint center, and calculating initial local coordinates of the total station center under the measuring point coordinate system;
obtaining corrected coordinates of a first pipe joint center and a second pipe joint center where a total station is located;
and calculating to obtain a current azimuth angle, a current slope angle and a current roll angle of the pipe joint of the total station according to the corrected coordinates of the center of the first pipe joint and the center of the second pipe joint of the total station, and calculating to obtain the corrected coordinates of the total station by combining the initial local coordinates of the center of the total station in the measuring point coordinate system.
The invention further improves the automatic guiding method for the long-distance curve jacking pipe, wherein the corrected coordinates of the total station are obtained by calculation, and the method comprises the following steps: calculating the corrected coordinates of the total station according to a formula seven, wherein the formula seven is as follows:
α＝arctg(Y′gj1-Y′gj2)/(X'gj1-X'gj2)
Figure BDA0002472526780000031
wherein, (X'gj1,Y′gj1,Z'gj1) Is the corrected coordinate of the center of the first pipe joint where the total station is positioned, (X'gj2,Y′gj2,Z'gj2) Is the corrected coordinate of the center of the second pipe joint where the total station is located, (X)qzyj,Yqzyj,Zqzyj) As initial local coordinates of the total station, α, β and
Figure BDA0002472526780000032
the current azimuth angle, the current slope angle and the current roll angle of the pipe joint where the total station is located.
The invention further improves the automatic guiding method of the long-distance curve jacking pipe, and the method is characterized in that the corrected coordinates of the center of the first pipe joint and the center of the second pipe joint where the total station is located are obtained, and the method comprises the following steps:
providing two correcting prisms, and installing the two correcting prisms on a pipe joint in front of the total station and on two sides of the total station;
manually retesting coordinates and mileage of the center of the first pipe joint, the center of the second pipe joint and the center of the pipe joint where the correcting prism is located in the pushing process of the pipe pushing jack, and updating a historical track table of the center of the pipe joint where the correcting prism is located according to the retested mileage;
calculating to obtain the mileage of a first pipe joint center and the mileage of a second pipe joint center where the total station is located; and
and calculating the correction coordinates of the first pipe joint center and the second pipe joint center of the total station according to the triangle corresponding relation by using the mileage of the first pipe joint center and the mileage of the second pipe joint center and the historical track table of the pipe joint center where the correction prism is located.
The invention further improves the automatic guiding method for the long-distance curve jacking pipe, wherein the step of calculating the mileage of a first pipe joint center and a second pipe joint center where a total station is located comprises the following steps: calculating the mileage of the first pipe joint center and the mileage of the second pipe joint center according to a formula IV:
ΔC＝C1-C0
Figure BDA0002472526780000041
if | Δ C- Δ S | <20mm
Then
Figure BDA0002472526780000042
Otherwise
Figure BDA0002472526780000043
Wherein the content of the first and second substances,
Figure BDA0002472526780000044
and
Figure BDA0002472526780000045
the distance between the center of the first pipe joint and the center of the second pipe joint is the distance between the center of the first pipe joint and the center of the second pipe joint where the total station is located when the total station is changed; c0Mileage recorded for the mileage counter, C1Recording the current mileage for the current mileage counter;
Figure BDA0002472526780000046
in order to see the coordinates of the prism behind,
Figure BDA0002472526780000047
the coordinates of the total station are obtained; s' is the distance between the current total station automatic measurement and the rearview prism;
according to Cqzy_gj1Finding the sum C in the historical track table of the center of the pipe joint where the correcting prism is positionedqzy_gj1Closest two measurements (C)jz_x-1,Xjz_x-1,Yjz_x-1,Zjz_x-1) And (C)jz_x,Xjz_x,Yjz_x,Zjz_x)；
When C is presentjz_x-1≤Cqzy_gj1≤Cjz_xWhen the center of the first pipe joint and the center of the second pipe joint where the total station is located are located between the two times of correction prism measurement, respectively calculating correction coordinates of the center of the first pipe joint and the center of the second pipe joint where the total station is located according to a fifth formula, wherein the fifth formula is as follows:
Figure BDA0002472526780000048
wherein, (X'gj1,Y′gj1,Z'gj1) The corrected coordinates (X ') of the center of the first pipe joint where the total station is located are obtained by the same method as the corrected coordinates of the center of the first pipe joint where the total station is located'gj2,Y′gj2,Z'gj2)；
When C is presentjz_x-1≤Cjz_x≤Cqzy_gj1When the center of the first pipe joint and the center of the second pipe joint where the total station is located are located outside the two times of correction prism measurement, respectively calculating correction coordinates of the center of the first pipe joint and the center of the second pipe joint where the total station is located according to a formula six, wherein the formula six is as follows:
Figure BDA0002472526780000051
wherein, (X'gj1,Y′gj1,Z'gj1) The corrected coordinates (X ') of the center of the first pipe joint where the total station is located are obtained by the same method as the corrected coordinates of the center of the first pipe joint where the total station is located'gj2,Y′gj2,Z'gj2)。
The automatic guiding method for the long-distance curved jacking pipe is further improved in that a rear-view prism is provided, and the rear-view prism is installed in the working well before the pipe jacking machine starts tunneling construction from the working well, so that the position is kept stable;
with the tunneling construction of the pipe jacking machine, when the total station cannot search the rear-view prism, the rear-view prism is moved to a corresponding pipe joint and is installed and fixed, so that the total station can search the rear-view prism along with the propelling movement of the pipe jacking machine; and
and obtaining the corrected coordinates of the rearview prism, and correcting the rearview prism.
The invention further improves the automatic guiding method of the long-distance curve jacking pipe, and the corrected coordinates of the rearview prism are obtained, and the method comprises the following steps:
selecting two central points, namely a third pipe joint center and a fourth pipe joint center, in front of and behind the pipe joint where the rearview prism is located, establishing a measuring point coordinate system by using the third pipe joint center and the fourth pipe joint center, and calculating an initial local coordinate of the rearview prism center under the measuring point coordinate system;
calculating to obtain corrected coordinates of the center of the third pipe joint and the center of the fourth pipe joint where the rearview prism is located; and
and calculating the current azimuth angle, the current slope angle and the current roll angle of the pipe joint of the rear-view prism according to the corrected coordinates of the third pipe joint center and the fourth pipe joint center of the rear-view prism, and calculating the corrected coordinates of the rear-view prism by combining the corrected local coordinates of the rear-view prism center under the measuring point coordinate system.
The invention further improves the automatic guiding method of the long-distance curve jacking pipe, wherein the corrected coordinate of the rearview prism is obtained by calculation, and is calculated according to a formula ten, and the formula ten is as follows:
α1＝arctg(Y′gj3-Y′gj4)(X'gj3-X'gj4)
Figure BDA0002472526780000061
wherein, (X'gj3,Y′gj3,Z'gj3) Is the corrected coordinate of the center of the third pipe joint where the rearview prism is located, (X'gj4,Y′gj4,Z'gj4) Corrected coordinates of the center of the fourth tube section where the rear view prism is located, (X)hsj,Yhsj,Zhsj) For correcting local coordinates, alpha, beta and of the rear-view prism
Figure BDA0002472526780000062
The current azimuth angle, the current slope angle and the current roll angle of the pipe joint where the rearview prism is located.
The invention further improves the automatic guiding method of the long-distance curve jacking pipe, the corrected coordinates of the center of the third pipe joint and the center of the fourth pipe joint where the rearview prism is located are obtained by calculation, and the method comprises the following steps:
manually retesting after the push bench pushes a certain distance, and calculating to obtain the mileage of the center of a third pipe joint and the mileage of the center of a fourth pipe joint where the rearview prism is located; and
and calculating the mileage of the center of the third pipe joint and the mileage of the center of the fourth pipe joint according to a formula eight by utilizing the mileage of the center of the third pipe joint and the mileage of the center of the fourth pipe joint, wherein the formula eight is as follows:
Figure BDA0002472526780000063
Figure BDA0002472526780000064
wherein the content of the first and second substances,
Figure BDA0002472526780000065
and
Figure BDA0002472526780000066
the mileage of the center of the third pipe joint and the mileage of the center of the fourth pipe joint where the rearview prism is located when the station of the rearview prism is changed; c0Mileage recorded for mileage counters, C1Recording the current mileage for the current mileage counter;
according to Chs_gj3Finding the sum C in the historical track table of the center of the pipe joint where the correcting prism is positionedhs_gj3Closest two measurements (C)jz_x-1,Xjz_x-1,Yjz_x-1,Zjz_x-1) And (C)jz_x,Xjz_x,Yjz_x,Zjz_x)，Cjz_x-1≤Chs_gj3≤Cjz_x；
Respectively calculating the corrected coordinates of the center of the third pipe joint and the center of the fourth pipe joint where the rearview prism is located according to a formula nine, wherein the formula nine is as follows:
Figure BDA0002472526780000071
obtaining the corrected coordinate (X ') of the center of the fourth pipe joint where the rearview prism is located in the same way'gj4,Y′gj4,Z'gj4)。
The invention further improves the automatic guiding method of the long-distance curve jacking pipe, and the method also comprises the step of obtaining the corrected local coordinate of the rearview prism by calculation, and comprises the following steps:
obtaining the remeasured coordinates of the rear-view prism
Figure BDA0002472526780000072
Distance delta C between rear-view prism and third pipe joint centerhs_gj3The distance between the rear-view prism and the center of the fourth pipe joint is delta Chs_gj4；
From the remeasured coordinates of the rear-view prism
Figure BDA0002472526780000073
Calculating the mileage of the center of the rearview prism
Figure BDA0002472526780000074
The mileage of the third pipe joint center and the mileage of the fourth pipe joint center in the repeated measurement are respectively as follows:
Figure BDA0002472526780000075
calculating the corrected coordinates of the third and fourth pipe joint centers in the complex time measurement
Figure BDA0002472526780000076
Calculating the corrected local coordinates of the rear-view prism
Figure BDA0002472526780000077
The automatic guiding method for the long-distance curved jacking pipe has the beneficial effects that:
the invention automatically measures the construction state posture of the long-distance pipe jacking machine according to the initial manual measurement coordinate and by combining the mode of automatically searching the prism by the total station. Specifically, based on the prism method guiding system principle, aiming at the characteristics of long-distance curve pipe jacking, the pipe jacking machine tunneling construction is divided into a station-measuring stable rear view stable state; the survey station is unstable and the back vision is stable; and respectively processing three stages of instable back vision and instability of the observation station. And in the unstable process of the measuring station, the correction coordinates of the total station are required to be calculated so as to correct the total station. In the process of rear view instability, correction coordinates of the rear view prism need to be calculated so as to correct the rear view prism. And after the correction is finished, searching a target prism installed on a pipe jacking machine head and the obtained gradient rotation angle through a total station to calculate the pipe jacking attitude, and guiding the pipe jacking machine according to the calculated pipe jacking attitude. And (4) regularly adopting a manual measurement method to recheck the coordinates of the total station and the rearview prism. The problem of prior art be difficult to be applicable to long distance curve push pipe direction, and the low commonality of precision with low costs is poor is solved.
Drawings
Fig. 1 is a schematic diagram showing a laser measuring device for the head attitude of a micro push bench in the prior art.
FIG. 2 is a schematic diagram of the automatic guiding method for long-distance curved pipe jacking in the first stage of pipe jacking machine tunneling construction.
FIG. 3 is a schematic diagram of the long-distance curved pipe jacking automatic guiding method of the invention at the second stage of pipe jacking machine tunneling construction.
FIG. 4 is a schematic diagram of the long-distance curved pipe jacking automatic guiding method of the invention at the third stage of pipe jacking machine tunneling construction.
Fig. 5 is a schematic diagram of calculating the coordinates of the center of the pipe joint where the total station is located by using an interpolation method in fig. 3.
Fig. 6 is a schematic diagram of calculating the center coordinates of the pipe joint where the total station is located by using an extension method in fig. 3.
Fig. 7 is a schematic diagram of calculating the coordinates of the center of the tube joint where the rear-view prism is located by using an interpolation method in fig. 4.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 2, a schematic diagram of the automatic guiding method for long-distance curved pipe jacking of the invention in the first stage of pipe jacking machine tunneling construction is shown. FIG. 3 is a schematic diagram of the long-distance curved pipe jacking automatic guiding method of the invention at the second stage of pipe jacking machine tunneling construction. FIG. 4 is a schematic diagram of the long-distance curved pipe jacking automatic guiding method of the invention at the third stage of pipe jacking machine tunneling construction. Referring to fig. 2 to 4, the automatic guiding method for long-distance curved jacking pipes of the present invention comprises:
providing a target prism 10 and a total station 20, and installing the target prism 10 in a head 40 of a push bench;
before the pipe jacking machine starts tunneling construction from the working well 50, the total station 20 is installed in the working well 50 so that the position is kept stable;
along with the tunneling construction of the pipe jacking machine, when the total station 20 cannot search the target prism 10, the total station 20 is moved to the corresponding pipe joint 60 and is installed and fixed, so that the total station 20 moves along with the propelling of the pipe jacking machine, and the total station 20 can search the target prism 10;
acquiring corrected coordinates of the total station 20, and correcting the total station 20; and
in the tunneling construction process of the pipe jacking machine, the total station 20 is adopted to measure the coordinates of the target prism 10, so that the posture of the pipe jacking machine is obtained, and the obtained posture of the pipe jacking machine is used for guiding the construction of the pipe jacking machine.
The invention automatically measures the construction state posture of the long-distance pipe jacking machine according to the initial manual measurement coordinate and by combining the mode of automatically searching the prism by the total station. Specifically, based on the prism method guiding system principle, aiming at the characteristics of long-distance curve pipe jacking, the pipe jacking machine tunneling construction is divided into a station-measuring stable rear view stable state; the survey station is unstable and the back vision is stable; and respectively processing three stages of instable back vision and instability of the observation station. And in the unstable process of the measuring station, the correction coordinates of the total station are required to be calculated so as to correct the total station. In the process of rear view instability, correction coordinates of the rear view prism need to be calculated so as to correct the rear view prism. And after the correction is finished, searching a target prism installed on a pipe jacking machine head and the obtained gradient rotation angle through a total station to calculate the pipe jacking attitude, and guiding the pipe jacking machine according to the calculated pipe jacking attitude. And (4) periodically rechecking the coordinates of the total station and the rearview prism by adopting a manual measurement method.
As a preferred embodiment of the long-distance curved pipe jacking automatic guiding method of the present invention, obtaining the corrected coordinates of the total station 20 includes:
selecting two central points in front of and behind a pipe joint where the total station 20 is located, namely a first pipe joint center 61 and a second pipe joint center 62, establishing a measuring point coordinate system by using the first pipe joint center 61 and the second pipe joint center 62, and calculating an initial local coordinate of the center of the total station 20 under the measuring point coordinate system;
obtaining corrected coordinates of a first pipe joint center 61 and a second pipe joint center 62 where the total station 20 is located;
and calculating to obtain a current azimuth angle, a current slope angle and a current roll angle of the pipe joint of the total station 20 according to the corrected coordinates of the first pipe joint center and the second pipe joint center of the total station 20, and calculating to obtain the corrected coordinates of the total station 20 by combining with the initial local coordinates of the center of the total station 20 in the measuring point coordinate system.
As a preferred embodiment of the long-distance curved pipe jacking automatic guiding method of the present invention, the calculating to obtain the corrected coordinates of the total station 20 includes: calculating the corrected coordinates of the total station 20 according to the formula seven, wherein the formula seven is as follows:
α＝arctg(Y′gj1-Y′gj2)/(X'gj1-X'gj2)
Figure BDA0002472526780000091
wherein, (X'gj1,Y′gj1,Z'gj1) Is the corrected coordinates of the center of the first pipe joint where the total station 20 is located, (X'gj2,Y′gj2,Z'gj2) Is the corrected coordinates of the center of the second pipe joint where the total station 20 is located, (X)qzyj,Yqzyj,Zqzyj) As initial local coordinates of the total station 20, α, β and
Figure BDA0002472526780000092
the current azimuth, the current slope angle and the current roll angle of the pipe joint where the total station 20 is located.
As a preferred embodiment of the method for automatically guiding a long-distance curved pipe jacking according to the present invention, obtaining the corrected coordinates of the first pipe joint center 61 and the second pipe joint center 62 where the total station 20 is located includes:
providing two correcting prisms 70, and installing the two correcting prisms 70 on a pipe joint in front of the total station 20 and on two sides of the total station 20;
manually retesting the coordinates and the mileage of the first pipe joint center 61, the second pipe joint center 62 and the pipe joint center where the correcting prism 70 is located in the pushing process of the pipe pushing jack, and updating the historical track table of the pipe joint center where the correcting prism is located according to the retested mileage;
calculating to obtain the mileage of a first pipe joint center and a second pipe joint center where the total station 20 is located; and
and calculating the correction coordinates of the first pipe joint center 61 and the second pipe joint center 62 of the total station 20 according to the triangle corresponding relation by using the mileage of the first pipe joint center 61 and the mileage of the second pipe joint center 62 and the historical track table of the pipe joint center where the correction prism is located.
As a preferred embodiment of the method for automatically guiding a long-distance curved jacking pipe, reference is made to fig. 5, which shows a schematic diagram of calculating the center coordinates of a pipe joint where a total station is located by using an interpolation method in fig. 3. Fig. 6 is a schematic diagram of calculating the center coordinates of the pipe joint where the total station is located by using an extension method in fig. 3. With reference to fig. 5 to 6, calculating the mileage of the first pipe joint center and the mileage of the second pipe joint center where the total station 20 is located includes: and calculating the mileage of the center of the first pipe joint and the mileage of the center of the second pipe joint according to a formula IV:
ΔC＝C1-C0
Figure BDA0002472526780000101
if | Δ C- Δ S | <20mm
Then
Figure BDA0002472526780000102
Otherwise
Figure BDA0002472526780000103
Wherein the content of the first and second substances,
Figure BDA0002472526780000104
and
Figure BDA0002472526780000105
the mileage of the center of the first pipe joint and the mileage of the center of the second pipe joint where the total station 20 is located when the total station 20 changes stations; c0Mileage recorded for mileage counters, C1Recording the current mileage for the current mileage counter;
Figure BDA0002472526780000106
for the rear view prism 30 coordinates,
Figure BDA0002472526780000107
coordinates of a total station 20; s' is the distance between the current total station 20 automatic measurement and the rearview prism 30;
according to Cqzy_gj1And C in the history track table for finding the center of the pipe joint where the correcting prism is positionedqzy_gj1Closest two measurements (C)jz_x-1,Xjz_x-1,Yjz_x-1,Zjz_x-1) And (C)jz_x,Xjz_x,Yjz_x,Zjz_x)；
When C isjz_x-1≤Cqzy_gj1≤Cjz_xWhen the first pipe joint center and the second pipe joint center where the total station 20 is located are located between the two times of correction prism measurement, the correction coordinates of the first pipe joint center and the second pipe joint center where the total station 20 is located are respectively calculated according to a fifth formula, where the fifth formula is:
Figure BDA0002472526780000111
wherein, (X'gj1,Y′gj1,Z'gj1) The corrected coordinates (X ') of the center of the first pipe joint where the total station 20 is located are obtained as the corrected coordinates of the center of the first pipe joint where the total station 20 is located in the same manner'gj2,Y′gj2,Z'gj2)；
When C isjz_x-1≤Cjz_x≤Cqzy_gj1When the first pipe joint center and the second pipe joint center where the total station 20 is located are located outside the two times of correction prism measurement, respectively calculating the correction coordinates of the first pipe joint center and the second pipe joint center where the total station 20 is located according to a formula six, where the formula six is:
Figure BDA0002472526780000112
wherein, (X'gj1,Y′gj1,Z'gj1) The corrected coordinates (X ') of the center of the first pipe joint where the total station 20 is located are obtained in the same manner as the corrected coordinates of the center of the first pipe joint where the total station 20 is located'gj2,Y′gj2,Z'gj2)。
As a preferred embodiment of the automatic guiding method for long-distance curved pipe jacking of the invention, the method further comprises the steps of providing a rear-view prism 30, and installing the rear-view prism 30 in the working well 50 before the pipe jacking machine starts tunneling construction from the working well 50 so as to keep the position stable;
along with the tunneling construction of the push bench, when the total station 20 cannot search the rear-view prism 30, the rear-view prism 30 is moved to the corresponding pipe joint and is installed and fixed, so that the total station 20 can search the rear-view prism 30 along with the propelling movement of the push bench; and
the corrected coordinates of the rear view prism 30 are obtained, and the rear view prism 30 is corrected.
As a preferred embodiment of the method for automatically guiding a long-distance curved jacking pipe according to the present invention, obtaining the corrected coordinates of the rear-view prism 30 includes:
selecting two central points in front of and behind the pipe joint where the rearview prism 30 is located, wherein the central points are respectively a third pipe joint center and a fourth pipe joint center, establishing a measuring point coordinate system by using the third pipe joint center and the fourth pipe joint center, and calculating an initial local coordinate of the center of the rearview prism 30 under the measuring point coordinate system;
calculating to obtain corrected coordinates of the third pipe joint center and the fourth pipe joint center where the rearview prism 30 is located; and
and calculating the current azimuth angle, the current slope angle and the current roll angle of the pipe joint of the rearview prism 30 according to the corrected coordinates of the third pipe joint center and the fourth pipe joint center of the rearview prism 30, and calculating the corrected coordinates of the rearview prism 30 by combining the corrected local coordinates of the center of the rearview prism 30 in the measuring point coordinate system.
As a preferred embodiment of the automatic guiding method for long-distance curved jacking pipes of the present invention, the corrected coordinates of the rear-view prism 30 are calculated, and the corrected coordinates of the rear-view prism 30 are calculated according to a formula ten, where the formula ten is:
α1＝arctg(Y′gj3-Y′gj4)(X'gj3-X'gj4)
Figure BDA0002472526780000121
wherein, (X'gj3,Y′gj3,Z'gj3) Is the corrected coordinate of the center of the third pipe joint where the rear view prism 30 is located, (X'gj4,Y′gj4,Z'gj4) Is the corrected coordinate of the center of the fourth tube section where the rear view prism 30 is located, (X)hsj,Yhsj,Zhsj) For correcting local coordinates, alpha, beta and
Figure BDA0002472526780000122
the current azimuth, the current slope angle and the current roll angle of the pipe joint where the rear-view prism 30 is located.
As a preferred embodiment of the method for automatically guiding a long-distance curved pipe jacking according to the present invention, fig. 7 is a schematic diagram of the method for calculating the center coordinates of the pipe joint where the rear-view prism is located by using an interpolation method in fig. 4. Calculating the corrected coordinates of the third tube section center 81 and the fourth tube section center 82 where the rear view prism 30 is located includes:
manually retesting the push bench after pushing for a certain distance, and calculating to obtain the mileage of a third pipe joint center 81 and a fourth pipe joint center 82 where the rearview prism 30 is located; and
and correcting the historical track table of the pipe joint center where the prism is located by using the mileage of the third pipe joint center 81 and the mileage of the fourth pipe joint center 82, and calculating the mileage of the third pipe joint center and the mileage of the fourth pipe joint center according to a formula eight, wherein the formula eight is as follows:
Figure BDA0002472526780000123
Figure BDA0002472526780000124
wherein the content of the first and second substances,
Figure BDA0002472526780000125
and
Figure BDA0002472526780000126
the mileage of the third pipe joint center and the mileage of the fourth pipe joint center of the rearview prism 30 when the rearview prism 30 is changed; c0Mileage recorded for mileage counters, C1Recording the current mileage for the current mileage counter;
according to Chs_gj3And C in the history track table for finding the center of the pipe joint where the correcting prism is positionedhs_gj3Closest two measurements (C)jz_x-1,Xjz_x-1,Yjz_x-1,Zjz_x-1) And (C)jz_x,Xjz_x,Yjz_x,Zjz_x)，Cjz_x-1≤Chs_gj3≤Cjz_x；
And respectively calculating the corrected coordinates of the third pipe joint center and the fourth pipe joint center where the rearview prism 30 is located according to a formula nine, wherein the formula nine is as follows:
Figure BDA0002472526780000131
similarly, corrected coordinates (X ') of the center of the fourth pipe joint of the rear view prism 30 are obtained'gj4,Y′gj4,Z'gj4)。
As a preferred embodiment of the automatic guiding method for long-distance curved jacking pipes of the present invention, the method further includes calculating a corrected local coordinate of the rearview prism 30, including:
obtaining the remeasured coordinates of the rearview prism 30
Figure BDA0002472526780000132
Distance deltac between rear prism 30 and third tube segment centerhs_gj3The distance between the rear-view prism 30 and the center of the fourth pipe section is delta Chs_gj4；
From the remeasured coordinates of the rear-view prism 30
Figure BDA0002472526780000133
Calculating the mileage of the center of the rearview prism 30
Figure BDA0002472526780000134
The mileage of the third pipe joint center and the mileage of the fourth pipe joint center in the repeated measurement are respectively as follows:
Figure BDA0002472526780000135
calculating the corrected coordinates of the third and fourth pipe joint centers in the complex time measurement
Figure BDA0002472526780000136
Calculates the corrected local coordinates of the rear-view prism 30
Figure BDA0002472526780000137
The following is a description of the specific construction steps of the present invention:
in the first stage of pipe jacking construction, the total station 20 and the rearview prism 30 are installed in the working well 50, so that the positions of the total station 20 and the rearview prism are kept stable, and the total station 20 can search the target prism 10;
calculating to obtain a notch construction coordinate and a shield tail construction coordinate of the push bench corresponding to the current position so as to obtain the posture of the push bench, and guiding the construction of the push bench in the first stage by using the obtained posture of the push bench;
in the second stage of pipe jacking machine tunneling construction, when the total station 20 cannot search the target prism 10, the total station 20 is installed on the corresponding pipe joint 60 so as to move along with the push of the pipe jacking machine, so that the total station 20 can search the target prism 10, and the rearview prism 30 is installed in the working well 50 so as to be stable in position;
acquiring the corrected coordinates of the total station 20 in the second stage, and correcting the total station 20;
after the total station 20 finishes correcting, calculating to obtain a notch construction coordinate and a shield tail construction coordinate of the push bench corresponding to the current position so as to obtain the posture of the push bench, and guiding the construction of the push bench in the second stage by using the obtained posture of the push bench;
in the third stage of pipe jacking machine tunneling construction, when the total station 20 cannot search the rear-view prism 30, the rear-view prism 30 and the total station 20 are both arranged on the pipe joint 60 and move together with the pipe jacking machine, so that the total station can search the target prism 10 and the rear-view prism 30;
obtaining the corrected coordinates of the total station 20 in the third stage, correcting the total station 20, obtaining the corrected coordinates of the rearview prism 30 in the third stage, and correcting the rearview prism 30; and
after the total station 20 and the rearview prism 30 are corrected, the incision construction coordinates and the shield tail construction coordinates of the push bench corresponding to the current position are calculated, so that the posture of the push bench is obtained, and the construction of the push bench in the third stage is guided by using the obtained posture of the push bench.
Further, calculating to obtain a notch construction coordinate and a shield tail construction coordinate of the push bench corresponding to the current position, wherein the notch construction coordinate and the shield tail construction coordinate comprise:
establishing a push bench coordinate system by taking a shield tail of the push bench as an original point and taking the central axis direction as an axis;
before the tunneling construction of a push bench, measuring the coordinate of a target prism 10 to obtain an initial construction coordinate of the target prism 10, obtaining an initial azimuth angle, an initial slope angle and an initial roll angle of the push bench, and calculating the coordinate of the target prism under a coordinate system of the push bench to be an initial local coordinate of the target prism;
searching a target prism 10 through a total station 20 to obtain the current construction coordinate of the target prism 10, and obtaining the current azimuth angle, the current slope angle and the current roll angle of the push bench at the current position;
and calculating to obtain the notch construction coordinate and the shield tail construction coordinate of the push bench corresponding to the current position by using the initial local coordinate of the target prism 10, the current construction coordinate of the target prism 10, the current azimuth angle of the push bench, the current slope angle and the current roll angle.
Specifically, in the first stage of pipe jacking machine tunneling construction, the total station 20 and the rearview prism 30 are installed underground, and the positions are stable, namely the station is stable, and the rearview is stable. No position correction may be performed for the total station 20 and the rearview prism 30.
Firstly, the coordinates of the rearview prism 30 are measured, and the local coordinates of the rearview prism 30 in the push bench coordinate system, namely the position relation between the rearview prism 30 and the notch and the shield tail, are calculated.
The inclinometer 11 is provided and is respectively arranged on the head, the pipe joint arranged on the total station and the pipe joint arranged on the rearview prism, and is used for measuring the slope and the corner change of the positions and participating in the posture calculation.
And obtaining the azimuth angle and the gradient angle between the rearview prism and the total station through the inclinometer 11 for orientation. In the pipe jacking machine tunneling construction, a total station 20 is used for searching the target prism 10, and the total station is a geodetic instrument capable of automatically measuring the distance and the angle in the horizontal and vertical directions through instruction control. And calculating the coordinates of the notch and the shield tail of the push bench according to the found construction coordinates of the target prism 10 and the initial local coordinates of the target prism 10 in the push bench. The method is based on the fact that the push bench is a rigid body and can carry out inverse operation according to the principle that the local coordinate of the push bench is unchanged, and finally the coordinates of the notch and the shield tail are solved.
Further, calculating the coordinates of the target prism 10 in the push bench coordinate system as the initial local coordinates of the target prism 10, including:
acquiring initial construction coordinates of a notch center of the push bench, acquiring initial construction coordinates of a shield tail center of the push bench and an initial rolling angle of the push bench;
calculating the initial azimuth angle of the push bench according to a first formula:
Figure BDA0002472526780000151
calculating the initial slope angle of the push bench according to a second formula, wherein the second formula is as follows:
Figure BDA0002472526780000152
calculating the initial local coordinates of the target prism 10 according to the formula three:
Figure BDA0002472526780000153
wherein: (X, Y, Z) is the initial construction coordinates of the target prism 10, (X)1,Y1,Z1) Is the initial construction coordinate of the cut center of the push bench (X)0,Y0,Z0) Is the initial construction coordinate of the center of the shield tail of the push bench,
Figure BDA0002472526780000154
is the initial roll angle of the push bench.
Further, calculating the notch construction coordinate and the shield tail construction coordinate of the push bench corresponding to the current position, including calculating the notch construction coordinate and the shield tail construction coordinate of the push bench corresponding to the current position according to a formula IV, wherein the formula IV is as follows:
Figure BDA0002472526780000161
wherein: (X)ot,Yot,Zot) To search for the current construction coordinates of the target prism 10 of the current position by the total station 20, (X)ljc,Yljc,Zljc) Is the initial part of the target prismCoordinates, α, β and
Figure BDA0002472526780000162
the current azimuth angle, the current slope angle and the current roll angle of the push bench at the current position are respectively. And respectively and independently calculating the notch construction coordinate and the shield tail construction coordinate.
Further, obtaining the corrected coordinates of the total station 20 in the second phase comprises:
selecting two central points, namely a first pipe joint center 61 and a second pipe joint center 62, in front of and behind a pipe joint 60 where the total station 20 is located, establishing a measuring point coordinate system by using the first pipe joint center 61 and the second pipe joint center 62, and calculating an initial local coordinate of the total station center under the measuring point coordinate system;
providing two correcting prisms 70, installing the two correcting prisms 70 on a pipe joint in front of the total station 20 and on two sides of the total station 20, and updating a history track table of the center of the pipe joint where the correcting prism 70 is located in the push process of the pipe jacking machine;
calculating the mileage of a first pipe joint center 61 and a second pipe joint center 62 where the total station 20 is located;
calculating the correction coordinates of the first pipe joint center 61 and the second pipe joint center 62 where the total station is located according to the triangle corresponding relation by using the mileage of the first pipe joint center 61 and the mileage of the second pipe joint center 62 and the historical track table of the pipe joint center where the correction prism 70 is located, so as to correct the first pipe joint center 61 and the second pipe joint center 62; and
after the coordinates of the first pipe joint center 61 and the second pipe joint center 62 where the total station 20 is located are corrected, the corrected coordinates of the total station 20 are calculated according to the initial local coordinates of the total station center in the measuring point coordinate system and the slope angle and the roll angle of the current pipe joint 60 where the total station is located, and therefore the total station 20 is corrected according to the corrected coordinates of the total station.
Specifically, as a curved channel needs to be excavated, when the total station cannot see the target prism and cannot work after the head enters the excavation process as the pipe jacking machine advances, the total station needs to be installed on the corresponding pipe joint in front again. Since the total station is mounted on the pipe joints and moves with the pipe joints, rather than being fixed, the coordinates of the total station need to be corrected at any time. The total station can also search for a rear-view prism arranged in the working well, so that the position of the rear-view prism is temporarily unchanged, and the rear-view prism does not need to be corrected in the second stage. After the total station finishes correction, the coordinates of the notch and the shield tail of the push bench are calculated by using the method in the first stage, the posture of the push bench is obtained, and the construction of the push bench in the second stage is guided by using the obtained posture of the push bench.
Specifically, the specific process of updating the historical track table of the center of the pipe joint where the correcting prism 70 is located is as follows: after the push bench advances a certain distance, the distance can be determined according to actual conditions, and coordinates and mileage of the first pipe joint center 61 and the second pipe joint center 62 where the total station 20 is located and the pipe joint center where the correcting prism 70 is located are manually retested. After retesting is completed, the historical track table of the pipe joint center where the correcting prism 70 is located is updated, a data point closest to the mileage of the second pipe joint center 62 for manual retesting is found, the track of the pipe joint center where the correcting prism is located after the data point is deleted, and the result of manual retesting is stored.
Further, calculating the mileage of the first pipe joint center 61 and the mileage of the second pipe joint center 62 where the total station 20 is located includes calculating the mileage of the first pipe joint center and the mileage of the second pipe joint center according to a formula four, where the formula four is:
ΔC＝C1-C0
Figure BDA0002472526780000171
if | Delta C-Delta S | is less than 20mm
Then
Figure BDA0002472526780000172
Otherwise
Figure BDA0002472526780000173
Wherein the content of the first and second substances,
Figure BDA0002472526780000174
and
Figure BDA0002472526780000175
the mileage of the first pipe joint center and the second pipe joint center of the total station when the total station is changed, C0Recording the mileage for the mileage counter; c1Recording the current mileage for the current mileage counter;
Figure BDA0002472526780000176
in order to see the coordinates of the prism behind,
Figure BDA0002472526780000177
the coordinates of the total station are obtained; and S' is the distance between the current total station automatic measurement and the rearview prism.
Specifically, when the total station is changed, the mileage of a first pipe joint center 61 and a second pipe joint center 62 where the total station is located and the elongation of a jack of the pipe jacking machine at that time are measured respectively, and the current pipe piece center mileage is calculated according to the number of the propulsion pipe joints and the width of the pipe joints.
Further, referring to fig. 5, a schematic diagram of calculating the center coordinates of the pipe joint where the total station is located by using an interpolation method in fig. 3 is shown. Fig. 6 is a schematic diagram of calculating the coordinates of the center of the pipe joint where the total station is located by adopting an extension method in fig. 3. With reference to fig. 5 to 6, the calculation of the corrected coordinates of the first pipe joint center 61 and the second pipe joint center 62 where the total station 20 is located from the triangle correspondence includes:
calculating to obtain the mileage C of the center of the first pipe jointqzy_gj1According to Cqzy_gj1And C in the history track table for finding the center of the pipe joint where the correcting prism is positionedqzy_gj1Closest two measurements (C)jz_x-1,Xjz_x-1,Yjz_x-1,Zjz_x-1) And (C)jz_x,Xjz_x,Yjz_x,Zjz_x)；
When C is shown in connection with FIG. 5jz_x-1≤Cqzy_gj1≤Cjz_xThe total station 20 is located at a first joint center 61 and a second joint center 62, which are located at the double straighteningDuring prism measurement, respectively calculating the corrected coordinates of the center of the first pipe joint and the center of the second pipe joint where the total station is located according to a fifth formula, wherein the fifth formula is as follows:
Figure BDA0002472526780000181
wherein, (X'gj1,Y′gj1,Z'gj1) The corrected coordinates (X ') of the center of the first pipe joint where the total station is located are obtained by the same method as the corrected coordinates of the center of the first pipe joint where the total station is located'gj2,Y′gj2,Z'gj2)。
Specifically, referring to fig. 5, point a is the mileage of the center of the pipe joint where the current total station is located, and the center of the pipe joint where the x-1 th measurement correction prism which is closest in history is located; the point b is the center of the pipe joint where the total station is located; and point c is the mileage of the center of the pipe joint where the total station is located, and the center of the pipe joint where the x-th measurement correction prism which is closest to the current total station is located historically. Point b is located between points a and c. And calculating to obtain the corrected coordinates of the center of the total station pipe joint according to the corresponding relation of the triangles on the plane.
When C is shown in connection with FIG. 6jz_x-1≤Cjz_x≤Cqzy_gj1When the center of the first pipe joint and the center of the second pipe joint where the total station is located are located outside the two times of correction prism measurement, respectively calculating correction coordinates of the center of the first pipe joint and the center of the second pipe joint where the total station is located according to a formula six, wherein the formula six is as follows:
Figure BDA0002472526780000182
wherein, (X'gj1,Y′gj1,Z'gj1) Corrected coordinates (X ') of the center of the first pipe joint where the total station is located are obtained in the same manner as the corrected coordinates of the center of the first pipe joint where the total station is located'gj2,Y′gj2,Z'gj2)。
Specifically, referring to fig. 6, point d is the mileage of the center of the pipe joint where the current total station is located, and the center of the pipe joint where the x-1 th measurement correction prism which is closest in history is located; and a point e is the mileage of the center of the pipe joint where the total station is located, and the center of the pipe joint where the x-th measurement correction prism which is closest to the current total station is located historically. Point f is the center of the pipe joint where the total station is located; point f is located outside points d and e. The distance between point f and point e is the distance the top tube advances.
Further, the corrected coordinates of the total station 20 are obtained through calculation, and the corrected coordinates of the total station 20 are calculated according to a formula seven, wherein the formula seven is as follows:
α＝arctg(Y′gj1-Y′gj2)/(X'gj1-X'gj2)
Figure BDA0002472526780000191
wherein, (X'gj1,Y′gj1,Z'gj1) Is the corrected coordinate of the center of the first pipe joint where the total station is positioned, (X'gj2,Y′gj2,Z'gj2) Is the corrected coordinate of the center of the second pipe joint where the total station is located, (X)qzyj,Yqzyj,Zqzyj) As initial local coordinates of the total station, α, β and
Figure BDA0002472526780000192
the current azimuth angle, the current slope angle and the current roll angle of the pipe joint where the total station is located.
After the correction coordinates of the total station 20 are obtained, the total station is corrected based on the correction coordinates.
In that
Further, the corrected coordinates of the rear view prism 30 are obtained in the third stage, including:
selecting two central points in front of and behind the pipe joint where the rearview prism 30 is located, namely a third pipe joint center 81 and a fourth pipe joint center 82, establishing a measuring point coordinate system by using the third pipe joint center 81 and the fourth pipe joint center 82, and calculating an initial local coordinate of the rearview prism center under the measuring point coordinate system;
calculating the mileage of a third pipe joint center 81 and a fourth pipe joint center 82 where the rearview prism 20 is located;
by using the mileage of the third pipe joint center 81 and the mileage of the fourth pipe joint center 82, the correction coordinates of the third pipe joint center 81 and the fourth pipe joint center 82 where the rear-view prism 20 is located are calculated and obtained from the triangle corresponding relation of the historical track table of the pipe joint center where the correction prism 70 is located, so that the third pipe joint center 81 and the fourth pipe joint center 82 are corrected;
manually retesting the push bench after propelling for a certain distance, and calculating to obtain the corrected local coordinate of the rearview prism 20; and
after the coordinates of the third pipe joint center 81 and the fourth pipe joint center 82 where the rear-view prism 20 is located are corrected, according to the corrected local coordinates of the rear-view prism center in the measurement point coordinate system and the slope angle and the roll angle of the pipe joint where the current rear-view prism 20 is located, the corrected coordinates of the rear-view prism 20 are obtained through calculation, and therefore the rear-view prism 20 is corrected according to the corrected coordinates of the rear-view prism 20.
After the total station finishes correction, calculating out the notch construction coordinates and the shield tail construction coordinates of the push bench corresponding to the current position by adopting the same method and formula as those in the first stage, thereby obtaining the posture of the push bench, and guiding the construction of the push bench in the second stage by using the obtained posture of the push bench.
Specifically, as a curved channel needs to be excavated, after the machine head continues to dig, the total station cannot see the rearview prism, the rearview prism needs to be installed on the pipe joint again, and the rearview prism and the total station operate together with the push bench as the push bench advances. Because the total station and the rearview prism are not fixed in the propelling process, the coordinates of the total station and the rearview prism need to be corrected at any time. And after the total station and the rear-view prism are corrected, calculating the notch construction coordinate and the shield tail construction coordinate of the push bench corresponding to the current position by adopting the same method and formula in the first stage, so as to obtain the posture of the push bench, and guiding the construction of the push bench in the third stage by using the obtained posture of the push bench. Wherein, the correction of the total station is consistent with the method and formula of the second stage. The correction method for the rear view prism is as follows.
Further, calculating the mileage of the third pipe joint center 81 and the mileage of the fourth pipe joint center 82 where the rear-view prism 20 is located includes calculating the mileage of the third pipe joint center 81 and the mileage of the fourth pipe joint center 82 according to the formula eight, where the formula eight is:
Figure BDA0002472526780000201
Figure BDA0002472526780000202
wherein the content of the first and second substances,
Figure BDA0002472526780000203
and
Figure BDA0002472526780000204
the mileage of the center of the third pipe joint and the mileage of the center of the fourth pipe joint where the rearview prism is located when the station of the rearview prism is changed; c0Mileage recorded for mileage counters, C1And recording the current mileage for the current mileage counter.
And when the third-stage rearview prism station is changed, the mileage of a third pipe joint center 81 and a fourth pipe joint center 82 where the rearview prism is located and the elongation of a jack of the pipe jacking machine at that time are measured respectively, and the current pipe piece center mileage is calculated according to the number of the push pipe joints and the width of the pipe joints.
Further, the calculation of the corrected coordinates of the third tube section center 81 and the fourth tube section center 82 where the rear view prism 20 is located from the triangle correspondence includes:
calculating to obtain the mileage C of the third pipe joint centerhs_gj3According to Chs_gj3And C in the history track table for finding the center of the pipe joint where the correcting prism is positionedhs_gj3Closest two measurements (C)jz_x-1,Xjz_x-1,Yjz_x-1,Zjz_x-1) And (C)jz_x,Xjz_x,Yjz_x,Zjz_x)，Cjz_x-1≤Chs_gj3≤Cjz_x；
And calculating the corrected coordinates of the third tube section center 81 and the fourth tube section center 82 where the rearview prism 20 is located according to a formula nine, wherein the formula nine is as follows:
Figure BDA0002472526780000205
obtaining the corrected coordinate (X ') of the center of the fourth pipe joint where the rearview prism is located in the same way'gj4,Y′gj4,Z'gj4)。
Specifically, referring to fig. 7, point g is the mileage of the center of the pipe joint where the current rearview prism is located, and the center of the pipe joint where the most approximate x-1 th measurement correction prism is located historically; the point h is the center of the pipe joint where the total station is located; and point i is the mileage of the center of the pipe joint where the current rearview prism is located, and the center of the pipe joint where the correcting prism is located in the x-th measurement which is closest to the current rearview prism in history. Point h is located between point g and point i. The corrected coordinates of the center of the rearview prism tube section can be calculated according to the corresponding relation of the triangles on the plane.
Specifically, after the push bench pushes a certain distance, the coordinates and the mileage of the center of the pipe joint and the center of the pipe joint where the correcting prism is located, and the coordinates of the rearview prism are manually retested. After the retest is finished, calculating the mileage of the center of the pipe joint where the rearview prism is located, finding twice measurement data which is closest to the mileage in the history track table of the center of the pipe joint where the correction prism is located, and calculating the center coordinate of the pipe joint where the rearview prism is located.
Further, the calculation of the corrected local coordinates of the rear view prism 20 includes:
obtaining the remeasured coordinates of the rearview prism 20
Figure BDA0002472526780000211
Distance Δ C between rear prism 20 and third tube section center 81hs_gj3The distance between the rear view prism 20 and the center 82 of the fourth tube section is deltaChs_gj4；
From the remeasured coordinates of the rear-view prism 20
Figure BDA0002472526780000212
Calculating the mileage of the center of the rearview prism
Figure BDA0002472526780000213
The mileage of the third pipe joint center 81 and the mileage of the fourth pipe joint center 82 in the repeated measurement are respectively as follows:
Figure BDA0002472526780000214
calculating the corrected coordinates of the third and fourth pipe joint centers 81 and 82 in the complex time
Figure BDA0002472526780000215
Calculates the corrected local coordinates of the rear view prism 20
Figure BDA0002472526780000216
Further, the corrected coordinates of the rear-view prism 20 are obtained by calculation, and the corrected coordinates of the rear-view prism 20 are calculated according to a formula ten, where the formula ten is:
α1＝arctg(Y′gj3-Y′gj4)/(X'gj3-X'gj4)
Figure BDA0002472526780000217
Figure BDA0002472526780000221
wherein, (X'gj3,Y′gj3,Z'gj3) Is the corrected coordinate of the center of the third pipe joint where the rearview prism is located, (X'gj4,Y′gj4,Z'gj4) Corrected coordinates of the center of the fourth tube section where the rear view prism is located, (X)hsj,Yhsj,Zhsj) For correcting local coordinates, alpha, beta and of the rear-view prism
Figure BDA0002472526780000222
The current azimuth angle, the current slope angle and the current roll angle of the pipe joint where the rearview prism is located.
And correcting the rearview prism 20 according to the obtained corrected coordinates of the rearview prism 20, obtaining corrected coordinates of the total station at the stage by adopting the same method and formula as the second stage, and correcting the total station. And after the total station and the rear-view prism are corrected, calculating the notch construction coordinate and the shield tail construction coordinate of the push bench corresponding to the current position by adopting the same method and formula in the first stage, so as to obtain the posture of the push bench, and guiding the construction of the push bench in the third stage by using the obtained posture of the push bench.
The automatic guiding method for the long-distance curved jacking pipe has the beneficial effects that:
the invention automatically measures the construction state posture of the long-distance pipe jacking machine according to the initial manual measurement coordinate and by combining the mode of automatically searching the prism by the total station. Specifically, based on the prism method guiding system principle, aiming at the characteristics of long-distance curve pipe jacking, the pipe jacking machine tunneling construction is divided into a station-measuring stable rear view stable state; the survey station is unstable and the back vision is stable; and respectively processing three stages of instable back vision and instability of the observation station. And in the unstable process of the measuring station, the correction coordinates of the total station are required to be calculated so as to correct the total station. In the process of rear view instability, correction coordinates of the rear view prism need to be calculated so as to correct the rear view prism. And after the correction is finished, searching a target prism installed on a pipe jacking machine head and the obtained gradient rotation angle through a total station to calculate the pipe jacking attitude, and guiding the pipe jacking machine according to the calculated pipe jacking attitude. And (4) regularly adopting a manual measurement method to recheck the coordinates of the total station and the rearview prism. The problem of prior art be difficult to be applicable to long distance curve push pipe direction, and the low commonality of precision with low costs is poor is solved.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.

Claims (7)

1. An automatic guiding method for a long-distance curved jacking pipe is characterized by comprising the following steps:
providing a target prism and a total station, and installing the target prism in a head of a pipe jacking machine;
before a pipe jacking machine starts tunneling construction from a working well, installing the total station in the working well so that the position is kept stable;
along with the tunneling construction of the pipe jacking machine, when the total station cannot search the target prism, the total station is moved to a corresponding pipe joint and is installed and fixed, so that the total station moves along with the propelling of the pipe jacking machine, and the total station can search the target prism;
obtaining corrected coordinates of the total station, and correcting the total station;
in the tunneling construction process of the pipe jacking machine, measuring the coordinates of the target prism by using the total station so as to obtain the posture of the pipe jacking machine, and guiding the construction of the pipe jacking machine by using the obtained posture of the pipe jacking machine;
obtaining corrected coordinates of the total station, comprising:
selecting two central points, namely a first pipe joint center and a second pipe joint center, from the front and the back of a pipe joint where the total station is located, establishing a measuring point coordinate system by using the first pipe joint center and the second pipe joint center, and calculating initial local coordinates of the total station center under the measuring point coordinate system;
acquiring corrected coordinates of a first pipe joint center and a second pipe joint center where a total station is located;
calculating to obtain a current azimuth angle, a current slope angle and a current roll angle of a pipe joint where the total station is located according to corrected coordinates of a first pipe joint center and a second pipe joint center where the total station is located, and calculating to obtain corrected coordinates of the total station by combining initial local coordinates of the total station center in the measuring point coordinate system;
obtaining corrected coordinates of a first pipe joint center and a second pipe joint center where a total station is located, comprising:
providing two correcting prisms, and installing the two correcting prisms on a pipe joint in front of the total station and on two sides of the total station;
manually retesting coordinates and mileage of the center of the first pipe joint, the center of the second pipe joint and the center of the pipe joint where the correcting prism is located in the pushing process of the pipe pushing jack, and updating a historical track table of the center of the pipe joint where the correcting prism is located according to the retested mileage;
calculating to obtain the mileage of a first pipe joint center and the mileage of a second pipe joint center where the total station is located;
calculating the correction coordinates of the first pipe joint center and the second pipe joint center of the total station according to the triangle corresponding relation by using the mileage of the first pipe joint center and the mileage of the second pipe joint center and the historical track table of the pipe joint center where the correction prism is located;
calculating the mileage of a first pipe joint center and a second pipe joint center where the total station is located, wherein the calculating comprises the following steps: calculating the mileage of the first pipe joint center and the mileage of the second pipe joint center according to a formula IV:
ΔC＝C1-C0
Figure FDA0003345336620000021
if | Δ C- Δ S | <20mm
Then
Figure FDA0003345336620000022
Otherwise
Figure FDA0003345336620000023
Wherein the content of the first and second substances,
Figure FDA0003345336620000024
and
Figure FDA0003345336620000025
for total station changingMileage of a first pipe joint center and mileage of a second pipe joint center where the station instrument is located; c0Mileage recorded for mileage counters, C1Recording the current mileage for the current mileage counter;
Figure FDA0003345336620000026
in order to see the coordinates of the prism behind,
Figure FDA0003345336620000027
the coordinates of the total station are obtained; s' is the distance between the current total station automatic measurement and the rearview prism;
according to Cqzy_gj1Finding the sum C in the historical track table of the center of the pipe joint where the correcting prism is positionedqzy_gj1Closest two measurements (C)jz_x-1,Xjz_x-1,Yjz_x-1,Zjz_x-1) And (C)jz_x,Xjz_x,Yjz_x,Zjz_x) Wherein (C)jz_x-1,Xjz_x-1,Yjz_x-1,Zjz_x-1) The distance and coordinates of the center of the pipe joint where a correction prism closest to the measured data is located, (C)jz_x,Xjz_x,Yjz_x,Zjz_x) The distance and the coordinates of the center of the pipe joint where the other correcting prism closest to the measured data is located;
when C is presentjz_x-1≤Cqzy_gj1≤Cjz_xWhen the center of the first pipe joint and the center of the second pipe joint where the total station is located are located between the two times of correction prism measurement, respectively calculating correction coordinates of the center of the first pipe joint and the center of the second pipe joint where the total station is located according to a fifth formula, wherein the fifth formula is as follows:
Figure FDA0003345336620000028
wherein, (X'gj1,Y′gj1,Z′gj1) The corrected coordinates (X ') of the center of the first pipe joint where the total station is located are obtained by the same method as the corrected coordinates of the center of the first pipe joint where the total station is located'gj2,Y′gj2,Z′gj2)；
When C is presentjz_x-1≤Cjz_x≤Cqzy_gj1When the center of the first pipe joint and the center of the second pipe joint where the total station is located are located outside the two times of correction prism measurement, respectively calculating correction coordinates of the center of the first pipe joint and the center of the second pipe joint where the total station is located according to a formula six, wherein the formula six is as follows:
Figure FDA0003345336620000031
wherein, (X'gj1,Y′gj1,Z′gj1) The corrected coordinates (X ') of the center of the first pipe joint where the total station is located are obtained by the same method as the corrected coordinates of the center of the first pipe joint where the total station is located'gj2,Y′gj2,Z′gj2)。
2. The method for automatic guidance of long-reach curved jacking pipes according to claim 1, wherein the calculation of the corrected coordinates of the total station comprises: calculating corrected coordinates of the total station according to a formula seven, wherein the formula seven is as follows:
α＝arctg(Y′gj1-Y′gj2)/(X′gj1-X′gj2)
Figure FDA0003345336620000032
Figure FDA0003345336620000033
wherein, (X'gj1,Y′gj1,Z′gj1) Is the corrected coordinate of the center of the first pipe joint where the total station is positioned, (X'gj2,Y′gj2,Z′gj2) Is the corrected coordinate of the center of the second pipe joint where the total station is located, (X)qzyj,Yqzyj,Zqzyj) As initial local coordinates of the total station, α, β and
Figure FDA0003345336620000034
the current azimuth angle, the current slope angle and the current roll angle of the pipe joint where the total station is located.
3. The automatic guiding method of long-distance curved pipe jacking according to claim 1,
the method also comprises the steps of providing a rear-view prism, and installing the rear-view prism in the working well before the pipe jacking machine starts tunneling construction from the working well so that the position of the rear-view prism is kept stable;
with the tunneling construction of the pipe jacking machine, when the total station cannot search the rear-view prism, the rear-view prism is moved to a corresponding pipe joint and is installed and fixed, so that the total station can search the rear-view prism along with the propelling movement of the pipe jacking machine; and
and obtaining the corrected coordinates of the rearview prism, and correcting the rearview prism.
4. The automatic guiding method of long-distance curved jacking pipe according to claim 3, wherein obtaining the corrected coordinates of said rear-view prism comprises:
selecting two central points, namely a third pipe joint center and a fourth pipe joint center, in front of and behind the pipe joint where the rearview prism is located, establishing a measuring point coordinate system by using the third pipe joint center and the fourth pipe joint center, and calculating an initial local coordinate of the rearview prism center under the measuring point coordinate system;
calculating to obtain corrected coordinates of the center of the third pipe joint and the center of the fourth pipe joint where the rearview prism is located; and
and calculating the current azimuth angle, the current slope angle and the current roll angle of the pipe joint of the rear-view prism according to the corrected coordinates of the third pipe joint center and the fourth pipe joint center of the rear-view prism, and calculating the corrected coordinates of the rear-view prism by combining the corrected local coordinates of the rear-view prism center under the measuring point coordinate system.
5. The automatic guiding method for long-distance curved jacking pipe as claimed in claim 3, wherein the corrected coordinates of said rear-view prism are obtained by calculation, and the corrected coordinates of the rear-view prism are calculated according to a formula ten, wherein the formula ten is:
α1＝arctg(Y′gj3-Y′gj4)/(X′gj3-X′gj4)
Figure FDA0003345336620000041
Figure FDA0003345336620000042
wherein, (X'gj3,Y′gj3,Z′gj3) Is the corrected coordinate of the center of the third pipe joint where the rearview prism is located, (X'gj4,Y′gj4,Z′gj4) Corrected coordinates of the center of the fourth tube section where the rear view prism is located, (X)hsj,Yhsj,Zhsj) For correcting local coordinates, alpha, beta and of the rear-view prism
Figure FDA0003345336620000043
The current azimuth angle, the current slope angle and the current roll angle of the pipe joint where the rearview prism is located.
6. The automatic guiding method of long-distance curved jacking pipe as claimed in claim 3,
calculating to obtain the corrected coordinates of the third pipe joint center and the fourth pipe joint center where the rearview prism is located, wherein the corrected coordinates comprise:
manually retesting after the push bench pushes a certain distance, and calculating to obtain the mileage of the center of a third pipe joint and the mileage of the center of a fourth pipe joint where the rearview prism is located; and
and calculating the mileage of the center of the third pipe joint and the mileage of the center of the fourth pipe joint according to a formula eight by utilizing the mileage of the center of the third pipe joint and the mileage of the center of the fourth pipe joint, wherein the formula eight is as follows:
Figure FDA0003345336620000044
Figure FDA0003345336620000045
wherein the content of the first and second substances,
Figure FDA0003345336620000051
and
Figure FDA0003345336620000052
the mileage of the center of the third pipe joint and the mileage of the center of the fourth pipe joint where the rearview prism is located when the station of the rearview prism is changed; c0Mileage recorded for mileage counters, C1Recording the current mileage for the current mileage counter;
according to Chs_gj3Finding the sum C in the historical track table of the center of the pipe joint where the correcting prism is positionedhs_gj3Closest two measurements (C)jz_x-1,Xjz_x-1,Yjz_x-1,Zjz_x-1) And (C)jz_x,Xjz_x,Yjz_x,Zjz_x)，Cjz_x-1≤Chs_gj3≤Cjz_x；
Respectively calculating the corrected coordinates of the center of the third pipe joint and the center of the fourth pipe joint where the rearview prism is located according to a formula nine, wherein the formula nine is as follows:
Figure FDA0003345336620000053
obtaining the corrected coordinate (X ') of the center of the fourth pipe joint where the rearview prism is located in the same way'gj4,Y′gj4,Z′gj4)。
7. The automatic guiding method for long-distance curved jacking pipe as claimed in claim 6, further comprising calculating the corrected local coordinates of said rear-view prism, including:
obtaining the remeasured coordinates of the rear-view prism
Figure FDA0003345336620000054
Distance delta C between rear-view prism and third pipe joint centerhs_gj3The distance between the rear-view prism and the center of the fourth pipe joint is delta Chs_gj4；
From the remeasured coordinates of the rear-view prism
Figure FDA0003345336620000055
Calculating the mileage of the center of the rearview prism
Figure FDA0003345336620000056
The mileage of the third pipe joint center and the mileage of the fourth pipe joint center in the repeated measurement are respectively as follows:
Figure FDA0003345336620000057
calculating the corrected coordinates of the third and fourth pipe joint centers in the complex time measurement
Figure FDA0003345336620000058
Calculating the corrected local coordinates of the rear-view prism
Figure FDA0003345336620000059
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