CN111678447A - Shield tail clearance automatic measuring method and system - Google Patents

Shield tail clearance automatic measuring method and system Download PDF

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Publication number
CN111678447A
CN111678447A CN202010499108.5A CN202010499108A CN111678447A CN 111678447 A CN111678447 A CN 111678447A CN 202010499108 A CN202010499108 A CN 202010499108A CN 111678447 A CN111678447 A CN 111678447A
Authority
CN
China
Prior art keywords
laser
shield tail
laser sensor
wall
shield
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202010499108.5A
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Chinese (zh)
Inventor
杜亚非
张劲涛
石燕平
张大威
郑永杰
王孟龙
付智多
耿晓亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rail Transit Construction Co Ltd of China Construction Eighth Engineering Division Co Ltd
Original Assignee
Rail Transit Construction Co Ltd of China Construction Eighth Engineering Division Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Rail Transit Construction Co Ltd of China Construction Eighth Engineering Division Co Ltd filed Critical Rail Transit Construction Co Ltd of China Construction Eighth Engineering Division Co Ltd
Priority to CN202010499108.5A priority Critical patent/CN111678447A/en
Publication of CN111678447A publication Critical patent/CN111678447A/en
Pending legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

Abstract

The invention relates to an automatic shield tail clearance measuring method, which comprises the following steps: providing a laser sensor; using a laser sensor to emit laser to the inner wall of the shield tail, thereby measuring the angle theta between the emitted laser and the horizontal plane1And the distance S between the laser point arranged on the inner wall of the shield tail and the laser sensor1(ii) a Laser is emitted to the side part of the pipe piece opposite to the inner wall of the shield tail by using a laser sensor, so that the angle theta between the emitted laser and the horizontal plane is measured2And the distance S between the laser point and the laser sensor2(ii) a According to the distance S1Distance S2Angle theta1And angle theta2And calculating to obtain the shield tail clearance by utilizing a triangular formula. The invention effectively solves the problem of difficult measurement of the shield tail clearance, improves the accuracy of the measured value, can realize real-time measurement of the shield tail clearance in the advancing process of the shield tunneling machine, and avoids dataThe hysteresis has great guiding significance for adjusting the shield posture.

Description

Shield tail clearance automatic measuring method and system
Technical Field
The invention relates to the field of shield construction, in particular to a shield tail clearance automatic measurement method and a shield tail clearance automatic measurement system.
Background
The shield tail clearance is the distance between the shield tail inner wall and the duct piece, if the distance is too small, the shield tail and the duct piece are mutually interfered in the propelling process of the shield machine, the forward tunneling resistance of the shield machine can be increased, the tunneling speed is reduced, or the shield tail is attached to the duct piece under extreme conditions, so that the duct piece is damaged, the problems of tunnel water leakage or ground surface settlement and the like are caused, and the shield tail clearance cannot be smaller than 40mm under normal conditions, so the shield tail clearance is required to be frequently detected to avoid accidents.
At present, mostly, measuring tools such as a ruler are adopted, the gap between the shield tail is manually measured, the measurement is difficult due to narrow space in the actual measurement, the measured numerical value and the actual numerical value have errors, in addition, the manual measurement is generally carried out after each ring is pushed to be completed, the pushed in-process cannot be measured, and therefore measured data is not only inaccurate but also has hysteresis.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides the automatic shield tail clearance measuring method and the system thereof, solves the problem of difficult shield tail clearance measurement, improves the accuracy of measured values, can realize real-time shield tail clearance measurement in the advancing process of the shield tunneling machine, avoids the hysteresis of data, and has great guiding significance for the adjustment of the shield attitude.
The technical scheme for realizing the purpose is as follows:
the invention provides a shield tail clearance automatic measurement method, which comprises the following steps:
providing a laser sensor, and installing the laser sensor at a position, close to the duct piece, on the inner wall of the shield tail;
using a laser sensor to emit laser to the inner wall of the shield tail, thereby measuring the angle theta between the emitted laser and the horizontal plane1And the distance S between the laser point arranged on the inner wall of the shield tail and the laser sensor1；
Laser is emitted to the side part of the pipe piece opposite to the inner wall of the shield tail by using a laser sensor, so that the angle theta between the emitted laser and the horizontal plane is measured2And the distance S between the laser point and the laser sensor2(ii) a And
according to the distance S1Distance S2Angle theta1And angle theta2And calculating to obtain the shield tail clearance by utilizing a triangular formula.
The invention provides an automatic shield tail clearance measuring method, which comprises the steps of respectively emitting laser to the inner wall of a shield tail and the side part of a duct piece opposite to the shield tail by utilizing a laser sensor at a set angle to measure the distance between the laser sensor and a corresponding laser point, and further calculating the shield tail clearance according to the angle and the distance by utilizing a trigonometric formula.
The shield tail clearance automatic measurement method is further improved in that when the shield tail clearance is calculated, the shield tail clearance automatic measurement method further comprises the following steps:
L＝S1sinθ1+S2sinθ2
wherein L is the shield tail clearance.
The shield tail clearance automatic measuring method is further improved in that the laser sensor comprises a signal receiving part for receiving the reflected laser signal;
the signal receiving part is used for recording the time t from the laser sensor to emit laser to the time when the laser reflected by the inner wall of the shield tail is received1And the time t from the laser sensor to receive the laser emitted by the tube sheet2；
S1＝v×t1/2
S2＝v×t2/2
Where v is the speed of laser propagation.
The invention also provides an automatic measuring system for the shield tail clearance, which comprises:
the laser sensor is arranged on the inner wall of the shield tail and close to the duct piece, and is used for emitting laser to the inner wall of the shield tail and the side part of the duct piece opposite to the inner wall of the shield tail, so that the angle between the emitted laser and the horizontal plane is correspondingly measured, and the laser projection point from the laser sensor to the inner wall of the shield tail and the distance from the laser sensor to the laser projection point of the duct piece are measured; and
and the calculation module is used for calculating the shield tail clearance according to the laser projection angle of the laser sensor, the distance correspondingly measured by the laser sensor and a triangular formula.
The shield tail clearance automatic measuring system is further improved by comprising a wireless transmission module for transmitting the shield tail clearance to an operation console of the shield machine.
The shield tail clearance automatic measuring system is further improved in that the system further comprises a support which is arranged on the inner wall of the shield tail and is close to the duct piece, and the laser sensor is arranged on the support.
Drawings
Fig. 1 is a schematic structural diagram of an automatic shield tail clearance measurement system according to the present invention.
FIG. 2 is a flow chart of the method for automatically measuring the clearance between the shield tails according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
The invention provides an automatic shield tail clearance measuring method and a system thereof, wherein a laser sensor is utilized to respectively emit laser to the inner wall of a shield tail and the side part of a duct piece opposite to the shield tail at a set angle so as to measure the distance between the laser sensor and a corresponding laser point, and then the shield tail clearance is calculated according to the angle and the distance by utilizing a trigonometric formula. The cloud-based remote control method and the system thereof according to the present invention will be described with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an automatic shield tail clearance measurement system according to the present invention. The automatic measurement method and system for shield tail clearance according to the present invention will be described with reference to fig. 1.
As shown in fig. 1 and fig. 2, the invention provides an automatic shield tail clearance measuring method, which comprises the following steps:
providing a laser sensor 11, and installing the laser sensor 11 on the inner wall of the shield tail 22 close to the position of the pipe piece 21;
the laser sensor 11 is used to emit laser light to the inner wall of the shield tail 22, thereby measuring the angle theta between the emitted laser light and the horizontal plane1And the distance S between the laser point arranged on the inner wall of the shield tail 22 and the laser sensor 111；
The laser sensor 11 is used for emitting laser to the side wall of the pipe piece 21 opposite to the inner wall of the shield tail 22, so that the angle theta between the emitted laser and the horizontal plane is measured2And the distance S between the laser point of the duct piece 21 and the laser sensor 112(ii) a And
according to the distance S1Distance S2Angle theta1And angle theta2And calculating to obtain the shield tail clearance by utilizing a triangular formula.
Specifically, when calculating the shield tail clearance, still include:
L＝S1sinθ1+S2sinθ2
wherein L is the shield tail clearance, no longer need artifically measure the shield tail clearance.
As a preferred embodiment of the present invention, the laser sensor 11 includes a signal receiving portion for receiving the reflected laser signal;
the signal receiving part is used for recording the time t from the laser emitted by the laser sensor 11 to the time when the laser reflected by the inner wall of the shield tail 22 is received1And the time t from the laser sensor 11 emitting laser light to the reception of the laser light emitted through the segment 212；
S1＝v×t1/2
S2＝v×t2/2
Where v is the propagation speed of the laser, i.e. the product of the time that the laser sensor 11 receives the reflected laser through the signal receiving portion and the propagation speed of the laser yields the distance between the laser sensor 11 and the corresponding laser point.
The specific embodiment of the invention is as follows:
the laser sensor 11 is arranged on the inner wall of the shield tail 22 close to the position of the duct piece 21, and a laser emitting port of the laser sensor 11 can emit laser to the inner wall of the shield tail 22 and the corresponding side part of the duct piece 21;
using a laser sensor 11 to emit laser to the inner wall of the shield tail and measuring the angle theta between the emitted laser and the horizontal plane1And the signal receiving part is used for calculating the time t of the laser reflected back to the laser sensor 11 through the inner wall of the shield tail 221According to the formula S1＝v×t 12, calculating the distance S from the laser sensor 11 to the laser point on the inner wall of the shield tail 221；
The laser sensor 11 is used for emitting laser to the corresponding side part of the pipe piece 21, and the angle theta between the emitted laser and the horizontal plane is measured2And the signal receiving part is used for calculating the time t of the laser reflected back to the laser sensor 11 through the side part of the duct piece 212According to the formula S2＝v×t 22 calculating laser from laser sensor 11 to side part of tube piece 21Distance S of points2；
Using trigonometric formula L ═ S1sinθ1+S2sinθ2And calculating to obtain an L shield tail gap, and transmitting the L shield tail gap to an operation console of the shield machine by using a wireless transmission module so as to guide the posture adjustment of the shield machine in real time.
The invention also provides an automatic shield tail clearance measuring system, which comprises:
the laser sensor 11 is mounted on the inner wall of the shield tail 22 and close to the duct piece 21, and is used for emitting laser to the inner wall of the shield tail 22 and the side part of the duct piece 21 opposite to the inner wall of the shield tail 22, so that the angle between the emitted laser and the horizontal plane is correspondingly measured, and the laser projection point from the laser sensor 11 to the inner wall of the shield tail 22 and the distance from the laser sensor 11 to the laser projection point of the duct piece 21 are measured; and
and the calculation module is used for calculating the shield tail clearance according to the laser projection angle of the laser sensor 11, the distance correspondingly measured by the laser sensor 11 and a triangular formula.
Further, the shield tail clearance transmission device further comprises a wireless transmission module for transmitting the shield tail clearance to an operation table of the shield tunneling machine.
Preferably, the device further comprises a bracket 12 which is arranged on the inner wall of the shield tail 22 and close to the pipe piece 21, and the laser sensor 11 is arranged on the bracket 12.
The operation mode of the practical implementation of the system provided by the invention is as follows:
the laser sensor 11 is arranged on the inner wall of the shield tail 22 close to the position of the duct piece 21, and a laser emitting port of the laser sensor 11 can emit laser to the inner wall of the shield tail 22 and the corresponding side part of the duct piece 21;
using a laser sensor 11 to emit laser to the inner wall of the shield tail and measuring the angle theta between the emitted laser and the horizontal plane1And the signal receiving part is used for calculating the time t of the laser reflected back to the laser sensor 11 through the inner wall of the shield tail 221According to the formula S1＝v×t 12, calculating the distance S from the laser sensor 11 to the laser point on the inner wall of the shield tail 221；
Laser sensor 11 is used for emitting laser to the corresponding side part of the pipe piece 21And measuring the angle theta between the emitted laser and the horizontal plane2And the signal receiving part is used for calculating the time t of the laser reflected back to the laser sensor 11 through the side part of the duct piece 212According to the formula S2＝v×t 22 calculating the distance S from the laser sensor 11 to the laser point on the side of the segment 212；
Using trigonometric formula L ═ S1sinθ1+S2sinθ2And calculating to obtain an L shield tail gap, and transmitting the L shield tail gap to an operation console of the shield machine by using a wireless transmission module so as to guide the posture adjustment of the shield machine in real time.
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 (6)

1. A shield tail clearance automatic measurement method is characterized by comprising the following steps:
providing a laser sensor, and mounting the laser sensor on the inner wall of the shield tail close to the position of the duct piece;
using the laser sensor to emit laser to the inner wall of the shield tail, thereby measuring the angle theta between the emitted laser and the horizontal plane1And the distance S between the laser point arranged on the inner wall of the shield tail and the laser sensor1；
Using the laser sensor to emit laser to the side part of the duct piece opposite to the inner wall of the shield tail, thereby measuring the angle theta between the emitted laser and the horizontal plane2And the distance S between the laser point of the duct piece and the laser sensor2(ii) a And
according to the distance S1The distance S2The angle theta1And the angle theta2And calculating the shield tail clearance by utilizing a triangular formula.
2. The method for automatically measuring the clearance between the shield tails according to claim 1, further comprising, when calculating the clearance between the shield tails:
L＝S1sinθ1+S2sinθ2
wherein L is the shield tail clearance.
3. The automatic shield tail clearance measuring method according to claim 1, wherein the laser sensor includes a signal receiving portion for receiving the reflected laser signal;
recording the time t from the laser sensor to the laser reflected by the inner wall of the shield tail by using the signal receiving part1And the time t from the laser sensor to the laser sensor which is emitted by the duct piece2；
S1＝v×t1/2
S2＝v×t2/2
Where v is the speed of laser propagation.
4. The automatic shield tail clearance measuring system according to claim 1, comprising:
the laser sensor is arranged on the inner wall of the shield tail and close to the duct piece, and is used for emitting laser to the inner wall of the shield tail and the side part of the duct piece opposite to the inner wall of the shield tail, so that the angle between the emitted laser and the horizontal plane is correspondingly measured, and the laser projection point from the laser sensor to the inner wall of the shield tail and the distance from the laser sensor to the laser projection point of the duct piece are measured; and
and the calculation module is used for calculating the shield tail clearance according to the laser projection angle of the laser sensor, the distance correspondingly measured by the laser sensor and a triangular formula.
5. The automatic shield tail clearance measuring system according to claim 4, further comprising a wireless transmission module for transmitting the shield tail clearance to an operation console of a shield tunneling machine.
6. The automatic shield tail clearance measuring system according to claim 4, further comprising a support mounted to an inner wall of the shield tail and adjacent to the segment, wherein the laser sensor is mounted to the support.
CN202010499108.5A 2020-06-04 2020-06-04 Shield tail clearance automatic measuring method and system Pending CN111678447A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010499108.5A CN111678447A (en) 2020-06-04 2020-06-04 Shield tail clearance automatic measuring method and system

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Application Number Priority Date Filing Date Title
CN202010499108.5A CN111678447A (en) 2020-06-04 2020-06-04 Shield tail clearance automatic measuring method and system

Publications (1)

Publication Number Publication Date
CN111678447A true CN111678447A (en) 2020-09-18

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112945115A (en) * 2021-02-04 2021-06-11 中铁工程装备集团有限公司 Shield tail gap vision measurement method and device based on double laser structure lines

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004037396A (en) * 2002-07-05 2004-02-05 Foundation For The Promotion Of Industrial Science Three-dimensional data acquiring apparatus
US20100073687A1 (en) * 2008-09-19 2010-03-25 Gii Acquisition, Llc Dba General Inspection, Llc Method For Precisely Measuring Position Of A Part To Be Inspected At A Part Inspection Station
CN103063153A (en) * 2013-01-11 2013-04-24 上海盾构设计试验研究中心有限公司 Shield tail clearance measurement method and device based on multiple-spot scanning distance detection technology
CN104169681A (en) * 2012-03-15 2014-11-26 莱卡地球系统公开股份有限公司 Laser system with a laser receiver capable to detect its own movements
CN106123795A (en) * 2016-08-24 2016-11-16 湖南科天健光电技术有限公司 Gap of the shield tail measuring method based on structural light three-dimensional detection technique and device
CN109631782A (en) * 2017-10-05 2019-04-16 美国亚德诺半导体公司 System and method for measuring bridge gap
CN110081827A (en) * 2019-05-30 2019-08-02 上海隧道工程有限公司 Gap of the shield tail automatic testing method of the machine vision without object of reference
CN111186461A (en) * 2020-01-07 2020-05-22 华通科技有限公司 High-speed railway platform clearance measurement system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004037396A (en) * 2002-07-05 2004-02-05 Foundation For The Promotion Of Industrial Science Three-dimensional data acquiring apparatus
US20100073687A1 (en) * 2008-09-19 2010-03-25 Gii Acquisition, Llc Dba General Inspection, Llc Method For Precisely Measuring Position Of A Part To Be Inspected At A Part Inspection Station
CN104169681A (en) * 2012-03-15 2014-11-26 莱卡地球系统公开股份有限公司 Laser system with a laser receiver capable to detect its own movements
CN103063153A (en) * 2013-01-11 2013-04-24 上海盾构设计试验研究中心有限公司 Shield tail clearance measurement method and device based on multiple-spot scanning distance detection technology
CN106123795A (en) * 2016-08-24 2016-11-16 湖南科天健光电技术有限公司 Gap of the shield tail measuring method based on structural light three-dimensional detection technique and device
CN109631782A (en) * 2017-10-05 2019-04-16 美国亚德诺半导体公司 System and method for measuring bridge gap
CN110081827A (en) * 2019-05-30 2019-08-02 上海隧道工程有限公司 Gap of the shield tail automatic testing method of the machine vision without object of reference
CN111186461A (en) * 2020-01-07 2020-05-22 华通科技有限公司 High-speed railway platform clearance measurement system

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112945115A (en) * 2021-02-04 2021-06-11 中铁工程装备集团有限公司 Shield tail gap vision measurement method and device based on double laser structure lines

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Application publication date: 20200918

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