CN112762906B - Multi-sensor fusion-based guiding system and guiding method - Google Patents
Multi-sensor fusion-based guiding system and guiding method Download PDFInfo
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- CN112762906B CN112762906B CN202011622543.9A CN202011622543A CN112762906B CN 112762906 B CN112762906 B CN 112762906B CN 202011622543 A CN202011622543 A CN 202011622543A CN 112762906 B CN112762906 B CN 112762906B
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- 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
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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
- G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
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- 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
- G01C15/02—Means for marking measuring points
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
Abstract
The invention discloses a guiding system and a guiding method based on multi-sensor fusion, wherein the guiding system based on multi-sensor fusion comprises the following components: the telescopic component is used for connecting the anterior shield and the middle shield; the stroke sensor is used for measuring the telescopic amount of the telescopic component; the first measuring device is used for measuring the front rolling angle and the front pitch angle of the anterior shield; the second measuring device is used for measuring the middle rolling angle and the middle pitch angle of the middle shield; the system comprises a laser target, a total station and a rearview prism; and the control system is used for calculating the central coordinates of the anterior shield according to the received data. The guiding system based on multi-sensor fusion provided by the invention does not need to irradiate the photosensitive target of the anterior shield through a laser in the using process, so that the guiding system is not influenced by impurities such as dust and the like; in addition, the problem of inaccurate measurement result caused by the vibration of the anterior shield is avoided; the measuring process of the central coordinate of the anterior shield is more convenient, and the measuring result is more accurate.
Description
Technical Field
The invention relates to the technical field of tunnel construction, in particular to a guiding system based on multi-sensor fusion. In addition, the invention also relates to a guiding method applied to the guiding system based on the multi-sensor fusion.
Background
At present, in the process of calculating the central coordinate of the anterior shield, a shield guiding system at home and abroad generally installs a laser target on a shield body, directly measures the laser target installed on a middle shield through a total station installed on a segment to obtain the central coordinate of the laser target, obtains a rolling angle, a pitch angle and an azimuth angle by combining with an inclination sensor inside the laser target to calculate the central coordinate of the middle shield, irradiates a photosensitive target installed on the anterior shield through a laser installed on the middle shield, and the photosensitive target identifies a laser spot cursor and calculates the offset of the anterior shield. And calculating the anterior shield center coordinate by combining the middle shield coordinate and the anterior shield offset.
When the measuring channel is blocked or dust is too large, the laser of the laser cannot hit the photosensitive target, so that the posture of the anterior shield cannot be obtained, the propulsion process is influenced, and the construction period is delayed. Moreover, the blind propulsion of the shield operator under the condition that the attitude of the guide system cannot be updated in time causes the shield body to deviate from the designed axis, which brings huge loss. And the anterior shield has large vibration, the light spot is unstable by adopting a measuring method of a laser and a photosensitive target, if the influence caused by the vibration cannot be eliminated, great deviation can be brought to the final calculation result, the data can jump, and the guide system cannot correctly provide effective guide information for a shield operator in the state, so that great difficulty is brought to propulsion.
In summary, a problem that how to avoid the inaccurate or even impossible measurement result of the central coordinate of the anterior shield caused by dust or vibration is a problem to be solved by those skilled in the art is urgent.
Disclosure of Invention
In view of the above, the invention aims to provide a guidance system based on multi-sensor fusion, which is provided with a telescopic component for connecting a front shield and a middle shield, wherein the telescopic component is telescopic to obtain the amount of movement of the front shield relative to the middle shield, a first measuring device is used for measuring the front rolling angle and the front pitch angle of the front shield, a second measuring device is used for measuring the middle rolling angle and the middle pitch angle of the middle shield, the center coordinates of the front shield are calculated by combining the middle shield center coordinates, the telescopic quantity of the telescopic component, the front rolling angle and the front pitch angle of the front shield, the middle rolling angle and the middle pitch angle of the middle shield, and the like, and finally the center coordinates of the front shield are compared with the design axis to calculate deviation and are displayed; compared with the prior art, the method can avoid the influence caused by dust or vibration and the like, and the measurement process of the central coordinate of the anterior shield is more convenient and accurate.
Another object of the present invention is to provide a guiding method applied to the above guiding system based on multi-sensor fusion.
In order to achieve the above purpose, the invention provides the following technical scheme:
a multi-sensor fusion based guidance system, comprising:
the telescopic component is used for connecting the anterior shield and the middle shield;
a stroke sensor for measuring the expansion amount of the expansion member;
the first measuring device is used for measuring a front rolling angle and a front pitch angle of the front shield and is arranged on the front shield;
the second measuring device is used for measuring a middle rolling angle and a middle pitch angle of the middle shield and is arranged on the middle shield;
the laser target is arranged on the middle shield;
the total station is arranged on the wall of the duct piece and used for implementing tracking measurement on the central coordinate of the laser target;
the rearview prism is matched with the total station for use;
and the control system is used for receiving the data transmitted by the travel sensor, the first measuring device, the second measuring device and the total station and calculating the center coordinates of the anterior shield according to the received data.
Preferably, the first measuring device and the second measuring device are both biaxial inclinometers.
Preferably, a built-in inclinometer for measuring the rolling angle and the pitching angle of the laser target in real time and a CCD camera for shooting the coordinates of light spots are arranged in the laser target.
A method of steering, comprising:
s1, acquiring the relative position relation of the middle shield and the laser target in a geodetic coordinate system;
step S2, acquiring the coordinates, the rolling angle and the pitch angle of the laser target in the geodetic coordinate system in real time, and calculating the azimuth angle of the middle shield;
step S3, calculating the center coordinate and the pose of the middle shield according to the coordinate, the rolling angle, the pitch angle, the azimuth angle of the middle shield and the relative position relation of the middle shield and the laser target in the geodetic coordinate system which are obtained in real time;
step S4, acquiring the expansion amount of the expansion part for connecting the anterior shield and the middle shield in real time;
step S5, acquiring a front rolling angle and a front pitch angle of the front shield and a middle rolling angle and a middle pitch angle of the middle shield in real time;
and step S6, calculating the central coordinate of the anterior shield according to the anterior rolling angle, the anterior pitch angle, the middle rolling angle, the middle pitch angle, the central coordinate and the pose of the anterior shield and the expansion amount of the expansion part.
Preferably, the step S1 includes:
step S11, establishing a laser target coordinate system, wherein the laser target coordinate system takes the center of the laser target as an original point O, the advancing direction of the shield body as an X axis, the right side of the advancing direction as a Y axis and the vertical direction as a Z axis;
step S12, obtaining the coordinates (X, Y, Z) of the middle shield in the laser target coordinate system, and measuring the coordinates (X) of the center of the laser target in the geodetic coordinate system in real time 0 ，y 0 ，z 0 )。
Preferably, the step S2 includes:
step S21, setting a total station for orientation;
step S22, measuring the center coordinate of the laser target by using the total station;
step S23, obtaining the roll angle and pitch angle of the laser target;
and step S23, shooting light spots through a CCD camera built in the laser target, and calculating the azimuth angle of the middle shield.
Preferably, the central coordinate calculation matrix of the middle shield in step S3 is:
preferably, the step S6 includes:
step S61, establishing a six-degree-of-freedom platform model of the middle shield, the telescopic amount of the telescopic component and the anterior shield;
and step S61, performing position positive solution through a Newton iteration method, namely calculating the central coordinate of the anterior shield through the central coordinate of the middle shield and the expansion amount of the expansion part.
Preferably, step S6 is followed by:
and step S7, comparing the central coordinate of the anterior shield with the design axial direction of the tunnel, and calculating a deviation value.
Preferably, step S7 is followed by:
and step S8, displaying the deviation value in the form of numbers and images.
In the process of using the multi-sensor fusion-based guidance system provided by the invention, firstly, the relative position relationship of a middle shield and a laser target in a geodetic coordinate system needs to be acquired, a total station carries out station setting and orientation through measuring a rearview prism, detects the station coordinates of the total station, acquires the central coordinates of the laser target in real time through the total station, transmits the acquired data to a control system, and the control system calculates the central coordinates of the middle shield according to the acquired central coordinates of the laser target and the relative position relationship between the central coordinates and the middle shield; the stroke sensor transmits the detected telescopic amount of the telescopic component to the control system, the first measuring device transmits the measured front rolling angle and front pitch angle of the front shield to the control system, the second measuring device transmits the measured middle rolling angle and middle pitch angle of the middle shield to the control system, and the control system calculates the center coordinate of the front shield according to the center coordinate of the middle shield, the front rolling angle, the front pitch angle, the middle rolling angle, the middle pitch angle and the telescopic amount of the telescopic component.
Compared with the prior art, the guiding system based on multi-sensor fusion provided by the invention does not need to irradiate the photosensitive target of the anterior shield through a laser in the using process, so that the guiding system is not influenced by impurities such as dust, and can be normally used even in occasions with more dust and impurities; in addition, the amount of movement of the front shield relative to the middle shield is directly obtained by measuring the telescopic amount of the telescopic component, and the front rolling angle and the front pitch angle of the front shield, and the middle rolling angle and the middle pitch angle of the middle shield are measured by the first measuring device and the second measuring device, so that the problem of inaccurate measuring result caused by the vibration of the front shield is avoided; the measuring process of the central coordinate of the anterior shield is more convenient, the measuring result is more accurate, and the application range of the guiding system based on multi-sensor fusion is expanded.
In addition, the invention also provides a guiding method applied to the guiding system based on the multi-sensor fusion.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an embodiment of a guidance system based on multi-sensor fusion according to the present invention;
FIG. 2 is a schematic diagram of the position relationship between the geodetic coordinate system and the auxiliary plane;
fig. 3 is a flowchart illustrating a guiding method according to an embodiment of the present invention.
In FIGS. 1-3:
the system comprises a total station 1, a rearview prism 2, a laser target 3, a second biaxial inclinometer 4, a first biaxial inclinometer 5, a stroke sensor 6, a telescopic oil cylinder 7, a front shield 8 and a middle shield 9.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the invention is to provide a guiding system based on multi-sensor fusion, which is provided with a telescopic part connected with an anterior shield and a middle shield, wherein the anterior shield is provided with a first measuring device capable of measuring a front rolling angle and a front pitch angle of the anterior shield, and the middle shield is provided with a second measuring device capable of measuring a rolling angle and a middle pitch angle of the middle shield. The other core of the invention is to provide a guiding method applied to the multi-sensor fusion-based guiding system.
Referring to fig. 1-3, fig. 1 is a schematic structural diagram of an embodiment of a guidance system based on multi-sensor fusion according to the present invention; FIG. 2 is a schematic diagram of the position relationship between the geodetic coordinate system and the auxiliary plane; fig. 3 is a flowchart illustrating a guiding method according to an embodiment of the present invention.
The application document provides a guidance system based on multi-sensor fusion, which comprises a total station 1, a rearview prism 2, a laser target 3, two double-axis inclinometers, a telescopic component and a forming sensor; the total station 1 is installed in the hanging flower basket department on the section of jurisdiction wall behind the tunnel, and back vision prism 2 is installed on the section of jurisdiction, and laser target 3 is installed on the rear end face of well shield 9, and one of them biax clinometer is installed on well shield 9, and another biax clinometer is installed on anterior shield 8, and flexible component's flexible can be measured by stroke sensor 6 to the quantity that sets up of flexible component is confirmed according to actual conditions.
This embodiment provides a guidance system based on multisensor fuses, includes:
the telescopic component is used for connecting the anterior shield 8 and the middle shield 9;
a stroke sensor 6 for measuring the amount of expansion and contraction of the expansion and contraction member;
the first measuring device is used for measuring a front rolling angle and a front pitch angle of the front shield 8 and is arranged on the front shield 8;
the second measuring device is used for measuring the middle rolling angle and the middle pitch angle of the middle shield 9 and is arranged on the middle shield 9;
the laser target 3 is arranged on the middle shield 9;
the total station 1 is arranged on the wall of the duct piece and used for tracking and measuring the central coordinate of the laser target 3;
the rearview prism 2 is matched with the total station 1 for use;
and the control system is used for receiving the data transmitted by the stroke sensor 6, the first measuring device, the second measuring device and the total station 1 and calculating the center coordinates of the anterior shield 8 according to the received data.
Preferably, the control system is a PLC system, and of course, other systems meeting the requirements may also be used, which are not described herein.
The first and second measuring devices may each be provided as a dual-axis inclinometer and comprise a first dual-axis inclinometer 5 and a second dual-axis inclinometer 4, the first dual-axis inclinometer 5 being mounted on the anterior shield 8 and the second dual-axis inclinometer 4 being mounted on the medial shield 9.
The laser target 3 is internally provided with a built-in inclinometer for measuring the rolling angle and the pitching angle of the laser target 3 in real time and a CCD camera for shooting the coordinates of light spots. The laser target 3 is mounted on the middle shield 9, and
in the process of using the guidance system based on multi-sensor fusion provided by the present embodiment, first, a relative position relationship between the middle shield 9 and the laser target 3 in the geodetic coordinate system needs to be obtained, the total station 1 performs station setting and orientation by measuring the rearview prism 2, detects a station coordinate of itself, obtains a center coordinate of the laser target 3 in real time by the total station 1, and transmits the obtained data to the control system, and the control system calculates the center coordinate of the middle shield 9 according to the obtained center coordinate of the laser target 3 and the relative position relationship between the obtained center coordinate and the middle shield 9; the stroke sensor 6 transmits the detected telescopic amount of the telescopic component to the control system, the first measuring device transmits the measured front rolling angle and front pitch angle of the front shield 8 to the control system, the second measuring device transmits the measured middle rolling angle and middle pitch angle of the middle shield 9 to the control system, and the control system calculates the center coordinate of the front shield 8 according to the center coordinate of the middle shield 9, the front rolling angle, the front pitch angle, the middle rolling angle, the middle pitch angle and the telescopic amount of the telescopic component.
Compared with the prior art, the guiding system based on multi-sensor fusion provided by the embodiment does not need to irradiate the photosensitive target of the anterior shield 8 through a laser in the using process, so that the guiding system is not influenced by impurities such as dust, and can be normally used even in occasions with more dust and impurities; in addition, the amount of exercise of the front shield 8 relative to the middle shield 9 is directly obtained by measuring the telescopic amount of the telescopic component, and the front rolling angle and the front pitch angle of the front shield 8, and the middle rolling angle and the middle pitch angle of the middle shield 9 are measured by the first measuring device and the second measuring device, so that the problem of inaccurate measuring result caused by the vibration of the front shield 8 is avoided; the measurement process of the central coordinate of the anterior shield 8 is more convenient, the measurement result is more accurate, and the application range of the guide system based on multi-sensor fusion is expanded.
Preferably, the telescopic component can be set as a telescopic oil cylinder 7, the 6 telescopic oil cylinders 7 are arranged, two ends of the 6 telescopic oil cylinders 7 are respectively hinged with a middle shield 9 and a front shield 8, the set number of the telescopic oil cylinders 7 can be other values, and the telescopic oil cylinders are specifically determined according to actual conditions.
In addition to the multi-sensor fusion-based guidance system, the present invention also provides a guidance method including the multi-sensor fusion-based guidance system disclosed in the above embodiment, the guidance method including:
step S1, obtaining the relative position relationship between the middle shield 9 and the laser target 3 in the geodetic coordinate system.
The step S1 includes:
step S11, establishing a laser target 3 coordinate system, wherein the laser target 3 coordinate system takes the center of the laser target 3 as an original point O, the advancing direction of the shield body as an X axis, the right side of the advancing direction as a Y axis, and the vertical direction as a Z axis;
the advancing direction is the advancing direction of the shield body and is also the direction of the lens.
Step S12, obtaining the coordinates (X, Y, Z) of the middle shield 9 in the coordinate system of the laser target 3, and measuring the coordinates (X) of the center of the laser target 3 in the geodetic coordinate system in real time 0 ，y 0 ，z 0 )。
And step S2, acquiring the coordinates, the rolling angle and the pitch angle of the laser target 3 in the geodetic coordinate system in real time, and calculating the azimuth angle of the middle shield 9.
The step S2 includes:
step S21, setting up a station and orienting by the total station 1;
step S22, measuring the center coordinate of the laser target 3 by using the total station 1;
step S23, obtaining the roll angle and pitch angle of the laser target 3;
and step S23, shooting light spots through a CCD camera built in the laser target 3, and calculating the azimuth angle of the middle shield 9.
In the implementation process, the total station 1 carries out station setting and orientation through the measuring rearview prism 2 and detects station coordinates of the total station, the total station 1 measures the center coordinates of the laser target 3 installed at the rear end of the middle shield 9, a built-in inclinometer is arranged in the laser target 3, the built-in inclinometer can measure the rolling angle and the pitching angle of the laser target 3, a CCD camera built in the laser target 3 shoots spot coordinates, and the center coordinates and the pose of the terminal are calculated.
Specifically, the laser target 3 is mounted on a mounting bracket, and may not be zero-marked for convenience of mounting at the beginning, and functions to provide a roll angle and a pitch angle of a coordinate conversion system of the middle shield 9 to calculate the middle shield coordinate. The second biaxial inclinometer 4 installed on the middle shield 9 can be marked with zero when being installed, and is used for providing a rolling angle and a pitching angle for calculating the anterior shield 8 coordinate for the forward solution of the six-degree-of-freedom motion platform.
The laser beam is converged on the optical screen to form a light spot image after penetrating through the thin lens of the laser target 3, the light spot is imaged on a CCD image surface through the imaging system, and if the incident angle of the laser beam and the lens of the laser target 3 is theta, the positional relation between the incident angle and the light spot is theta
Wherein S is the distance between the light spot and the origin, f is the focal length of the thin lens, the azimuth angle of the total station 1 when measuring the laser target 3 is delta, and the geodetic coordinate system is O 1 X 1 Y 1 Z 1 Setting an auxiliary flatThe plane ABCD, shown in FIG. 2, shows the projections of OA and OB in the horizontal plane as OD and OC, respectively. The projection angle between the laser beam and the laser target 3 in the horizontal direction is theta' according to the cosine law and the relation of each side,
in the formula, beta is an included angle between the laser target 3 and the horizontal plane and is measured by a built-in inclinometer of the laser target 3. The horizontal azimuth angle γ is δ + θ'.
Step S3, according to the real-time acquired coordinates, roll angles, pitch angles and azimuth angles of the laser target 3 in the geodetic coordinate system, the azimuth angle of the middle shield 9 and the relative position relationship between the middle shield 9 and the laser target 3 in the geodetic coordinate system, the center coordinates and the pose of the middle shield 9 are calculated.
The central coordinate calculation matrix of the shield 9 in the step S3 is:
wherein alpha is a rolling angle, beta is a pitch angle, and epsilon is an azimuth angle.
In step S4, the amount of expansion and contraction of the expansion and contraction member for connecting the anterior shield 8 and the middle shield 9 is obtained in real time.
And step S5, acquiring the front rolling angle and the front pitch angle of the front shield 8 and the middle rolling angle and the middle pitch angle of the middle shield 9 in real time.
And step S6, calculating the center coordinate of the anterior shield 8 according to the front rolling angle, the front pitch angle, the middle rolling angle, the middle pitch angle, the center coordinate and the pose of the middle shield 9 and the expansion amount of the expansion part.
Step S6 includes:
step S61, establishing a six-degree-of-freedom platform model of a middle shield 9, a telescopic component telescopic quantity and an anterior shield 8;
in step S61, a position positive solution is performed by a newton iteration method, that is, the center coordinate of the anterior shield 8 is calculated by the center coordinate of the middle shield 9 and the expansion amount of the expansion member.
Step S6 is followed by:
and step S7, comparing the central coordinate of the anterior shield 8 with the design axial direction of the tunnel, and calculating a deviation value.
Step S7 is followed by:
in step S8, the deviation value is displayed in the form of a number and an image.
And the Newton iteration method is adopted for calculation, so that the precision is higher, the reading period of the stroke sensor 6 is short, the real-time performance is better, and the posture of the guide system is updated more timely.
In the process of solving the central coordinates and the position of the anterior shield 8, the specific implementation is as follows:
taking the center of the hinged tangent plane of the middle shield 9 as the center of a circle O, the advancing direction of the shield body as an X axis, the right side as a Y axis, the upper part as a Z axis to establish a middle shield coordinate system, and setting the pose of the front shield 8 as rho, if a nonlinear equation F (rho) about the variable rho needs to be constructed as 0, then
f(x k )＝F(ρ)＝f 1 (ρ k )+f 2 (ρ k )+f 3 (ρ k )+f 4 (ρ k )+f 4 (ρ k )+f 5 (ρ k )+f 6 (ρ k )＝0；
Wherein i is 1, 2, 3.. 6; and k is 1, 2, 3, 0 is a coordinate obtained by converting the central coordinates of the anterior shield into the coordinate system of the middle shield, c is a coordinate obtained by converting the coordinates of six hinge points of the anterior shield 8 into the coordinate system of the middle shield, b is a coordinate obtained by converting the coordinates of six hinge points of the middle shield 9 into the coordinate system of the middle shield, and L is the elongation of the telescopic oil cylinder 7 (lower case of letter L). Target is let f i Since (ρ), i is 0 in all of 1, 2, 3.. 6, the sum of their absolute values is 0. Calculating by adopting a Newton iteration method to obtain an iteration formula
The error equation is
Iterate until | Δ ρ k And if the | meets the set iteration precision epsilon, solving the pose rho of the anterior shield 8.
The first and second of the first and second dual-axis inclinometers 5 and 4 mentioned in this document are not sequentially assigned merely to distinguish the difference in installation location.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. Any combination of all embodiments provided by the present invention is within the scope of the present invention, and will not be described herein.
The guiding system and the guiding method based on multi-sensor fusion provided by the invention are described in detail above. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A guidance system based on multi-sensor fusion, comprising:
the telescopic component is used for connecting the anterior shield (8) and the middle shield (9);
a stroke sensor (6) for measuring the amount of expansion and contraction of the expansion and contraction member;
the first measuring device is used for measuring the front rolling angle and the front pitching angle of the front shield (8) and is arranged on the front shield (8);
the second measuring device is used for measuring the middle roll angle and the middle pitch angle of the middle shield (9) and is arranged on the middle shield (9);
the laser target (3) is arranged on the middle shield (9);
the total station (1) is arranged on the wall of the duct piece and used for implementing tracking measurement on the central coordinate of the laser target (3);
the rearview prism (2) is matched with the total station (1) for use;
a control system for receiving data transmitted by the travel sensor (6), the first measuring device, the second measuring device and the total station (1), and calculating the center coordinates of the anterior shield (8) according to the received data.
2. The multi-sensor fusion-based guidance system of claim 1, wherein the first measurement device and the second measurement device are both dual-axis inclinometers.
3. The guidance system based on multi-sensor fusion of claim 2 is characterized in that a built-in inclinometer for measuring the roll angle and the pitch angle of the laser target (3) in real time and a CCD camera for shooting the coordinates of light spots are arranged in the laser target (3).
4. A method of guiding, comprising:
step S1, acquiring the relative position relation of the middle shield (9) and the laser target (3) in a geodetic coordinate system;
step S2, acquiring the coordinates, the rolling angle and the pitch angle of the laser target (3) in the geodetic coordinate system in real time, and calculating the azimuth angle of the middle shield (9);
step S3, calculating the central coordinate and the pose of the middle shield (9) according to the coordinate, the rolling angle, the pitch angle, the azimuth angle of the middle shield (9) and the relative position relation of the middle shield (9) and the laser target (3) in the geodetic coordinate system, which are acquired in real time, of the laser target (3) in the geodetic coordinate system;
step S4, acquiring the expansion amount of the expansion part for connecting the anterior shield (8) and the middle shield (9) in real time;
step S5, acquiring a front rolling angle and a front pitch angle of the front shield (8) and a middle rolling angle and a middle pitch angle of the middle shield (9) in real time;
and step S6, calculating the center coordinate of the anterior shield (8) according to the front rolling angle, the front pitch angle, the middle rolling angle, the middle pitch angle, the center coordinate and the pose of the middle shield (9) and the expansion amount of the expansion part.
5. The guiding method according to claim 4, wherein the step S1 includes:
step S11, establishing a laser target (3) coordinate system, wherein the laser target (3) coordinate system takes the center of the laser target (3) as an original point O, the shield advancing direction as an X axis, the right side of the advancing direction as a Y axis and the vertical direction as a Z axis;
step S12, coordinates (X, Y, Z) of the middle shield (9) in the coordinate system of the laser target (3) are obtained, and coordinates (X) of the center of the laser target (3) in the geodetic coordinate system are measured in real time 0 ，y 0 ，z 0 )。
6. The guiding method according to claim 5, wherein the step S2 includes:
step S21, setting a station for the total station (1);
step S22, measuring the center coordinate of the laser target (3) by using the total station (1);
step S23, obtaining the rolling angle and the pitch angle of the laser target (3);
and step S23, shooting light spots through a CCD camera built in the laser target (3), and calculating the azimuth angle of the middle shield (9).
7. The guiding method according to claim 6, wherein the central coordinate calculation matrix of the middle shield (9) in the step S3 is:
alpha is a rolling angle, beta is a pitch angle, and epsilon is an azimuth angle.
8. The guiding method according to any one of claims 4 to 7, wherein the step S6 includes:
step S61, establishing a six-degree-of-freedom platform model of the middle shield (9), the telescopic component placing telescopic quantity and the front shield (8);
and step S61, performing position positive solution through a Newton iteration method, namely calculating the central coordinate of the anterior shield (8) through the central coordinate of the middle shield (9) and the expansion and contraction amount of the expansion and contraction component.
9. The guiding method according to claim 8, wherein the step S6 is followed by:
and step S7, comparing the central coordinate of the anterior shield (8) with the design axial direction of the tunnel, and calculating a deviation value.
10. The guiding method according to claim 9, wherein the step S7 is followed by:
and step S8, displaying the deviation value in the form of numbers and images.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011622543.9A CN112762906B (en) | 2020-12-30 | 2020-12-30 | Multi-sensor fusion-based guiding system and guiding method |
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| CN202011622543.9A CN112762906B (en) | 2020-12-30 | 2020-12-30 | Multi-sensor fusion-based guiding system and guiding method |
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