CN112902845B - Track type pipe jacking automatic guiding method - Google Patents
Track type pipe jacking automatic guiding method Download PDFInfo
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- 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
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Abstract
The invention discloses a track type automatic pipe jacking guiding method, S1, wherein a measuring device is installed: a laser range finder is arranged in the originating well, a first pipe piece close to the originating well in the tunnel is selected as a backsight pipe piece, and a first reflection prism and a first electronic clinometer are arranged on the backsight pipe piece; selecting a pipe piece as a measuring station pipe piece at one side of the rear view pipe piece positioned in the receiving well, and mounting a second reflection prism, a measuring robot and a second electronic clinometer on the measuring station pipe piece; selecting a pipe piece as a front-view pipe piece from one side, which is positioned on the receiving well, of the pipe piece at the distance measuring station, and mounting a third reflecting prism and a fourth reflecting prism on the front-view pipe piece; a fifth reflecting prism is arranged on the pipe jacking machine head; s2, in an initial state, carrying out fusion calibration on the laser range finder, the first to fifth reflecting prisms, the first electronic clinometer and the second electronic clinometer; and S3, automatic guide measurement of the pipe jacking machine head. The system has the advantages of less construction equipment, high economic benefit, strong applicability, and higher precision and reliability.
Description
Technical Field
The invention relates to a pipe jacking engineering construction method, in particular to a track type pipe jacking automatic guiding method.
Background
The pipe jacking engineering is mostly carried out in urban environments with dense earth surface buildings and various underground pipe networks, and in order to ensure safe and smooth through, a pipe jacking machine head must be tunneled strictly according to a designed axis in the pipe jacking propelling process. Therefore, the three-dimensional position and three-dimensional attitude of the ejector head must be able to be efficiently acquired in real time for the operator to make timely adjustments to their three-dimensional position and three-dimensional attitude. At present, the existing automatic pipe jacking guiding method mainly comprises the following steps:
1. the pipe jacking automatic guidance of the multi-station type: and forming branch guide lines in the tunnel by using a plurality of measuring robots, sequentially transmitting the engineering coordinates of the datum points in the working well to the pipe jacking machine head prism, and finally determining the three-dimensional position of the current pipe jacking machine head. However, this method requires a plurality of measuring robots to construct, which results in high system cost, and especially for an extra-long distance pipe-jacking tunnel, a plurality of measuring robots are required to perform coordinate transmission, and the purchase of a large number of measuring robots will not meet the requirements of engineering budget.
2. Single-station-measuring type automatic pipe jacking guiding: a single measuring robot is used for automatically guiding the pipe jacking machine head; in the push pipe pushing process, due to the existence of soil pressure, a tunnel which is tunneled and formed cannot generate large transverse displacement in a short time, therefore, a single measuring robot and a rear-view prism are arranged on a pipe piece which is laid in the tunnel, the three-dimensional coordinates of the single measuring robot and the rear-view prism are estimated by using the stroke sensor and the central axis data of the laid pipe piece, and finally the automatic guiding of a push pipe head is completed. However, it has the following serious drawbacks and disadvantages: (1) measuring logic roughness; in the push pipe pushing process, the laid pipe piece is bound to twist and pitch, and the twist and pitch of the pipe piece influence the three-dimensional coordinates of the measuring robot and the rearview prism, so that serious resolving errors are caused; (2) the measurement result is not checked; and no redundant observation exists in the measurement process, and the automatic guide result cannot be checked and corrected.
Disclosure of Invention
The invention aims to provide a low-investment track type automatic pipe jacking guiding method, which can realize the accurate measurement of the three-dimensional position of a pipe jacking machine head in a construction state.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention relates to a track type automatic pipe jacking guiding method, which comprises the following steps:
s1, installing a measuring device:
s1.1, installing a laser range finder in an originating well, wherein the ranging direction of the laser range finder is parallel to the advancing direction of an originating well top pipe;
s1.2, selecting a first pipe piece close to an originating well in a tunnel as a backsight pipe piece, and mounting a first reflection prism and a first electronic clinometer on the backsight pipe piece; the projection of the pitch axis direction of the first electronic inclinometer and the head-tail center connecting line direction of the rearview tube sheets in the horizontal plane is parallel;
s1.3, selecting a pipe piece as a station measurement pipe piece at a position 50 m-100 m away from one side of a receiving well of the rearview pipe piece, and mounting a second reflection prism, a measurement robot and a second electronic clinometer on the station measurement pipe piece; the pitch axis direction of the second electronic inclinometer is parallel to the projection of the direction of the head-tail center connecting line of the duct piece of the measuring station in the horizontal plane;
s1.4, selecting a pipe piece as a forward-looking pipe piece at a position 50m to 60m away from the side, located on the receiving well, of the pipe piece of the measuring station, wherein the distance between the forward-looking pipe piece and a pipe jacking machine head is larger than 50 m; respectively installing a third reflecting prism and a fourth reflecting prism on the front view duct piece, wherein the geometric center of the connecting line of the third reflecting prism and the fourth reflecting prism is positioned on the central axis of the front view duct piece;
s1.5, installing a fifth reflecting prism on the pipe jacking machine head;
s2, before the start of automatic guide measurement, namely in an initial state, carrying out fusion calibration on the laser range finder, the first to fifth reflecting prisms, the first electronic clinometer and the second electronic clinometer, and the steps are as follows:
s2.1, calibrating the central axis of the segment; calibrating the three-dimensional coordinates of the head and tail centers of each section of pipe segment by taking the rearview pipe segment as a starting point and the forward-looking pipe segment as an end point, and storing the three-dimensional coordinates in a database of control software;
s2.2, calibrating the reflecting prism; calibrating three-dimensional coordinates of the first reflecting prism, the second reflecting prism, the third reflecting prism and the fourth reflecting prism, and storing the three-dimensional coordinates in a database of control software;
s2.3, calibrating the laser range finder; reading the observation distance of the current laser range finder, taking the distance as initial observation data of the laser range finder, and storing the initial observation data in a database of control software;
s2.4, calibrating the electronic inclinometer; respectively reading the pitch angle and the roll angle of the current first electronic inclinometer and the current roll angle of the current second electronic inclinometer, taking the pitch angle and the roll angle data as the initial angle data of the first electronic inclinometer and the second electronic inclinometer, and storing the initial angle data in a database of control software;
s3, automatic guiding measurement of the pipe jacking machine head; in the push pipe pushing construction process, according to current observation data and initial observation data of the laser range finder, the first to fifth reflecting prisms, the first electronic inclinometer and the second electronic inclinometer, three-dimensional coordinates of the first reflecting prism and the second reflecting prism, three-dimensional coordinates of an observation center of the measuring robot, and three-dimensional coordinates of the third reflecting prism, the fourth reflecting prism and the fifth reflecting prism are sequentially solved, and finally, three-dimensional coordinates of a push pipe head center and horizontal and vertical deviations of the push pipe head center relative to a design axis are solved.
In step S3, the three-dimensional coordinates of the first reflection prism in the construction state are calculated
The method comprises the following steps:
s3.1.1, resolving the head-tail center of the rearview tube:
in the push pipe pushing process, when the rearview pipe piece moves to the construction state position from the initial state position along the laid pipe piece tunnel, the laser range finder measures and obtains the pushing distance of the rearview pipe piece as
(ii) a According to the measurement data of the laser range finder, the three-dimensional coordinates of the head-tail center of the backsight pipe piece in the initial state and the central axis data of the laid pipe piece tunnel, the three-dimensional coordinates of the head-tail center of the backsight pipe piece in the construction state can be interpolated;
s3.1.2, fusion and calculation of the first electronic inclinometer angle data and the head and tail center three-dimensional coordinate data of the rearview tube:
in the initial state, the center of the rear view segment tail is used as the origin
The projection of the line connecting the tail and the head of the rear-view tube on the horizontal plane is used as
The axis is vertically upward from the center of the rear view segment
Axes forming the initial coordinate system of the rear view tube sheet according to the left-hand rule
(ii) a In the initial state, the pitch axis direction of the first electronic inclinometer is used as
Axis in the direction of the roll axis of the first electronic inclinometer
Orientation, according to the left-hand rule, to form the initial coordinate system of the first electronic inclinometer
(ii) a In the push pipe pushing construction process, the rearview pipe sheet is twisted inevitably, so that a new rearview pipe sheet coordinate system is formed
And a new first electronic inclinometer coordinate system
(ii) a And (3) deducing through the geometrical relationship between the angle data of the first electronic inclinometer in the initial state and the construction state and each three-dimensional coordinate system:
Wherein,
is a three-dimensional coordinate of the head and tail centers of the rearview tube sheets in a construction state,
as a function of the translation parameters to be found,
，
as the rotation parameter to be determined, the rotation parameter,
s3.1.3, using the translation parameter and rotation parameter obtained by the formula (1), the three-dimensional coordinates of the first reflection prism in the construction state, i.e. the three-dimensional coordinates
Wherein,
for the three-dimensional coordinate of the first reflecting prism to be solved under the construction state,
and
the translational parameter and the rotational parameter respectively calculated for the formula (1),
three-dimensional coordinates of the first reflecting prism in an initial state;
s3.2, calculating three-dimensional coordinates of the second reflecting prism in a construction state
S3.2.1, resolving the head-tail center of the gauge station pipe piece: in the process of pushing the jacking pipe, the push distance of the duct piece of the survey station measured by the laser range finder is
Interpolating the three-dimensional coordinates of the head and tail centers of the observation station segments in the construction state according to the observation data of the laser range finder, the three-dimensional coordinates of the head and tail centers of the observation station segments in the initial state and the central axis data of the tunnel with the segments laid completely;
s3.2.2, fusion and calculation of the angle data of the second electronic inclinometer and the three-dimensional coordinate data of the head and tail centers of the observation station segments are carried out, and the step S3.1.2 is repeated; self-defining a related three-dimensional coordinate system of the second electronic inclinometer and the observation station duct piece, and obtaining the angle data of the second electronic inclinometer in the initial state and the construction state and the geometrical relationship between the three-dimensional coordinate systems by the following steps:
Wherein,
is a three-dimensional coordinate of the head and tail centers of the observation station segments in a construction state,
as a function of the translation parameters to be found,
，
as the rotation parameter to be determined,
s3.2.3, using the translation parameter and the rotation parameter obtained by the equation (3), the three-dimensional coordinates of the second reflection prism in the construction state are calculated, that is:
Wherein,
for the three-dimensional coordinate of the second reflecting prism to be solved under the construction state,
and
the translational parameter and the rotational parameter respectively calculated for the formula (3),
the three-dimensional coordinates of the second reflecting prism in the initial state are obtained;
s3.3, calculating and measuring three-dimensional coordinates of the robot observation center in the construction state for the first time
(ii) a Calculating the three-dimensional coordinates of the observation center of the measuring robot in the construction state by using the translation parameter and the rotation parameter obtained by the formula (3), namely
Wherein,
in order to measure the three-dimensional coordinates of the robot observation center in the construction state,
and
the translational parameter and the rotational parameter respectively calculated for the formula (3),
and observing the three-dimensional coordinates of the center in an initial state for the measuring robot.
S3.4, calculating three-dimensional coordinates of the observation center of the measuring robot in the construction state again
(ii) a Using the three-dimensional coordinates of the first reflecting prism and the second reflecting prism in the construction state as image control points, using the observation center of the measuring robot as a photographing center, and using the rear intersection principle of bundle adjustment in oblique photography measurement to solve the three-dimensional coordinates of the observation center of the measuring robot in the construction state again
；
S3.5, correcting three-dimensional coordinate data
And
(ii) a The proofreading result is used for checking the precision and reliability of the checking observation result;
and S3.6, observing the fifth reflecting prism through the measuring robot, and finally calculating the horizontal and vertical deviations of the center of the ejector pipe head relative to the designed axis.
Preferably, the measuring robot is mounted on the station pipe sheet through an automatic leveling base.
Preferably, when the fifth reflection prism cannot be installed at the center position of the pipe jacking machine head, a horizontal and vertical deviation value between the installation position of the fifth reflection prism and the center of the pipe jacking machine head is calibrated.
The advantages of the invention are embodied in the following aspects:
1. and the system construction equipment is reduced, the economic benefit is high, and the applicability is strong. The invention uses various different types of measuring sensors (1 measuring robot, 1 laser range finder, 2 electronic clinometers and 5 reflecting prisms) to replace a plurality of measuring robots to construct a pipe jacking automatic guiding system; the system reduces the use number of expensive measuring robots, has high economic benefit, and can be applied to automatic guiding of any type of pipe jacking engineering construction.
2. The measurement accuracy and stability within the correction distance are high. According to the construction environment in the tunnel, the central axis of the tunnel needs to be regularly corrected, and after the correction is finished, the center of the tunnel is within a certain propelling distance (about 50-100 m) of the jacking pipe, so that the method has higher precision and reliability.
3. Compared with the existing single-survey station type pipe jacking automatic guiding system, the automatic pipe jacking guiding system has the advantages of a, strict measuring logic, higher system stability and higher calculation precision. According to the invention, through fusing various different types of measuring sensors and according to the characteristics of segment movement in pipe jacking construction, strict measuring logic and calculation method are provided, and the horizontal and vertical deviations of the center of the pipe jacking machine head relative to the design axis can be accurately and reliably calculated. b. Checking and proofreading can be carried out on the calculation result. The observation environment in the tunnel is complex, the check of the calculation result is crucial, and redundant observation exists in the measurement process of the method, so that the automatic guide result can be checked and corrected.
Drawings
FIG. 1 is a flow chart of the present invention.
Fig. 2 is a schematic view of the installation of the measuring device according to the invention.
FIG. 3 is a schematic diagram of the movement of the rearview duct piece in the construction state of the present invention.
FIG. 4 is a schematic view of the attitude of the rearview tube sheet in the initial state of the present invention.
FIG. 5 is a schematic diagram of the posture change of the rearview duct piece in the construction state of the invention.
Detailed Description
The following describes embodiments of the present invention in detail with reference to the drawings, which are implemented on the premise of the technical solution of the present invention, and detailed embodiments and specific operation procedures are provided, but the scope of the present invention is not limited to the following embodiments.
As shown in FIG. 1, the track type pipe jacking automatic guiding method of the invention comprises the following steps:
s1, installing the measuring device, as shown in fig. 2:
s1.1, installing a laser range finder 2 in the starting well 1, wherein the range finding direction of the laser range finder 2 is parallel to the push direction of a push pipe of the starting well 1;
s1.2, selecting a first pipe piece close to an originating well 1 in a tunnel as a backsight pipe piece 3, and installing a first reflection prism 4.1 and a first electronic clinometer 5.1 on the backsight pipe piece 3; the pitch axis direction of the first electronic clinometer 5.1 is parallel to the projection of the head-tail center connecting line 3.1 direction of the rearview tube 3 in the horizontal plane;
s1.3, selecting a pipe piece as a station measurement pipe piece 7 at a position 50 m-100 m away from one side of a receiving well 6 of a rearview pipe piece 3, installing a second reflection prism 4.2, a measuring robot 8 and a second electronic clinometer 5.2 on the station measurement pipe piece 7, and installing the measuring robot 8 on the station measurement pipe piece 7 through an automatic leveling base; the pitch axis direction of the second electronic inclinometer 5.2 is parallel to the projection of the direction of a central connecting line 7.1 between the head and the tail of the observation station segment 7 in the horizontal plane;
s1.4, selecting a pipe piece as a forward-looking pipe piece 9 at a position 50m to 60m away from the side, located on the receiving well 6, of the station pipe piece 7, wherein the distance between the forward-looking pipe piece 9 and the pipe jacking machine head 10 is larger than 50 m; a third reflecting prism 4.3 and a fourth reflecting prism 4.4 are respectively arranged on the front-view duct piece 9, and the geometric center of the connecting line of the third reflecting prism 4.3 and the fourth reflecting prism 4.4 is positioned on the central axis of the front-view duct piece 9;
s1.5, installing a fifth reflecting prism 4.5 on the pipe jacking machine head 10; when the fifth reflecting prism 4.5 cannot be installed at the center of the pipe jacking machine head 10, the horizontal and vertical deviation value between the installation position of the fifth reflecting prism 4.5 and the center of the pipe jacking machine head 10 is calibrated;
s2, before the start of automatic guiding measurement, namely in the initial state, the laser range finder 2, the first to fifth reflecting prisms 4.1 to 4.5 and the first and second electronic clinometers 5.1 and 5.2 are fused and calibrated, and the steps are as follows:
s2.1, calibrating the central axis of the segment; calibrating the three-dimensional coordinates of the head and tail centers of each segment of the pipe piece by taking the rearview pipe piece 3 as a starting point and the forward-looking pipe piece 9 as an end point, and storing the three-dimensional coordinates in a database of control software;
s2.2, calibrating the reflecting prism; calibrating three-dimensional coordinates of the first to fourth reflecting prisms 4.1 to 4.4, and storing the three-dimensional coordinates in a database of control software;
s2.3, calibrating the laser range finder; reading the current observation distance of the laser range finder 2, taking the distance as initial observation data of the laser range finder 2, and storing the initial observation data in a database of control software;
s2.4, calibrating the electronic inclinometer; respectively reading the pitch angle and the roll angle of the current first electronic inclinometer 5.1 and the current second electronic inclinometer 5.2, taking the pitch angle and the roll angle data as the initial angle data of the first electronic inclinometer 5.1 and the current second electronic inclinometer 5.2, and storing the initial angle data in a database of control software;
s3, automatic guiding measurement of the push bench head 10; in the push pipe pushing construction process, according to current observation data and initial observation data of the laser range finder 2, the first to fifth reflection prisms 4.1 to 4.5, the first and second electronic clinometers 5.1 and 5.2, three-dimensional coordinates of the first and second reflection prisms 4.1 and 4.2, three-dimensional coordinates of an observation center of the measuring robot 8 and three-dimensional coordinates of the third, fourth and fifth reflection prisms 4.3, 4.4 and 4.5 are sequentially calculated, and finally, the three-dimensional coordinates of the center of the push pipe machine head 10 and horizontal and vertical deviations of the center of the push pipe machine head relative to a design axis are calculated.
Solving the three-dimensional coordinates of the first reflecting prism 4.1 in the construction state
The method comprises the following steps:
s3.1.1, resolving the head-tail center of the rearview tube:
in the push pipe pushing process, due to the existence of soil pressure, the subsequent pipe piece inevitably moves along the laid previous pipe piece tunnel in a short time; as shown in fig. 3, when the rear-view duct piece 3 moves from the initial position to the construction position along the already-laid duct piece tunnel, the distance of the rear-view duct piece 3 is measured by the laser distance meter 2 as
(ii) a According to the measurement data of the laser range finder 2, the three-dimensional coordinates of the head-tail centers of the rearview pipe pieces 3 in the initial state and the central axis data of the laid pipe piece tunnel, the three-dimensional coordinates of the head-tail centers of the rearview pipe pieces 3 in the construction state can be interpolated;
s3.1.2, fusion and calculation of the first electronic inclinometer angle data and the head and tail center three-dimensional coordinate data of the rearview duct piece:
as shown in FIG. 4, in the initial state, the center of the tail of the rear view tube piece 3 is used as the origin
The projection of the line connecting the tail and the head of the rearview tube sheet 3 on the horizontal plane is taken as
The axis is vertically upward from the center of the tail of the rearview duct piece 3
Axes forming the initial coordinate system of the rearview tube sheet according to the left-hand rule
(ii) a In the initial state, the direction of the pitch axis of the first electronic clinometer 5.1 is used as
Axis, with the direction of the rolling axis of the first electronic inclinometer 5.1 as
Orientation, according to the left-hand rule, the initial coordinate system of the first electronic inclinometer 5.1 is formed
；
As shown in FIG. 5, during the pipe jacking construction, the rearview pipe 3 is twisted inevitably, so as to form a new rearview pipe coordinate system
And a new first electronic inclinometer coordinate system
(ii) a Through the geometrical relationship between the angle data of the first electronic clinometer 5.1 in the initial state and the construction state and each three-dimensional coordinate system, the following results are obtained:
Wherein,
is a three-dimensional coordinate of the head and tail centers of the rearview tube sheets in a construction state,
as a function of the translation parameters to be found,
，
as the rotation parameter to be determined,
s3.1.3, the three-dimensional coordinates of the first reflection prism 4.1 in the construction state, i.e. the three-dimensional coordinates are calculated by using the translation parameter and the rotation parameter obtained by the formula (1)
Wherein,
for the three-dimensional coordinates of the first reflection prism 4.1 to be determined in the construction state,
and
the translational parameter and the rotational parameter respectively calculated for the formula (1),
is a three-dimensional coordinate of the first reflecting prism 4.1 in an initial state;
s3.2, resolving the three-dimensional coordinate of the second reflecting prism 4.2 in the construction state
The method comprises the following steps:
s3.2.1, resolving the head-tail center of the gauge station segment 7: in the push pipe advancing process, due to the existence of soil pressure, the survey station pipe piece can be moved to the construction state position from the initial state position along the laid pipe piece tunnel, and the propulsion distance of the survey station pipe piece 7 obtained by the measurement of the laser range finder 2 is
(ii) a Interpolating three-dimensional coordinates of the head and tail centers of the observation station segments in the construction state according to observation data of the laser range finder 2, three-dimensional coordinates of the head and tail centers of the observation station segments 7 in the initial state and data of the central axis of the laid segment tunnel;
s3.2.2, fusion and calculation of the angle data of the second electronic inclinometer 5.2 and the three-dimensional coordinate data of the head and tail centers of the observation station segments 7 are carried out, and the step S3.1.2 is repeated; defining a related three-dimensional coordinate system of the second electronic inclinometer 5.2 and the observation station duct piece 7 by self, and obtaining the following results through the geometric relationship between the angle data of the second electronic inclinometer 5.2 in the initial state and the construction state and each three-dimensional coordinate system:
Wherein,
is a three-dimensional coordinate of the head and tail centers of the observation station segments in a construction state,
as a function of the translation parameters to be found,
，
as the rotation parameter to be determined,
s3.2.3, using the translation parameter and rotation parameter obtained by the equation (3), the three-dimensional coordinates of the second reflection prism 4.2 in the construction state are calculated, that is:
Wherein,
for the three-dimensional coordinates of the second reflection prism 4.2 to be determined in the construction state,
and
the translational parameter and the rotational parameter respectively found for equation (3),
is the three-dimensional coordinate of the second reflecting prism 4.2 in the initial state;
s3.3, calculating three-dimensional coordinates of observation center of measuring robot 8 in construction state for the first time
(ii) a The translation parameter and rotation obtained by the equation (3)And (3) parameter conversion, resolving a three-dimensional coordinate of an observation center of the measuring robot 8 in a construction state, namely:
Wherein,
in order to measure the three-dimensional coordinates of the robot 8 observation center in the construction state,
and
the translational parameter and the rotational parameter respectively calculated for the formula (3),
observing a three-dimensional coordinate of the center in an initial state for the measuring robot 8;
s3.4, calculating the three-dimensional coordinates of the observation center of the measuring robot 8 again in the construction state
(ii) a The three-dimensional coordinates of the first and second reflection prisms 4.1, 4.2 in the construction state are calculated as image control points, the observation center of the measuring robot 8 is used as a photographing center, and the three-dimensional coordinates of the observation center of the measuring robot 8 in the construction state are calculated again by using the rear intersection principle of the adjustment of the beam method in oblique photogrammetry
；
S3.5, correcting three-dimensional coordinate data
And
(ii) a The proofreading result is used for checking the precision and reliability of the checking observation result;
s3.6, observing the fifth reflecting prism 4.5 through the measuring robot 8, and finally calculating the horizontal and vertical deviations of the center of the ejector pipe head 10 relative to the designed axis.
Claims (4)
1. A track type automatic pipe jacking guiding method is characterized in that: the method comprises the following steps:
s1, installing a measuring device:
s1.1, installing a laser range finder in an originating well, wherein the ranging direction of the laser range finder is parallel to the advancing direction of an originating well top pipe;
s1.2, selecting a first pipe piece close to an originating well in a tunnel as a backsight pipe piece, and mounting a first reflection prism and a first electronic clinometer on the backsight pipe piece; the projection of the pitch axis direction of the first electronic inclinometer and the head-tail center connecting line direction of the rearview tube sheets in the horizontal plane is parallel;
s1.3, selecting a pipe piece as a station measurement pipe piece at a position 50 m-100 m away from one side of a receiving well of the rearview pipe piece, and mounting a second reflection prism, a measurement robot and a second electronic clinometer on the station measurement pipe piece; the pitch axis direction of the second electronic inclinometer is parallel to the projection of the direction of the head-tail center connecting line of the duct piece of the measuring station in the horizontal plane;
s1.4, selecting a pipe piece as a forward-looking pipe piece at a position 50m to 60m away from the side, located on the receiving well, of the pipe piece of the measuring station, wherein the distance between the forward-looking pipe piece and a pipe jacking machine head is larger than 50 m; respectively installing a third reflecting prism and a fourth reflecting prism on the front view duct piece, wherein the geometric center of the connecting line of the third reflecting prism and the fourth reflecting prism is positioned on the central axis of the front view duct piece;
s1.5, mounting a fifth reflecting prism on the pipe jacking machine head;
s2, before the start of automatic guide measurement, namely in an initial state, carrying out fusion calibration on the laser range finder, the first to fifth reflecting prisms, the first electronic clinometer and the second electronic clinometer, and the steps are as follows:
s2.1, calibrating the central axis of the segment; calibrating the three-dimensional coordinates of the head and tail centers of each section of pipe segment by taking the rearview pipe segment as a starting point and the forward-looking pipe segment as an end point, and storing the three-dimensional coordinates in a database of control software;
s2.2, calibrating the reflecting prism; calibrating three-dimensional coordinates of the first reflecting prism, the second reflecting prism, the third reflecting prism and the fourth reflecting prism, and storing the three-dimensional coordinates in a database of control software;
s2.3, calibrating the laser range finder; reading the observation distance of the current laser range finder, taking the distance as initial observation data of the laser range finder, and storing the initial observation data in a database of control software;
s2.4, calibrating the electronic inclinometer; respectively reading the pitch angle and the roll angle of the current first electronic inclinometer and the current roll angle of the current second electronic inclinometer, taking the pitch angle and the roll angle data as the initial angle data of the first electronic inclinometer and the second electronic inclinometer, and storing the initial angle data in a database of control software;
s3, automatic guiding measurement of the pipe jacking machine head; in the push pipe pushing construction process, according to current observation data and initial observation data of the laser range finder, the first to fifth reflection prisms, the first electronic inclinometer and the second electronic inclinometer, three-dimensional coordinates of the first reflection prism and the second reflection prism, three-dimensional coordinates of an observation center of the measuring robot, and three-dimensional coordinates of the third reflection prism, the fourth reflection prism and the fifth reflection prism are sequentially solved, and finally, the three-dimensional coordinates of the head center of the push pipe machine and horizontal and vertical deviations of the head center of the push pipe machine relative to a design axis are solved.
2. The automatic guiding method of the track type pipe jacking according to claim 1, wherein: in S3, calculating three-dimensional coordinates of the first reflection prism in the construction state
The method comprises the following steps:
s3.1.1, resolving the head-tail center of the rearview tube:
in the push pipe pushing process, when the rearview pipe piece moves to the construction state position from the initial state position along the laid pipe piece tunnel, the laser range finder measures and obtains the pushing distance of the rearview pipe piece as
(ii) a According to the measurement data of the laser range finder, the three-dimensional coordinates of the head-tail center of the backsight pipe piece in the initial state and the central axis data of the laid pipe piece tunnel, the three-dimensional coordinates of the head-tail center of the backsight pipe piece in the construction state can be interpolated;
s3.1.2, fusion and calculation of the first electronic inclinometer angle data and the head and tail center three-dimensional coordinate data of the rearview tube:
in the initial state, the center of the rear view segment tail is used as the origin
The projection of the line connecting the tail and the head of the rear-view tube on the horizontal plane is used as
The axis is vertically upward from the center of the rear view segment
Axes forming the initial coordinate system of the rearview tube sheet according to the left-hand rule
(ii) a In the initial state, the pitch axis direction of the first electronic inclinometer is used as
Axis in the direction of the roll axis of the first electronic inclinometer
Orientation, according to the left-hand rule, to form the initial coordinate system of the first electronic inclinometer
(ii) a In the push pipe pushing construction process, the rearview pipe sheet is twisted inevitably, so that a new rearview pipe sheet coordinate system is formed
And a new first electronic inclinometer coordinate system
(ii) a And (3) deducing through the geometrical relationship between the angle data of the first electronic inclinometer in the initial state and the construction state and each three-dimensional coordinate system:
Wherein,
is a three-dimensional coordinate of the head and tail centers of the rearview pipe pieces in a construction state,
as a function of the translation parameters to be determined,
，
as the rotation parameter to be determined,
，
，
，
s3.1.3, using the translation parameter and rotation parameter obtained by the formula (1), the three-dimensional coordinates of the first reflection prism in the construction state, i.e. the three-dimensional coordinates
Wherein,
for the three-dimensional coordinate of the first reflecting prism to be solved under the construction state,
and
the translational parameter and the rotational parameter respectively calculated for the formula (1),
three of the first reflecting prism in the initial stateDimensional coordinates;
s3.2, resolving three-dimensional coordinates of the second reflecting prism in the construction state
S3.2.1, resolving the head-tail center of the gauge station pipe piece: in the process of pushing the jacking pipe, the push distance of the duct piece of the survey station measured by the laser range finder is
Interpolating the three-dimensional coordinates of the head and tail centers of the observation station segments in the construction state according to the observation data of the laser range finder, the three-dimensional coordinates of the head and tail centers of the observation station segments in the initial state and the central axis data of the tunnel with the segments laid completely;
s3.2.2, fusion and calculation of the angle data of the second electronic inclinometer and the three-dimensional coordinate data of the head and tail centers of the observation station segments are carried out, and the step S3.1.2 is repeated; self-defining a related three-dimensional coordinate system of the second electronic inclinometer and the observation station duct piece, and obtaining the angle data of the second electronic inclinometer in the initial state and the construction state and the geometrical relationship between the three-dimensional coordinate systems by the following steps:
Wherein,
is a three-dimensional coordinate of the head and tail centers of the observation station segments in a construction state,
as a function of the translation parameters to be determined,
，
is to be treatedThe obtained rotation parameters are calculated according to the rotation parameters,
s3.2.3, using the translation parameter and the rotation parameter obtained by the equation (3), the three-dimensional coordinates of the second reflection prism in the construction state are calculated, that is:
Wherein,
for the three-dimensional coordinate of the second reflecting prism to be solved under the construction state,
and
the translational parameter and the rotational parameter respectively calculated for the formula (3),
the three-dimensional coordinates of the second reflecting prism in the initial state are obtained;
s3.3, calculating and measuring three-dimensional coordinates of the robot observation center in the construction state for the first time
(ii) a And (3) calculating the three-dimensional coordinate of the observation center of the measuring robot in the construction state by using the translation parameter and the rotation parameter obtained by the formula (3), namely:
Wherein,
in order to measure the three-dimensional coordinates of the robot observation center in the construction state,
and
the translational parameter and the rotational parameter respectively calculated for the formula (3),
for measuring robot observation centerThree-dimensional coordinates in an initial state;
s3.4, calculating three-dimensional coordinates of the observation center of the measuring robot in the construction state again
(ii) a The three-dimensional coordinates of the first reflecting prism and the second reflecting prism in the construction state are calculated as image control points, the observation center of the measuring robot is used as a photographing center, and the three-dimensional coordinates of the observation center of the measuring robot in the construction state are calculated again by utilizing the rear intersection principle of the bundle adjustment in oblique photogrammetry
S3.5, correcting three-dimensional coordinate data
And
(ii) a The proofreading result is used for checking the precision and reliability of the checking observation result;
and S3.6, observing the fifth reflecting prism through the measuring robot, and finally calculating the horizontal and vertical deviations of the center of the ejector pipe head relative to the designed axis.
3. The automatic guiding method of the track type pipe jacking according to claim 1, wherein: and the measuring robot is arranged on the measuring station pipe sheet through an automatic leveling base.
4. The automatic guiding method of the track type pipe jacking according to claim 1, wherein: and when the fifth reflecting prism cannot be installed at the center position of the pipe jacking machine head, calibrating the horizontal and vertical deviation value between the installation position of the fifth reflecting prism and the center of the pipe jacking machine head.
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