CN113863936A - Alternate positioning double shield TBM automatic guidance system and method - Google Patents
Alternate positioning double shield TBM automatic guidance system and method Download PDFInfo
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- CN113863936A CN113863936A CN202110937837.9A CN202110937837A CN113863936A CN 113863936 A CN113863936 A CN 113863936A CN 202110937837 A CN202110937837 A CN 202110937837A CN 113863936 A CN113863936 A CN 113863936A
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 230000036544 posture Effects 0.000 claims description 32
- 239000011435 rock Substances 0.000 claims description 15
- 238000005096 rolling process Methods 0.000 claims description 5
- 238000012937 correction Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 5
- 238000013461 design Methods 0.000 abstract description 4
- 230000005641 tunneling Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000009412 basement excavation Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
- E21D9/08—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield
- E21D9/087—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining with additional boring or cutting means other than the conventional cutting edge of the shield with a rotary drilling-head cutting simultaneously the whole cross-section, i.e. full-face machines
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- Geochemistry & Mineralogy (AREA)
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- Environmental & Geological Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
本发明涉及掘进机导向技术领域，特别涉及一种交替定位式双护盾TBM自动导向系统及方法，该系统包含：与双护盾主控室连接用于标定前盾体和支撑盾体位置关系的导向组件，所述导向组件包含：用于定位前盾体姿态的第一导向组和用于定位支撑盾体换步姿态的第二导向组；所述第一导向组和第二导向组均与双护盾主控室信号连接。本发明方案结构简单，设计新颖、合理，利用第一导向组和第二导向组分别对前盾体和支撑盾体姿态进行交替定位，实现长距离自动导航，并可减少人工搬站频率或者不搬站，大大降低工作强度，提高施工效率，具有较好的应用前景。
The invention relates to the technical field of roadheader guidance, in particular to an alternately positioned double shield TBM automatic guidance system and method. The system comprises: connecting with a double shield main control room for calibrating the positional relationship between a front shield body and a supporting shield body The guide assembly includes: a first guide group for positioning the posture of the front shield body and a second guide group for positioning and supporting the step change posture of the shield body; the first guide group and the second guide group are both Connect to the double shield main control room signal. The scheme of the invention is simple in structure, novel and reasonable in design. The first guide group and the second guide group are used to alternately position the posture of the front shield body and the support shield body respectively, so as to realize long-distance automatic navigation, and can reduce the frequency of manual station moving or not. It can greatly reduce the work intensity and improve the construction efficiency, and has a good application prospect.
Description
Technical Field
The invention relates to the technical field of heading machine guiding, in particular to an alternating positioning type double-shield TBM automatic guiding system and method.
Background
With the rapid development of national infrastructure, more and more special equipment is used for the excavation of mountain tunnels, and the double-shield type TBM is used as a multi-section type tunneling device, has high propelling speed and high safety, and becomes a sharp tool for the excavation of mountain tunnels. The TBM is required to have R30-meter ultra-small turning capacity under special working conditions such as pumped storage, coal mine roadways and the like, so that new problems and challenges are brought to equipment.
The conventional double-shield working principle is as follows: the method comprises the steps that a laser target at the rear part of a support shield body is measured through a total station fixed on a duct piece or a rock wall, the support shield posture is obtained through the total station and the laser target, then the LED lamp installed on the front shield body is photographed through a monocular camera installed at the front part of the support shield body, and the front shield body posture is obtained. Because the total station is fixed on a rock wall or a pipe sheet and does not move along with the equipment, the total station needs to be moved forward manually when the total station is pushed to about 100 meters in a straight line section, and if the total station is pushed to an ultra-small curve section, the total station needs to be moved forward manually generally at 5-10 meters. In the face of the difficult problem of the special working condition that the communication distance is short and the station moving is frequent, how to realize long-distance automatic navigation and reduce the frequency of manually moving the station or not moving the station becomes a difficult problem which needs to be solved urgently.
Disclosure of Invention
Therefore, the alternating positioning type double-shield TBM automatic guiding system and method provided by the invention are scientific and reasonable in design, do not need manual station moving, reduce the workload of workers, can realize the automatic guiding of the double-shield TBM only by positioning the equipment per se, and improve the construction efficiency.
According to the design scheme provided by the invention, the automatic guiding system of the alternately-positioned double-shield TBM comprises: the guide assembly is connected with the double-shield main control room and used for calibrating the position relation between the front shield body and the support shield body, and the guide assembly comprises: the first guide group is used for positioning the front shield body posture and the second guide group is used for positioning and supporting the shield body step-changing posture; and the first guide group and the second guide group are in signal connection with the double-shield main control room.
As an alternate positioning type double-shield TBM automatic guidance system of the present invention, further, the first guidance group includes: the first inclinometer is fixed on the anterior shield body and used for measuring inclination angle change of the anterior shield body, the first target is used for calibrating the position of the anterior shield body, and the first binocular camera is fixed on the support shield body and used for photographing and positioning the first target; the first binocular camera and the first inclinometer are in signal connection with the double-shield main control room.
As an alternate positioning type double-shield TBM automatic guidance system of the present invention, further, the second guidance group includes: the second inclinometer is fixed on the support shield body and used for measuring the inclination angle change of the support shield body, the second target is used for calibrating the position of the support shield body, and the second binocular camera is fixed on the front shield body and used for photographing and positioning the second target; the second binocular camera and the second inclinometer are in signal connection with the double-shield main control room.
As the automatic guiding system of the alternate positioning type double-shield TBM, further, the invention also comprises: the deviation rectifying component is used for dynamically rechecking the postures of the double-shield TBM; the deviation correcting component comprises a prism group fixed at the tail of the support shield body and used for calibrating the position of the tail of the support shield body, and a total station arranged on the rock wall and used for photographing and positioning the prism group; and the total station is in signal connection with the double-shield main control room.
As the alternating positioning type double-shield TBM automatic guidance system of the present invention, further, the prism set at least includes 3 prisms.
Further, the invention also provides an alternate positioning type double-shield TBM automatic guiding method, which is realized based on the system, and the realization process comprises the following contents:
before starting the double-shield TBM, manually calibrating a guide assembly, a support shield axis and three-dimensional space coordinates of the anterior shield axis, establishing an initial spatial position relationship, and simultaneously acquiring angle information of a rolling angle and a pitch angle of the anterior shield and the support shield;
when the propulsion is started, the front shield body posture is positioned in real time through the first guide group on the basis of the support shield body; after the propulsion oil cylinder is regulated to a preset distance, the posture of the support shield body is positioned in real time through a second guide group on the basis of the posture of the front shield body; in the propelling process, the double-shield TBM alternately positions the front shield body and the support shield body by utilizing the first guide group and the second guide group so as to realize the automatic guide of alternate positioning in the propelling process of the double-shield TBM.
As the automatic guiding method of the alternate positioning type double-shield TBM, an inclinometer in signal connection with a double-shield TBM main control room is further respectively arranged on the front shield body and the support shield body; and respectively measuring the inclination angle changes of the front shield body and the support shield body in alternate positioning by using the inclinometer so as to obtain the posture information of the front shield body or the support shield body in the tightening state.
As the automatic guiding method of the alternate positioning type double-shield TBM, a prism group is arranged at the tail part of a support shield body, a total station for photographing and positioning the prism group is arranged on the rock wall, and the total station is in signal connection with a main control room of the double-shield TBM; in the advancing process, the prism group and the total station are used for rechecking the posture of the double-shield TBM so as to realize dynamic deviation correction.
The invention has the beneficial effects that:
the system has simple structure and novel and reasonable design, alternately positions the postures of the front shield body and the support shield body by utilizing the first guide group and the second guide group respectively, realizes long-distance automatic navigation, can reduce the frequency of manual station moving or not move the station, greatly reduces the working strength, improves the construction efficiency and has better application prospect.
Description of the drawings:
FIG. 1 is an installation schematic diagram of an alternate positioning type double-shield TBM automatic guidance system in the embodiment;
FIG. 2 is a schematic structural diagram of an alternate positioning type double-shield TBM automatic guidance system in the embodiment.
In the figure, reference numeral 1 represents a rock, reference numeral 21 represents a cutter head, reference numeral 22 represents a front shield body, reference numeral 23 represents a support shield body, reference numeral 24 represents a shoe, reference numeral 25 represents a thrust cylinder, reference numeral 3 represents a main control room, reference numeral 4 represents a total station, reference numeral 5 represents a prism group, reference numeral 61 represents a second inclinometer, reference numeral 62 represents a second target, reference numeral 63 represents a second binocular camera, reference numeral 71 represents a first inclinometer, reference numeral 72 represents a first target, and reference numeral 73 represents a first binocular camera.
The specific implementation mode is as follows:
the present invention will be described in further detail below with reference to the accompanying drawings and technical solutions, and embodiments of the present invention will be described in detail by way of preferred examples, but the embodiments of the present invention are not limited thereto.
According to the working principle of double shields, in the propelling process, a support shield tightly supports a rock wall through a support shoe and is fixed, and a propelling oil cylinder 25 is extended to push a front shield to tunnel; after the front shield is pushed for a certain distance, the front shield tightly props the rock wall through the shield shell and is fixed, the pushing oil cylinder 25 is recovered, and the supporting shield body 23 and the trolley are pulled to advance. And periodically repeating the steps, and excavating the whole tunnel until the tunnel is communicated. An embodiment of the present invention, as shown in fig. 1 and 2, provides an alternating positioning type double-shield TBM automatic guidance system, including: the guiding component is connected with the double-shield main control room 3 and used for calibrating the position relation between the front shield body 22 and the support shield body 23, and the guiding component comprises: a first guide group for positioning the pose of the anterior shield body 22 and a second guide group for positioning the step-changing pose of the support shield body 23; and the first guide group and the second guide group are in signal connection with the double-shield main control room 3. The postures of the front shield body 22 and the support shield body 23 are alternately positioned by utilizing the first guide group and the second guide group respectively, long-distance automatic navigation is realized, the station moving frequency can be reduced or the station moving is not carried, the working strength is greatly reduced, and the construction efficiency is improved.
As an alternate positioning type double-shield TBM automatic guidance system in the embodiment of the present invention, further, the first guidance group includes: a first inclinometer 71 fixed on the anterior shield 22 and used for measuring the inclination angle change of the anterior shield 22, a first target 72 used for calibrating the position of the anterior shield 22, and a first binocular camera 73 fixed on the support shield 23 and used for photographing and positioning the first target 72; the first binocular camera 73 and the first inclinometer 72 are in signal connection with the double shield main control room 3. Further, the second guide set comprises: a second inclinometer 61 fixed on the support shield 23 for measuring the inclination angle change of the support shield 23, a second target 62 for calibrating the position of the support shield 23, and a second binocular camera 63 fixed on the front shield 22 for photographing and positioning the second target 62; the second binocular camera 63 and the second inclinometer 61 are in signal connection with the double shield main control room 3. During initial tunneling, the positional relationship between the support shield and the front shield is calibrated, and as the position of the support shield body 23 is fixed in the propelling process, targets such as Mark lamps and the like arranged on the front shield body 22 can be measured in real time through a binocular camera arranged on the support shield to obtain the posture of the front shield body 22; when the double-shield propulsion oil cylinder 25 propels for a certain distance, the front shield body 22 is fixed differently, the support shield body 23 is dragged to advance, and at the moment, the Mark lamp arranged on the support shield body 23 is measured in real time through the binocular camera arranged on the front shield body 22 so as to obtain the posture of the support shield body 23. After the double-shield step changing is completed, the support shield body 23 is fixed, the operation is repeated to obtain the posture of the front shield body 22, and the operation is repeated, so that the double-shield alternative positioning function can be realized, the manual station moving situation is reduced, the labor intensity is reduced, and the construction efficiency is improved.
As an alternate positioning type double-shield TBM automatic guidance system in the embodiment of the present invention, further, the system further includes: the deviation rectifying component is used for dynamically rechecking the postures of the double-shield TBM; the deviation correcting component comprises a prism group 5 fixed at the tail of the support shield body 23 and used for calibrating the position of the tail of the support shield body 23, and a total station 4 arranged on the rock wall of the rock 1 and used for photographing and positioning the prism group 5; and the total station 4 is in signal connection with the double-shield main control room 3. Further, the prism group 5 at least includes 3 prisms. A prism group 5 (more than or equal to 3) is arranged at the tail part of the support shield, and a total station 4 capable of measuring the prism group 5 is arranged on the rock wall so as to realize attitude rechecking and calibration and not to participate in the whole guiding system in the tunneling process.
Further, an embodiment of the present invention further provides an alternate positioning type double-shield TBM automatic guidance method, which is implemented based on the above system, and the implementation process includes the following contents:
before starting the double-shield TBM, manually calibrating a guide assembly, a support shield axis and three-dimensional space coordinates of the anterior shield axis, establishing an initial spatial position relationship, and simultaneously acquiring angle information of a rolling angle and a pitch angle of the anterior shield and the support shield;
when the propulsion is started, the posture of the front shield body 22 is positioned in real time through the first guide group on the basis of the support shield body 23; after the propulsion oil cylinder 25 specifies the preset distance, the posture of the support shield body 23 is positioned in real time through the second guide group on the basis of the posture of the front shield body 22; in the propelling process, the double-shield TBM utilizes the first guide group and the second guide group to alternately position the front shield body 22 and the support shield body 23, so as to realize the automatic guide of alternate positioning in the propelling process of the double-shield TBM.
Furthermore, an inclinometer in signal connection with the double-shield TBM main control room 3 is respectively arranged on the front shield body 22 and the support shield body 23; and respectively measuring the inclination angle changes of the front shield body 22 and the support shield body 23 in alternate positioning by using the inclinometer so as to obtain the posture information of the front shield body 22 or the support shield body 23 in the tightening state.
Further, a prism group 5 is arranged at the tail part of the support shield body 23, a total station 4 for photographing and positioning the prism group 5 is arranged on the rock wall, and the total station 4 is in signal connection with the double-shield TBM main control room 3; in the advancing process, the prism group 5 and the total station 4 are used for rechecking the posture of the double-shield TBM so as to realize dynamic deviation correction.
Referring to fig. 1 and 2, the automatic navigation process can be described as follows: 1) before starting the double-shield TBM, three-dimensional space coordinates of the prism group 5, the axis of the support shield, the axis of the front shield, the target 1 and the target 2 are calibrated manually, and an initial space position relation, and angle information of a rolling angle and a pitching angle of the front shield and the support shield are established. 2) And the support shield is used for tightly supporting the rock wall, so that the support shield almost has no displacement and no rolling. At this time, based on the support shield, the target 2 is photographed and positioned by the binocular camera 2 fixed by the support shield, so as to realize the real-time positioning function of the posture of the anterior shield body 22. 3) After the oil cylinder is pushed to a certain length, the front shield shell tightly supports the rock wall and is fixed, at the moment, the front shield posture is taken as the basis, the target 1 is shot and positioned through the binocular camera 1 fixed by the front shield, and the real-time positioning function of the support shield step changing posture is realized. 4) And periodically repeating the working process, and realizing the automatic guiding function by alternately positioning the front shield and the support shield by the double-shield TBM. 5) And because the front shield and the support shield are completely fixed and not movable in the propulsion process, the inclinometer 1/2 is needed to measure the change of the support shield and the small inclination angle of the front shield, and the attitude information of the front shield or the support shield in the support state is further solved, so that the attitude accuracy of the shield body is more accurate and reliable. 6) And finally, after tunneling for a distance, measuring a prism group 5 at the tail part of the support shield through a total station 4, performing attitude recheck on the whole TBM, and re-calibrating the attitude information of the current TBM to realize the dynamic deviation rectifying effect.
The term "and/or" herein means that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of this application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Exemplary embodiments of the present invention have been described in detail with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various changes and modifications may be made to the specific embodiments described above and various combinations of the technical features and structures proposed by the present invention may be made without departing from the concept of the present invention, and the scope of the present invention is defined by the appended claims. The foregoing description of specific exemplary embodiments of the invention is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (8)
1. An alternate positioning type double-shield TBM automatic guiding system comprises: the guiding component is connected with a double-shield main control room and used for calibrating the position relation between a front shield body and a support shield body, and is characterized in that the guiding component comprises: the first guide group is used for positioning the front shield body posture and the second guide group is used for positioning and supporting the shield body step-changing posture; and the first guide group and the second guide group are in signal connection with the double-shield main control room.
2. The alternately-positionable double-shield TBM automatic guidance system according to claim 1, wherein: the first guide set comprises: the first inclinometer is fixed on the anterior shield body and used for measuring inclination angle change of the anterior shield body, the first target is used for calibrating the position of the anterior shield body, and the first binocular camera is fixed on the support shield body and used for photographing and positioning the first target; the first binocular camera and the first inclinometer are in signal connection with the double-shield main control room.
3. The alternately positionable double shield TBM automatic guidance system of claim 1 or 2, wherein said second guidance group comprises: the second inclinometer is fixed on the support shield body and used for measuring the inclination angle change of the support shield body, the second target is used for calibrating the position of the support shield body, and the second binocular camera is fixed on the front shield body and used for photographing and positioning the second target; the second binocular camera and the second inclinometer are in signal connection with the double-shield main control room.
4. The alternately positionable double shield TBM automatic guidance system of claim 1, further comprising: the deviation rectifying component is used for dynamically rechecking the postures of the double-shield TBM; the deviation correcting component comprises a prism group fixed at the tail of the support shield body and used for calibrating the position of the tail of the support shield body, and a total station arranged on the rock wall and used for photographing and positioning the prism group; and the total station is in signal connection with the double-shield main control room.
5. The alternately-positionable double shield TBM automatic guidance system of claim 4, wherein said prism group comprises at least 3 prisms.
6. An automatic guidance method for an alternate positioning type double-shield TBM, which is realized based on the system of claim 1, and the realization process comprises the following steps:
before starting the double-shield TBM, manually calibrating a guide assembly, a support shield axis and three-dimensional space coordinates of the anterior shield axis, establishing an initial spatial position relationship, and simultaneously acquiring angle information of a rolling angle and a pitch angle of the anterior shield and the support shield;
when the propulsion is started, the front shield body posture is positioned in real time through the first guide group on the basis of the support shield body; after the propulsion oil cylinder is regulated to a preset distance, the posture of the support shield body is positioned in real time through a second guide group on the basis of the posture of the front shield body; in the propelling process, the double-shield TBM alternately positions the front shield body and the support shield body by utilizing the first guide group and the second guide group so as to realize the automatic guide of alternate positioning in the propelling process of the double-shield TBM.
7. The automatic guiding method of the alternately-positioning type double-shield TBM, as claimed in claim 6, wherein the front shield body and the support shield body are respectively provided with inclinometers in signal connection with the double-shield TBM main control room; and respectively measuring the inclination angle changes of the front shield body and the support shield body in alternate positioning by using the inclinometer so as to obtain the posture information of the front shield body or the support shield body in the tightening state.
8. The method for automatically guiding an alternately-positioned double-shield TBM as claimed in claim 6 or 7, wherein a prism group is arranged at the tail of the support shield body, and a total station for positioning the prism group by photographing is arranged on the rock wall, and is in signal connection with a main control room of the double-shield TBM; in the advancing process, the prism group and the total station are used for rechecking the posture of the double-shield TBM so as to realize dynamic deviation correction.
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| CN202110937837.9A CN113863936B (en) | 2021-08-16 | 2021-08-16 | Alternating positioning double shield TBM automatic guidance system and method |
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