CN114704275A - Multipoint attitude measurement system and deformation monitoring method for rectangular pipe jacking machine - Google Patents
Multipoint attitude measurement system and deformation monitoring method for rectangular pipe jacking machine Download PDFInfo
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- CN114704275A CN114704275A CN202210397023.5A CN202210397023A CN114704275A CN 114704275 A CN114704275 A CN 114704275A CN 202210397023 A CN202210397023 A CN 202210397023A CN 114704275 A CN114704275 A CN 114704275A
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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
- E21D9/10—Making by using boring or cutting machines
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Abstract
The invention discloses a multipoint attitude measurement system and a deformation monitoring method of a rectangular push bench, which are characterized by comprising the following steps of: and five laser range finders are arranged in the same section of the starting well parallel to the axis of the pipeline. The method and the device can convert the position and posture information of the rectangular push bench into digital quantity without a traditional manual observation mode, can greatly reduce the labor intensity of personnel, and improve the working efficiency and the construction precision of the rectangular push bench; the data can be saved through the setting of the program without the traditional manual recording mode; through the real-time uploading processing of the data, the pose change of the rectangular push bench can be quickly sensed, so that the real-time regulation and control are realized, the forming condition of the tunnel track can be visually displayed through the analysis and processing of the real-time data, and the control of the engineering quality and the real-time decision of field construction personnel are facilitated.
Description
Technical Field
The invention relates to the field of rectangular pipe jacking construction and attitude measurement, in particular to a multipoint attitude measurement system and a deformation monitoring method for a rectangular pipe jacking machine.
Background
The pipe-jacking construction is a novel underground pipeline construction method developed after shield construction, which does not need to excavate a ground surface layer, excavate a tunnel underground, lay various underground pipelines and pipe networks, and can pass through highways, railways, rivers, ground buildings, underground structures, various underground pipelines and the like.
In the construction process of the rectangular pipe jacking machine, due to the influences of large sectional area, cutter head distribution and the like, when the pipe jacking construction is carried out, the machine head per se can deflect and deform under the complex acting force, the jacking track and the attitude can always deviate, and in order to ensure that all excavation surfaces can be correctly communicated and meet the design requirements, the tunneling attitude of the rectangular pipe jacking machine needs to be measured in real time along with the rectangular pipe jacking construction tunneling. At present, most of the rectangular jacking pipes in China are implemented by adopting a method of manual repeated measurement, and air in the jacking pipes is moist and has large temperature difference, so that the manual measurement is very unfavorable. The pipe jacking guiding system is developed mostly based on automatic tracking total stations, and is completed in a relay mode of a plurality of automatic tracking total stations, so the manufacturing cost is high. A push pipe guiding system based on a laser theodolite or other camera equipment is low in general precision due to the fact that the installation space of a push pipe machine is limited, deformation of the rectangular push pipe machine is not considered, manual measurement and checking are often needed, and the cost of the two methods is extremely high.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a multipoint attitude measurement system and a deformation monitoring method of a rectangular pipe jacking machine, which have the advantages of low manufacturing cost, high precision and good real-time performance, can be used for large-section rectangular pipe jacking engineering, and solves the problems of time and labor waste in manual measurement, high possibility of error, head deflection, excessive through error and the like in the prior guiding technology, and unnecessary economic loss.
In order to achieve the purpose, the invention is realized by the following technical scheme: a multipoint attitude measurement system and a deformation monitoring method for a rectangular push bench comprise the following steps:
five laser range finders are arranged in the same section of the starting well parallel to the axis of the pipeline; arranging five laser targets at the left upper part, the left lower part, the right upper part, the right lower part and the central point on the rear cross section of a machine head cabin partition plate of the push bench; a camera for shooting the position of a light spot on the laser target is arranged behind the laser target; the laser range finder is used for respectively emitting laser beams to the laser targets at the upper left position, the lower left position, the upper right position, the lower right position and the central point, the camera is used for shooting the laser beams passing through the laser targets, and the laser range finder and the camera transmit data to a ground operation table;
taking the distance measured by the laser range finders at the central point as a reference, and adjusting the initial posture of the rectangular push bench by using the distance information measured by the other laser range finders at all positions until the distance values measured by the laser range finders at all positions are consistent, namely the initial posture of the rectangular push bench is correctly installed;
and establishing a three-dimensional coordinate system on the ground operating platform, obtaining real-time horizontal and vertical coordinates of laser spots of each measuring position according to image information shot by each camera, obtaining three-dimensional coordinate values of each measuring point by combining distance values measured by a laser range finder, and obtaining real-time posture and deformation information of the rectangular push bench after weighted fusion and geometric calculation according to the three-dimensional coordinate data of each measuring point.
Further defined, the step of establishing a three-dimensional coordinate system is as follows:
defining a camera pixel coordinate system
The upper left corner of the image is taken as the origin, and the horizontal and vertical axes are respectively taken as
、
The unit distance is 1 pixel; defining image coordinate system with the carved O on the laser target as the origin of coordinatesThe horizontal right direction of each measuring point is defined as the positive direction of an X axis, the vertical downward direction is defined as the positive direction of a Y axis, the forward direction along the axis of the pipeline is defined as the positive direction of a Z axis, and the coordinate of a certain point on the image is set as
Each pixel point is at
And
physical lengths in directions of
And
，
for the pixel point in
Is shown at that point
Is expressed as
Then the relationship between the two coordinate systems can be described as:
the measured value of each position laser range finder is the Z-axis coordinate, so the O, A, B, C, D five initial coordinates are as follows:
further limiting, in the jacking process of the rectangular push bench, at a certain moment, O, A, B, C, D five real-time coordinates are as follows:
setting the horizontal deviation as X, the vertical deviation as Y and the jacking distance as Z, and defining the mean value point of A, B, C, D point measurement data and O point measurement data after the mean value is taken
As a reference point, then:
separately, X, Y, Z at A, B, C, D:
the installation section of each measuring system in the rectangular pipe jacking machine head is simplified and divided into four areas, namely 1, 2, 3 and 4, then:
1. deformation of the pipe jacking machine in the X direction in the 2-zone:
3. deformation of 4-region push bench in X direction:
1. deformation of the 4-zone push bench in the Y direction:
2. deformation of the pipe push bench in the Y direction in the 3 areas:
A. azimuth angle of the B-side push bench:
D. azimuth angle of the C-side pipe jacking machine:
A. vertical angle of side push bench:
B. vertical angle of C side pipe pushing jack:
further limiting, the camera and the laser target are integrated on a guide system shell in the rectangular pipe jacking machine head, a first wireless data transmission radio station and a first programmable controller are arranged in the guide system shell, and the programmable controller is connected with the first wireless data transmission radio station and the camera.
Further limiting, the ground operating platform is provided with a second programmable controller, a touch screen and a second wireless data transmission station, the second programmable controller is in wireless connection with the first wireless data transmission station and the second wireless data transmission station of the laser range finder, and the programmable controller is electrically connected with the touch screen.
The invention has the following beneficial effects: the method and the device can convert the position and posture information of the rectangular push bench into digital quantity without a traditional manual observation mode, can greatly reduce the labor intensity of personnel, and improve the working efficiency and the construction precision of the rectangular push bench; the data can be saved through the setting of the program without the traditional manual recording mode; through the real-time uploading processing of the data, the pose change of the rectangular push bench can be quickly sensed, so that the real-time regulation and control are realized, the forming condition of the tunnel track can be visually displayed through the analysis and processing of the real-time data, and the control of the engineering quality and the real-time decision of field construction personnel are facilitated.
Drawings
FIG. 1 is a schematic layout of the present invention
FIG. 2 is a schematic view of the housing structure of the guidance system of the present invention
FIG. 3 is a schematic view of the arrangement of the measurement points according to the present invention
FIG. 4 is a schematic diagram of the coordinate transformation of the present invention
FIG. 5 is a schematic diagram of the measurement region division of the present invention
FIG. 6 is a schematic view of the attitude measurement of the present invention.
In the figure: 1. laser target; 2. a guidance system housing; 3. a camera; 4. a first programmable controller; 5. a first wireless data transmission station; 6. a laser range finder; 7. a second wireless data transmission station; 8. a touch screen; 9. and a second programmable controller.
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.
Referring to fig. 1-2, the present invention provides a technical solution: a multipoint attitude measurement system and a deformation monitoring method for a rectangular push bench comprise the following steps: five laser distance measuring instruments 6 are arranged in the same section of the starting well parallel to the axis of the pipeline and used for emitting laser and measuring real-time distance; arranging five laser targets 1 at the upper left, lower left, upper right, lower right and central points at proper positions of the rear cross section of a machine head cabin partition plate of the push bench; a camera 3 is arranged behind each laser target 1 and is used for shooting the position of a light spot on the laser target 1; laser beams are respectively emitted to five laser targets 1 of upper left, lower left, upper right, lower right and a central point by using a laser range finder 6, and the emitted laser beams pass through the laser targets 1 and are shot by a camera 3;
initially, adjusting the posture of the rectangular push bench according to the distance information measured by the laser range finder 6 to guide the installation posture of the rectangular push bench, and adjusting the position of the push bench by taking the data measured by the laser range finder 6 at the central point as a reference so that the data measured by the laser range finders 6 at other positions are consistent with the data measured by the laser range finder 6 at the central point, wherein the position of the push bench is the initial position of the push bench; after the initial position is determined, the position of each laser target 1 is adjusted to enable the laser beam emitted by the laser range finder 6 to be positioned near the origin of coordinates, and coordinates of each measurement position at the moment are obtained through coordinate transformation according to image information shot by the camera 3, namely the initial coordinates of each measurement position;
referring to fig. 3-6, the coordinate transformation steps are as follows:
defining a camera 3 pixel coordinate system
The upper left corner of the image is taken as the origin, and the horizontal and vertical axes are respectively taken as
、
The unit distance is 1 pixel; defining an image coordinate system, taking O carved on the laser target 1 as a coordinate origin, defining that each measuring point defines that the horizontal right is the positive direction of an X axis, the vertical downward is the positive direction of a Y axis, the forward direction along the axis of the pipeline is the positive direction of a Z axis, and setting the coordinate of a certain point on the image as
Each pixel point is at
And
physical lengths in directions of
And
，
for the pixel point in
Is shown at that point
Is expressed as
Then the relationship between the two coordinate systems can be described as:
the measured value of each position laser range finder 6 is the Z-axis coordinate, so the O, A, B, C, D five initial coordinates are as follows:
in the jacking process of the rectangular push bench, according to a coordinate transformation method, at a certain moment, O, A, B, C, D five real-time coordinates are as follows:
setting the horizontal deviation as X, the vertical deviation as Y and the jacking distance as Z, and defining the mean value point of A, B, C, D point measurement data and O point measurement data after the mean value is taken
As a reference point, then:
separately, X, Y, Z at A, B, C, D:
the installation section of each measuring system in the rectangular pipe jacking machine head is simplified and divided into four areas, namely 1, 2, 3 and 4, then:
1. deformation of 2-region push bench in X direction:
3. deformation of 4-region push bench in X direction:
1. deformation of the 4-region push bench in the Y direction:
2. deformation of the pipe push bench in the Y direction in the 3 areas:
A. azimuth angle of the B-side push bench:
D. azimuth angle of the C-side pipe jacking machine:
A. vertical angle of side push bench:
B. vertical angle of C side pipe pushing jack:
wherein, the camera 3 and the laser target 1 are integrated on a guiding system shell 2 in the rectangular pipe jacking machine head, a wireless data transmission radio station I5 and a programmable controller I4 are arranged in the guiding system shell 2, the programmable controller is connected with the wireless data transmission radio station I5 and the camera 3, a ground operating platform is provided with a programmable controller II 9, a touch screen 8 and a wireless data transmission radio station II 7, the programmable controller II 9 is wirelessly connected with the wireless data transmission radio station I5 and the wireless data transmission radio station II 7 of the laser range finder 6, the programmable controller is electrically connected with the touch screen 8, the real-time horizontal and vertical coordinates of the laser facula of each measuring position are obtained according to the image information shot by the camera 3, the three-dimensional coordinate values of each measuring point are obtained by combining the distance values measured by the laser range finder 6, and the three-dimensional coordinate data of each measuring point are subjected to weighted fusion and geometric calculation, the real-time posture and deformation information of the rectangular push bench are obtained, a coordinate system corresponding to the coordinates on the laser target 1 is arranged on a touch screen 8 on the ground operating platform, the actual light spot position information measured by the camera 3 is displayed on the coordinates of the laser target in real time, and a pipeline track curve graph with track coordinates used for displaying the combination of the real-time distance information measured by the laser range finder 6 and the position information monitored by the camera 3 in real time is arranged on the touch screen 8.
The invention can convert the position and posture information of the rectangular push bench into digital quantity without the traditional manual observation mode, greatly reduce the labor intensity of personnel and improve the working efficiency and the construction precision of the rectangular push bench construction; the data can be saved through the setting of the program without the traditional manual recording mode; through the real-time uploading processing of the data, the pose change of the rectangular push bench can be quickly sensed, so that the real-time regulation and control are realized, the forming condition of the tunnel track can be visually displayed through the analysis and processing of the real-time data, and the control of the engineering quality and the real-time decision of field construction personnel are facilitated.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. A multipoint attitude measurement system and a deformation monitoring method for a rectangular push bench are characterized by comprising the following steps:
s1: a rectangle with a center point coincident with the axis of the pipeline is arranged on a vertical surface behind the head of the push bench, five laser targets are arranged at the center point and four corners of the rectangle, and a laser range finder corresponding to the laser targets is arranged on a vertical plane of the axis of the pipeline; a camera is arranged behind the laser target; the laser range finder is used for emitting laser beams to a laser target, the camera is used for shooting the laser beams passing through the laser target, and a ground operation platform is used for receiving measurement data;
s2: adjusting the initial posture of the rectangular push bench to make the distance values measured by the laser range finders consistent;
s3: and establishing a three-dimensional coordinate system on the ground operating platform, obtaining a three-dimensional coordinate value of a laser spot by using the image information of the camera and the distance value of the laser range finder, and obtaining real-time attitude and deformation information of the rectangular push bench after weighted fusion and geometric calculation according to the three-dimensional coordinate data of each measurement point.
2. The multi-point attitude measurement system and the deformation monitoring method of the rectangular push bench according to claim 1, wherein the step of establishing the three-dimensional coordinate system is as follows:
defining a camera pixel coordinate system
And image coordinate system
Let a certain point coordinate on the image be
With pixels at
And
a length in the direction of
And
，
for the pixel point of
Is shown at that point
The coordinates in (A) are expressed as
The relationship between the two coordinate systems is:
o, A, B, C, D the five starting coordinates are as follows:
3. the multi-point attitude measurement system and the deformation monitoring method of the rectangular push bench according to claim 2, characterized in that: in the jacking process of the rectangular push bench, O, A, B, C, D five real-time coordinates are as follows:
setting the horizontal deviation as X, the vertical deviation as Y and the jacking distance as Z, and defining the mean value point of A, B, C, D point measurement data and O point measurement data after the mean value is taken
As a reference point, then:
separately, X, Y, Z at A, B, C, D:
the installation section of each measuring system in the rectangular pipe jacking machine head is simplified and divided into four areas, namely 1, 2, 3 and 4, then:
1. deformation of 2-region push bench in X direction:
3. deformation of the 4-zone push bench in the X direction:
1. deformation of the 4-region push bench in the Y direction:
2. deformation of the pipe push bench in the Y direction in the 3 areas:
A. azimuth angle of the B-side push bench:
D. azimuth angle of the C-side pipe jacking machine:
A. vertical angle of side push bench:
B. vertical angle of C side pipe pushing jack:
。
4. the multi-point attitude measurement system and the deformation monitoring method of the rectangular push bench according to claim 3, characterized in that: the camera and the laser target set are mounted on a guide system shell in the machine head, a first wireless data transmission station and a first programmable controller are arranged in the guide system shell, and the programmable controller is connected with the first wireless data transmission station and the camera.
5. The multi-point attitude measurement system and the deformation monitoring method of the rectangular push bench according to claim 4, characterized in that: the ground operation panel is provided with a second programmable controller, a touch screen and a second wireless data transmission station, the second programmable controller is in wireless connection with the first wireless data transmission station and the second wireless data transmission station of the laser range finder, and the programmable controller is electrically connected with the touch screen.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115370375A (en) * | 2022-09-01 | 2022-11-22 | 中国水利水电第四工程局有限公司 | Cutter head deviation calculation method of push bench |
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- 2022-04-15 CN CN202210397023.5A patent/CN114704275A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115370375A (en) * | 2022-09-01 | 2022-11-22 | 中国水利水电第四工程局有限公司 | Cutter head deviation calculation method of push bench |
| CN115370375B (en) * | 2022-09-01 | 2024-04-26 | 中国水利水电第四工程局有限公司 | Method for calculating cutter head deviation of push bench |
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