CN114772451A - Lifting appliance for TBM (Tunnel boring machine) main machine lifting and lifting device and method - Google Patents

Lifting appliance for TBM (Tunnel boring machine) main machine lifting and lifting device and method Download PDF

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Publication number
CN114772451A
CN114772451A CN202210440941.1A CN202210440941A CN114772451A CN 114772451 A CN114772451 A CN 114772451A CN 202210440941 A CN202210440941 A CN 202210440941A CN 114772451 A CN114772451 A CN 114772451A
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China
Prior art keywords
lifting
tbm
main machine
host
lifting appliance
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CN202210440941.1A
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Chinese (zh)
Inventor
李楠
时安琪
李刚
许发成
胡瑞
张维华
王豪
彭乃思
王国政
韩兴超
李永军
徐红璐
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China Railway Engineering Equipment Group Shield Manufacturing Co Ltd
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China Railway Engineering Equipment Group Shield Manufacturing Co Ltd
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Priority to CN202210440941.1A priority Critical patent/CN114772451A/en
Publication of CN114772451A publication Critical patent/CN114772451A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
    • B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
    • B66C1/42—Gripping members engaging only the external or internal surfaces of the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C5/00—Base supporting structures with legs
    • B66C5/02—Fixed or travelling bridges or gantries, i.e. elongated structures of inverted L or of inverted U shape or tripods
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C6/00—Girders, or track-supporting structures, specially adapted for cranes

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Lining And Supports For Tunnels (AREA)

Abstract

The invention belongs to the technical field of construction of development machines, and particularly relates to a lifting appliance for lifting a TBM (tunnel boring machine) host machine, a lifting device and a method, wherein the lifting appliance comprises: the device comprises a hoop sleeved on a TBM (tunnel boring machine) host, a lifting appliance body fixedly connected with the upper part of the hoop and used for connecting lifting equipment to lift the TBM host, and a support body fixedly connected with the lower part of the hoop and used for supporting the TBM host to be lifted; the lifting appliance body and the supporting body are further fixed with the TBM main machine through fasteners. The automatic positioning of the TBM main machine is realized by using a binocular vision technology, the lifting appliance can be quickly moved above the TBM main machine, and preparation is made for connection and installation of the lifting appliance and the main machine; the lifting device capable of being adjusted in a lifting mode is used for meeting the requirement of lifting the TBM main machine in the limited space range in the tunnel; according to the structural characteristics of the TBM main machine, the special carrying pole beam structure TBM main machine lifting appliance is utilized, the stress condition of the lifting lug is improved, the stress deformation of the main machine in the lifting process is reduced, the safe and stable lifting of the TBM main machine is facilitated, and the special carrying pole beam structure TBM main machine lifting appliance has a good application prospect.

Description

Lifting appliance for TBM (tunnel boring machine) host lifting and lifting device and method
Technical Field
The invention belongs to the technical field of construction of development machines, and particularly relates to a lifting appliance for lifting a TBM (tunnel boring machine) main machine, a lifting device and a lifting method.
Background
The Tunnel Boring Machine (TBM) is the most advanced tunnel excavation and construction equipment in the world at present, and represents a national major technical equipment development level. At present, the long-distance tunnel excavation is carried out by adopting TBM construction, the total length of the TBM is generally 150-250 m, and the weight of a main machine part is 50-280T. With the rapid development of economy in China and the requirement of one-hour economic circle, the requirement of long-distance tunnels is increasing, and the requirement of dismounting TBMs in the tunnels is more and more vigorous. The special equipment for dismounting the TBM in-hole host computer is always a blank in China due to the large tonnage of the TBM host computer, is safe, efficient and quick, belongs to the neck engineering at present, and seriously restricts the development of China in the field.
At present, when the dismounting and maintenance operation is carried out in a TBM tunnel, a dismounting and maintenance tunnel and a maintenance tunnel need to be arranged, so that the section of the dismounting and maintenance tunnel needs to be enlarged, the anchor rod expanding and digging operation is carried out in the tunnel, the construction difficulty is high, and the operation on the working site is dangerous; the disassembling and hoisting mode has high cost, non-reusability, great work amount and high danger coefficient of the operation site.
Disclosure of Invention
Therefore, the lifting appliance, the lifting device and the lifting method for the TBM host machine are provided, the stress condition of the lifting lug in the lifting process of the TBM host machine is improved, the stress deformation in the lifting process of the TBM host machine can be effectively avoided, the semi-automatic lifting height operation requirement in the limited space range in the tunnel can be realized, and the practical scene application is facilitated.
According to the design scheme provided by the invention, the invention provides a lifting appliance for lifting a TBM (tunnel boring machine) host, which comprises: the device comprises a hoop sleeved on a TBM (tunnel boring machine) host, a lifting appliance body fixedly connected with the upper part of the hoop and used for connecting lifting equipment to lift the TBM host, and a support body fixedly connected with the lower part of the hoop and used for supporting the TBM host to be lifted; the lifting appliance body and the supporting body are further fixed with the TBM main machine through fasteners.
As the hoisting tool for hoisting the TBM main machine, further, the hoisting tool body comprises: the device comprises two bearing assemblies and two first connecting seats, wherein the two bearing assemblies are fixed with a hoop, extend along the axial direction of a TBM main machine and are oppositely arranged along the circumferential radial direction of the TBM main machine, and the two first connecting seats are fixed with the end face of the TBM main machine to be hoisted through a fastener; the first connecting seats are respectively fixed with the corresponding bearing components into an integral structure.
As the lifting appliance for lifting the TBM main machine, each bearing component further comprises: the two first bearing plates are oppositely arranged and fixed through a connecting plate; and a plurality of through holes are respectively formed in each first bearing plate, the through holes in the same position on the two first bearing plates which are arranged in opposite directions are coaxially arranged, and a transverse supporting beam correspondingly penetrates through the through holes in the end parts of the two first bearing plates which are arranged in opposite directions.
As the hoisting tool for hoisting the TBM main machine, further, the support body comprises: the two second bearing plates are fixed with the hoop, extend along the axial direction of the TBM main machine and are oppositely arranged along the circumferential radial direction of the TBM main machine, and the two second connecting seats are fixed with the end face of the TBM main machine to be hoisted through a metal part; the second connecting seats and the corresponding second bearing plates are fixed into an integral structure, and supporting bases are respectively fixed on the second bearing plates.
Further, the invention also provides a TBM host hoisting device, comprising: the lifting appliance for lifting the TBM main machine and the lifting and supporting equipment matched with the lifting appliance for lifting the TBM main machine are connected with the lifting appliance through the lifting chain, and the bottom of the lifting and supporting equipment is matched with the walking ground beam, so that the lifting and supporting equipment can move on the walking ground beam in a reciprocating manner.
As the TBM host hoisting device, the hoisting equipment adopts a movable gantry crane.
As the hoisting device for the TBM main unit of the present invention, further, the hoisting equipment includes: the lifting device comprises a supporting beam, a crown block arranged on the supporting beam, a winch fixed on the crown block, and multi-stage telescopic hydraulic cylinders arranged at two ends of the supporting beam and used for lifting and supporting operation, wherein a lifting hook on the winch is connected with a lifting appliance body through a lifting chain; the multi-stage telescopic hydraulic cylinders are arranged on the walking ground beam through the base, and the multi-stage telescopic hydraulic cylinders at the two ends of the supporting cross beam are synchronously controlled through the hydraulic system.
As TBM host computer hoist device of the invention, further, include: and the two sets of synchronous lifting and supporting equipment are used for combining the lifting appliance to carry out the lifting operation of the TBM main machine.
Further, the invention also provides a TBM host hoisting method based on binocular vision, which is realized based on the hoisting device, and the realization process comprises the following contents: collecting TBM host position data by using a binocular camera erected on the lifting equipment; and guiding the lifting equipment to move right above the TBM host by utilizing the position data, and installing and fixing the lifting appliance and the TBM host to be lifted so as to carry out lifting operation of the TBM host.
As the TBM host hoisting method based on binocular vision, the invention further comprises the steps of utilizing position data to guide the process of hoisting and supporting equipment, firstly utilizing a calibration algorithm to carry out three-dimensional calibration on a binocular camera, utilizing calibration parameters to carry out distortion correction on images of a left binocular camera and a right binocular camera, and utilizing the time difference of space points in the imaging of the left binocular camera and the right binocular camera to obtain the space coordinates of the space points; and then, detecting the center position of an inner hole in the upper end surface of the TBM host by using an ellipse fitting method, and acquiring the coordinates of the center position of the inner hole in a world coordinate system by using the coordinates of the center position of the inner hole in the left and right binocular camera image coordinate systems.
The invention has the beneficial effects that:
the automatic positioning of the TBM host is realized by using a binocular vision technology, so that the lifting appliance can be quickly moved above the TBM host, and the preparation is made for the connection and installation of the lifting appliance and the host; further, by using lifting equipment consisting of multi-stage hydraulic cylinders, the engineering requirements on different lifting heights of the TBM main machine in a limited space range in a tunnel can be met; according to the structural characteristics of the TBM host, the TBM host lifting tool with the special carrying pole beam structure is utilized, the stress condition of the lifting lug is improved, the stress deformation of the host in the lifting process is reduced, the TBM host can be safely and stably lifted conveniently, and the TBM host lifting tool has a good application prospect.
Description of the drawings:
FIG. 1 is a schematic diagram of a hanger in the embodiment;
FIG. 2 is a schematic view of an end face of a spreader in the embodiment;
FIG. 3 is an illustration of the installation of the spreader and TBM mainframe in the embodiment;
FIG. 4 is another schematic end view of the installation of the lifting appliance and the TBM main machine in the embodiment;
FIG. 5 is a schematic structural diagram of the hoisting device in the embodiment;
FIG. 6 is an enlarged schematic view of the connection position of the spreader body and the lifting device in the embodiment;
FIG. 7 is a schematic view of the spatial ranging principle of the binocular camera in the embodiment;
fig. 8 is a schematic diagram of the main machine of the target camera positioning TBM in the embodiment.
In the drawing, reference numeral 1 denotes a multi-stage telescopic hydraulic cylinder, reference numeral 2 denotes a support beam, reference numeral 3 denotes a hoisting chain, reference numeral 4 denotes a balance plate, reference numeral 5 denotes a crown block, reference numeral 6 denotes a winch, reference numeral 7 denotes a TBM main machine, reference numeral 8 denotes a spreader, reference numeral 801 denotes a spreader body, reference numeral 802 denotes a hoop, and reference numeral 803 denotes a support body.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention is further described in detail below with reference to the accompanying drawings and technical solutions.
An embodiment of the present invention, as shown in fig. 1 to 6, provides a TBM host hoisting device, including: the lifting device is connected with the lifting tool through a lifting chain, and the bottom of the lifting device is matched with the walking ground beam, so that the lifting device can move on the walking ground beam in a reciprocating manner. Wherein, TBM host computer hoist and mount are with hoist contains: the device comprises a hoop sleeved on a TBM (tunnel boring machine) host, a lifting appliance body fixedly connected with the upper part of the hoop and used for connecting lifting equipment to lift the TBM host, and a support body fixedly connected with the lower part of the hoop and used for supporting the TBM host to be lifted; the lifting appliance body and the supporting body are further fixed with the TBM main machine through fasteners. Simple structure, design science, reasonable combines TBM host computer structure, improves the atress condition of lug in the TBM hoist and mount operation through adjustment hoist structure and shape, reduces the host computer and is out of shape at the atress of hoist and mount in-process, is convenient for realize safe, steady hoist and mount to the TBM host computer.
Furthermore, the lifting equipment adopts a movable gantry crane, so that the TBM main machine is convenient to position and mount and connect all the parts, and stable lifting is convenient to realize. Further, the lifting apparatus comprises: the lifting device comprises a supporting cross beam, a crown block arranged on the supporting cross beam, a winch fixed on the crown block, and multi-stage telescopic hydraulic cylinders arranged at two ends of the supporting cross beam and used for lifting and supporting, wherein a lifting hook on the winch is connected with a lifting appliance body through a lifting chain; the multi-stage telescopic hydraulic cylinders are arranged on the walking ground beam through the base, and the multi-stage telescopic hydraulic cylinders at the two ends of the supporting beam are synchronously controlled through the hydraulic system. Referring to fig. 5, two groups of multi-stage hydraulic cylinders are used for lifting and supporting units, each group of lifting and supporting units comprises eight four-stage hydraulic cylinders, and the lifting tools are combined to meet the engineering requirements of different lifting heights of the TBM main machine in the limited space range in the tunnel and meet the lifting requirements of different tonnages in the narrow space range in the tunnel.
Further, the spreader body comprises: the device comprises two bearing assemblies and two first connecting seats, wherein the two bearing assemblies are fixed with a hoop, extend along the axial direction of a TBM main machine and are oppositely arranged along the circumferential radial direction of the TBM main machine; the first connecting seats are respectively fixed with the corresponding bearing components into an integral structure. Simple structure, it is fixed to be convenient for with the equipment of TBM host computer. Further, each bearing assembly comprises: the two first bearing plates are oppositely arranged and fixed through a connecting plate; and a plurality of through holes are respectively formed in each first bearing plate, the through holes in the same position on the two first bearing plates which are arranged in opposite directions are coaxially arranged, and a transverse supporting beam correspondingly penetrates through the through holes in the end parts of the two first bearing plates which are arranged in opposite directions. Referring to fig. 1-3, a bearing assembly is composed of two first bearing plates and a connecting plate which are arranged oppositely, a hoisting chain of a hoisting machine hook in a lifting and supporting device is fixedly connected by utilizing a perforation and/or a transverse supporting beam on the first bearing plates, the plurality of perforations are convenient for adjustment of a hoisting point, the transverse supporting beam can be used as an alternative for connecting the hoisting chain while reinforcing the stability of a lifting appliance body, and the whole lifting appliance is more flexible and reliable in installation.
Further, the support body includes: the two second bearing plates are fixed with the hoop, extend along the axial direction of the TBM main machine and are oppositely arranged along the circumferential radial direction of the TBM main machine, and the two second connecting seats are fixed with the end face of the TBM main machine to be hoisted through a metal part; the second connecting seat and the corresponding second bearing plate are fixed into an integral structure, and the second bearing plate is respectively fixed with a supporting base. As shown in fig. 1-3, the structure is simple and convenient to realize; furthermore, in the supporting body and the bearing assembly, reinforcing plates can be arranged at the fixed connection part of the bearing plate and the connecting seat and the connection part of the supporting base and the bearing plate so as to stabilize the stability of the whole structure.
Further, the embodiment of the invention also provides a binocular vision-based TBM host hoisting method, which is realized based on the hoisting device, and the realization process comprises the following contents: collecting TBM host position data by using a binocular camera erected on the lifting equipment; and guiding the lifting equipment to move right above the TBM host by utilizing the position data, and installing and fixing the lifting appliance and the TBM host to be lifted so as to carry out lifting operation of the TBM host. The usable two colored area array industrial cameras of binocular camera pass through fasteners such as screw and install on the camera support, and the camera support passes through fasteners such as bolt and installs to be fixed on lifting and propping equipment. Utilize two mesh camera vision techniques to realize automatic identification, the location to the TMB host computer, be convenient for guide overhead hoist fast and remove to the host computer top to the realization promotes hoist and mount efficiency and security to the semi-automatic hoist and mount of host computer.
Further, in the embodiment of the scheme, in the process of guiding the lifting equipment by using the position data, firstly, a calibration algorithm is used for carrying out three-dimensional calibration on the binocular cameras, the calibration parameters are used for carrying out distortion correction on images of the left and right binocular cameras, and the time difference of the space points imaged by the left and right binocular cameras is used for acquiring the space coordinates of the corresponding points in the space; and then, detecting the center position of an inner hole in the upper end surface of the TBM host by using an ellipse fitting method, and acquiring the coordinates of the center position of the inner hole in a world coordinate system by using the coordinates of the center position of the inner hole in the left and right binocular camera image coordinate systems.
Calibrating parameters of the binocular camera by adopting a classical Zhang Zhengyou calibration algorithm, wherein calibration output results comprise an internal parameter matrix, an external parameter matrix and distortion coefficients of the left camera and the right camera; a positional relationship parameter matrix between the left and right cameras. After the binocular camera stereo calibration is completed, distortion correction is performed on the left and right camera images by using calibration parameters, and the spatial coordinates of a point in space can be calculated by using the parallax of the point in the left and right cameras, as shown in fig. 7.
Figure BDA0003615017340000051
P(XP,YP,ZP) Is a little bit in space. B is the base length of the left and right cameras, f is the focal length of the cameras, (u)1,v1) As the coordinates of the principal point of the left camera, all canAnd obtaining the calibration result of the camera. (x)1,y1) The coordinate of the point P on the left camera image point, d is the parallax of the point P on the left and right camera imaging planes, and d is x1-x2。
As shown in fig. 8, before the TBM host is hoisted, the TBM host is generally placed on the ground in a hole flatly or at a small angle, the host is generally circular, the binocular camera is positioned obliquely above the host, and an inner hole in the end face of the host is oval under an image coordinate system. The positioning of the host machine can be realized by detecting the position of the center of the hole in the upper end face of the host machine.
Firstly, the center of the inner hole of the upper end face of the host can be obtained by adopting an ellipse fitting method, and an ellipse fitting algorithm is adopted.
Let the general equation for an ellipse be:
Ax2+Bxy+Cy2+Dx+Ey+1＝0 (2)
let the objective function be:
Figure BDA0003615017340000052
if f → fminThen, there are:
Figure BDA0003615017340000053
when the number n of edge points is greater than or equal to 5, the coefficient A, B, C, D, E of the ellipse can be uniquely determined. The geometric center of the ellipse is:
Figure BDA0003615017340000054
thus, the coordinates of the hole center in the upper end surface of the main frame under the image coordinate systems of the left camera and the right camera can be obtained, and the hole center in the upper end surface of the main frame is at the coordinate (x) of the left camera0l,y0l) At the right camera coordinate (x)0r,y0r) The coordinate (x) of the hole center in the top end face in the world coordinate system is obtained from the formula (1)0,y0,z0)。
In the embodiment of the present case, utilize the hoist to realize safe, steady hoist and mount to the TBM host computer, lift through the liftable and prop the TBM host computer hoist and mount demand that equipment can satisfy different tonnages in the narrow and small space range in the hole to adopt two mesh machine vision techniques to realize automatic identification, the location of TMB host computer, in order can guide the hoist to remove to the host computer top fast and realize the semi-automatic hoist and mount to the host computer, raise the efficiency.
Unless specifically stated otherwise, the relative steps, numerical expressions and values of the components and steps set forth in these embodiments do not limit the scope of the present invention.
In all examples shown and described herein, any particular value should be construed as merely exemplary, and not as a limitation, and thus other examples of example embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present invention, which are used for illustrating the technical solutions of the present invention and not for limiting the same, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. The utility model provides a TBM host computer hoist and mount are with hoist which characterized in that contains: the device comprises a hoop sleeved on a TBM (tunnel boring machine) main machine, a lifting appliance body fixedly connected with the upper part of the hoop and used for connecting lifting equipment to hoist the TBM main machine, and a support body fixedly connected with the lower part of the hoop and used for supporting the TBM main machine to be hoisted; the lifting appliance body and the supporting body are further fixed with the TBM main machine through fasteners.
2. The lifting appliance for hoisting of the TBM main machine according to claim 1, wherein the lifting appliance body comprises: the device comprises two bearing assemblies and two first connecting seats, wherein the two bearing assemblies are fixed with a hoop, extend along the axial direction of a TBM main machine and are oppositely arranged along the circumferential radial direction of the TBM main machine, and the two first connecting seats are fixed with the end face of the TBM main machine to be hoisted through a fastener; the first connecting seats are respectively fixed with the corresponding bearing components into an integral structure.
3. The TBM mainframe hoisting spreader of claim 2, wherein each load-bearing assembly comprises: the two first bearing plates are oppositely arranged and fixed through a connecting plate; and a plurality of through holes are respectively formed in each first bearing plate, the through holes in the same position on the two first bearing plates which are arranged in opposite directions are coaxially arranged, and a transverse supporting beam correspondingly penetrates through the through holes in the end parts of the two first bearing plates which are arranged in opposite directions.
4. The hoisting tool for hoisting the TBM main machine according to claim 1, wherein the support body comprises: the two second bearing plates are fixed with the hoop, extend along the axial direction of the TBM main machine and are oppositely arranged along the circumferential radial direction of the TBM main machine, and the two second connecting seats are fixed with the end face of the TBM main machine to be hoisted through a metal part; the second connecting seat and the corresponding second bearing plate are fixed into an integral structure, and the second bearing plate is respectively fixed with a supporting base.
5. The utility model provides a TBM host computer hoist device which characterized in that contains: the lifting appliance for lifting the TBM main unit as claimed in claim 1, and a lifting device cooperating with the lifting appliance to lift the TBM main unit, wherein the lifting device is connected to the lifting appliance through a lifting chain, and the bottom of the lifting device cooperates with the walking beam to enable the lifting device to move back and forth on the walking beam.
6. The TBM main unit hoisting device according to claim 5, wherein the hoisting equipment is a mobile gantry crane.
7. The TBM host hoisting device of claim 5 or 6, wherein the lifting apparatus comprises: the lifting device comprises a supporting beam, a crown block arranged on the supporting beam, a winch fixed on the crown block, and multi-stage telescopic hydraulic cylinders arranged at two ends of the supporting beam and used for lifting and supporting operation, wherein a lifting hook on the winch is connected with a lifting appliance body through a lifting chain; the multi-stage telescopic hydraulic cylinders are arranged on the walking ground beam through the base, and the multi-stage telescopic hydraulic cylinders at the two ends of the supporting beam are synchronously controlled through the hydraulic system.
8. The TBM main frame hoisting device according to claim 5, comprising: and the two sets of synchronous lifting and supporting equipment are used for combining the lifting appliance to carry out the lifting operation of the TBM main machine.
9. A TBM host hoisting method based on binocular vision is characterized in that the method is realized based on the device of claim 5, and the realization process comprises the following steps:
collecting TBM host position data by using a binocular camera erected on the lifting equipment;
and guiding the lifting equipment to move right above the TBM host by utilizing the position data, and installing and fixing the lifting appliance and the TBM host to be lifted so as to carry out lifting operation of the TBM host.
10. The TBM host hoisting method based on binocular vision of claim 9, wherein in the process of guiding the hoisting equipment by using position data, firstly, a calibration algorithm is used for carrying out three-dimensional calibration on binocular cameras, distortion correction is carried out on images of the left and right binocular cameras by using calibration parameters, and space coordinates of corresponding points of a space point are obtained by using the imaging time difference of the space point between the left and right binocular cameras; and then, detecting the center position of an inner hole in the upper end surface of the TBM host by using an ellipse fitting method, and acquiring the coordinates of the center position of the inner hole in a world coordinate system by using the coordinates of the center position of the inner hole in the left and right binocular camera image coordinate systems.
CN202210440941.1A 2022-04-25 2022-04-25 Lifting appliance for TBM (Tunnel boring machine) main machine lifting and lifting device and method Pending CN114772451A (en)

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CN202210440941.1A CN114772451A (en) 2022-04-25 2022-04-25 Lifting appliance for TBM (Tunnel boring machine) main machine lifting and lifting device and method

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Application Number Priority Date Filing Date Title
CN202210440941.1A CN114772451A (en) 2022-04-25 2022-04-25 Lifting appliance for TBM (Tunnel boring machine) main machine lifting and lifting device and method

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