CN115263325A - Attitude guide device for automatically following shield tunneling machine tunneling and control method thereof - Google Patents
Attitude guide device for automatically following shield tunneling machine tunneling and control method thereof Download PDFInfo
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- CN115263325A CN115263325A CN202211037735.2A CN202211037735A CN115263325A CN 115263325 A CN115263325 A CN 115263325A CN 202211037735 A CN202211037735 A CN 202211037735A CN 115263325 A CN115263325 A CN 115263325A
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- 230000005641 tunneling Effects 0.000 title claims abstract description 69
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000010276 construction Methods 0.000 abstract description 12
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 239000011435 rock Substances 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
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- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The posture guiding device capable of automatically following the tunneling of the shield tunneling machine is connected with a shield tunneling machine coil and comprises a sliding rail system, wherein the sliding rail system is connected with a guiding system, the sliding rail system and the guiding system are both in signal connection with a control system, one end of the sliding rail system is magnetically connected with the shield tunneling machine coil through a magnetic block, and the sliding rail system is perpendicular to the shield tunneling machine coil. The invention discloses a control method of an attitude guide device for automatically following shield tunneling machine tunneling, which comprises the following steps: adjusting the position of the guide system and checking to ensure the accuracy of the data; and (3) obtaining the position coordinates of points on the laser target before and after the shield machine is driven into the tunnel by using laser emitted by a laser emitter of the total station, calculating the position coordinates of the laser target after the driving is stopped according to the coordinates before the driving, and then comparing to judge whether deviation exists. The invention realizes the automatic movement of the guide device, saves the labor cost and time for station changing and curve station changing, and accelerates the construction progress.
Description
Technical Field
The invention belongs to the technical field of shield construction, and particularly relates to an attitude guide device for automatically following the tunneling of a shield machine, and a control method of the attitude guide device for automatically following the tunneling of the shield machine.
Background
The shield machine is a professional machine used for tunneling and other underground engineering construction. Along with the development of the times, the process of urbanization is accelerated continuously in recent years, tunnel engineering is also implemented rapidly, in the tunnel excavation process, tunnel engineering with extremely hard rocks, strong rock burst, large deformation of soft soil, mud outburst, water outburst, high-geothermal heat and other unfavorable geology is more and more generated, the phenomenon that the running track of a shield machine generates deviation with the design axis is very common, a plurality of challenges are brought to the construction of the shield, if the treatment is improper, the construction period is delayed, huge economic loss is generated, even casualties are caused in serious cases, disasters such as segment breakage, tunnel deformation and the like caused by the fact that the posture of the shield machine is not controlled accurately are reported frequently, tunnel collapse is caused more seriously, and the threats are caused to the lives of workers. Therefore, it is necessary to use a guidance system to guide the driver in construction and to avoid manual work in the tunnel. However, the existing shield guiding system is not mature enough, continuous manual station changing and operation are needed, the whole process is random, the manual measurement has inevitable errors, the manual station changing time is long, time and labor are wasted, the construction progress is influenced, the construction efficiency is restricted, and the construction cost is increased.
At present, the technology of carrying the guide device on the shield machine for automatic movement is not developed and applied for a long time, and the data measured by the movable guide device has important value for the research of the shield machine tunneling, so that good social benefit and economic benefit can be generated.
Disclosure of Invention
The invention aims to provide an attitude guide device for automatically following the tunneling of a shield machine, which solves the problem that the construction efficiency is reduced because the station is frequently changed manually and in a curve manner.
The invention also aims to provide a control method of the attitude guide device for automatically following the tunneling of the shield tunneling machine, which is simple to operate and beneficial to improving the construction efficiency.
The first technical scheme of the invention is that the attitude guide device automatically following the tunneling of the shield tunneling machine is connected with a shield tunneling machine coil and comprises a slide rail system and a guide system which are connected with each other, wherein the slide rail system and the guide system are respectively in signal connection with a control system, the slide rail system is magnetically connected with the shield tunneling machine coil through a magnetic block, and the slide rail system is vertical to the shield tunneling machine coil.
The first aspect of the present invention is also characterized in that,
the slide rail system comprises a slide rail perpendicular to a shield machine coil, a slide block is clamped on the slide rail, a ball is abutted between the slide rail and the slide block, a control module a is fixedly connected to one side of the slide block, and the control module a is in signal connection with a control system.
The guide system comprises a lifting rod fixedly connected to the bottom of the sliding block, the lifting rod is in signal connection with the control system, and one end of the lifting rod, which is far away from the sliding block, is fixedly connected with a laser target;
the guiding system further comprises a moving trolley, the top of the moving trolley is connected with a total station through a buckle in a clamping mode, the total station is in signal connection with the control system, and a control module b is arranged in the moving trolley and is in signal connection with the control system.
The control system comprises an industrial computer and a radio station which are in signal connection with each other, and the radio station is in signal connection with the control module a, the control module b, the lifting rod and the total station.
The second technical scheme of the invention is that the control method of the attitude guide device for automatically following the tunneling of the shield machine comprises the following steps:
step 1: adjusting the direction between the laser target and the total station through the slide block and the lifting rod, aligning a built-in laser emitter of the total station to the laser target, and checking the normal use condition of the equipment;
step 2: the method comprises the steps that a laser emitter arranged in a total station instrument is used for emitting laser to a laser target light-sensitive surface, then the total station instrument is used for measuring to obtain the position coordinates of a laser point on a laser target, a control system drives a sliding block to drive the laser target to move back and forth, the total station instrument is used for measuring again to obtain multiple groups of directions, distances and angles of the laser target at different positions, namely the initial coordinates of the shield machine before tunneling;
and 3, step 3: sending the initial coordinates obtained in the step (2) back to an industrial computer through a radio station, and calculating termination coordinates of the laser target at different positions when the shield machine stops tunneling through the industrial computer according to the initial coordinates and the preset direction and distance of the shield machine;
and 4, step 4: after the tunneling of the shield tunneling machine is stopped, the control module a receives moving information sent by an industrial computer through a radio station, so that the sliding block moves along the sliding rail, and a plurality of groups of directions, distances and angles at different positions with the laser target are measured;
and 5: transmitting the three groups of directions, distances and angles of the laser target at different positions, which are measured in the step 4, back to an industrial computer through a radio station, comparing and analyzing the three groups of directions, distances and angles with the termination coordinates, and judging whether deviation exists or not;
step 6: if the deviation occurs, adjusting the direction and the position of the shield machine in time according to the phase difference data;
and if the position coordinate of the shield tunneling machine is consistent with the prediction, moving the total station to the tunneling direction of the shield tunneling machine by using the movable trolley, keeping the position between the total station and the shield tunneling machine to be measured accurately, and repeating the steps 2 to 6.
The invention has the beneficial effects that:
according to the guiding device, the total station and the laser target are arranged, manual station changing is not needed, the laser target and the total station are convenient to install, the requirement on the installation environment is not high, the direction and the position can be accurately provided for the shield machine, the sliding rail system is additionally arranged at the top of the shield machine, full-automatic station changing is achieved, the automatic moving work of the guiding device is achieved, the labor cost and time for station changing and curve station changing are saved, and the construction progress is accelerated.
Drawings
FIG. 1 is a schematic structural diagram of an attitude guide device for automatically following the tunneling of a shield machine;
FIG. 2 is a schematic structural diagram of a sliding rail system in the attitude guide device for automatically following the tunneling of the shield machine;
FIG. 3 is a schematic structural diagram of a control system in the attitude guide device for automatically following the tunneling of the shield machine;
fig. 4 is a flow chart of the control method of the attitude guide device for automatically following the tunneling of the shield machine.
In the figure, 1 is a shield machine coil, 2 is a magnetic block, 3 is a sliding rail, 4 is a sliding block, 5 is a ball, 6 is a lifting rod, 7 is a control module a,8 is a laser target, 9 is a buckle, 10 is a moving trolley, 11 is a control module b,12 is an industrial computer, 13 is a radio station, 14 is a control module c,15 is a total station.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the posture guiding device for automatically following the tunneling of a shield machine is connected with a shield machine coil 1, and comprises a sliding rail system, wherein the sliding rail system is connected with a guiding system, the sliding rail system and the guiding system are both in signal connection with a control system, one end of the sliding rail system is magnetically connected with the shield machine coil 1 through a magnet 2, the sliding rail system is perpendicular to the shield machine coil 1, the sliding rail system comprises a sliding rail 3 perpendicular to the shield machine coil 1, a sliding block 4 is clamped on the sliding rail 3, a ball 5 is abutted between the sliding rail 3 and the sliding block 4, one side of the sliding block 4 is fixedly connected with a control module a7, the control module a7 is in signal connection with the control system and used for controlling the sliding block 4 to move on the sliding rail 3 to obtain the position coordinates of laser targets 8 at different positions and ensure the accuracy of the guiding system, the guiding system comprises a lifting rod 6 fixedly connected to the bottom of the sliding block 4, the lifting rod 6 is in signal connection with the control system, one end of the lifting rod 6, which is fixedly connected with the sliding block 4, and is fixedly connected with the target 8, and the lifting rod 6 controls the laser targets 8 to move up and down.
As shown in fig. 2, the guiding system further includes a moving trolley 10, a total station 15 is fastened to the top of the moving trolley 10 through a buckle 9 and used for detecting the direction, distance and angle of the laser target 8, the total station 15 is in signal connection with a control system and transmits measured data back to an industrial computer, and a control module b11 is arranged in the moving trolley 10 and is in signal connection with the control system b 11.
As shown in fig. 3, the control system includes an industrial computer 12 and a radio station 13 in signal connection with each other, the radio station 13 is in signal connection with the control module a7, the control module b11, the control module c14 and the total station 15, and the industrial computer 12 sends instructions to the respective control modules through the radio station 13 for controlling the whole system.
As shown in fig. 4, the method for controlling the attitude guide device for automatically following the tunneling of the shield machine of the present invention specifically comprises the following steps:
step 1: the direction between the laser target 8 and the total station 15 is adjusted through the slide block 4 and the lifting rod 6, a built-in laser emitter of the total station 15 is aligned to the laser target 8, the normal use condition of the equipment is checked, and the integrity of the equipment and the accuracy of data are ensured;
and 2, step: a laser emitter arranged in a total station 15 is used for emitting laser to a photosurface of a laser target 8, then the total station 15 is used for measuring to obtain the position coordinates of a laser spot on the laser target 8, a control system drives a slide block 4 to drive the laser target 8 to move back and forth, and the total station 15 is used for measuring again to obtain a plurality of groups of directions, distances and angles of the laser target 8 at different positions, namely the initial coordinates of the shield tunneling machine before tunneling;
and 3, step 3: sending the initial coordinates obtained in the step 2 back to an industrial computer 12 through a radio station 13, and calculating the termination coordinates of the laser targets 8 in different positions of the step 2 when the shield tunneling machine stops tunneling through the industrial computer 12 according to the initial coordinates and the preset direction and distance of the shield tunneling machine;
and 4, step 4: after the shield machine stops tunneling, the control module a7 receives movement information sent by the industrial computer 12 through the radio station 13, so that the sliding block 4 moves along the sliding rail 3, and a plurality of groups of directions, distances and angles at different positions from the laser target 8 in the step 2 are measured;
and 5: transmitting the three groups of directions, distances and angles of the laser target 8 at different positions, which are measured in the step 4, back to the industrial computer 12 through the radio station 13, comparing and analyzing the three groups of directions, distances and angles with the termination coordinates in the step 3, and judging whether deviation exists or not;
step 6: if deviation occurs, timely reporting the difference data to technical staff, and adjusting the direction and the position of the shield machine;
and if the position coordinate of the shield tunneling machine is consistent with the prediction, the total station 15 is moved towards the tunneling direction of the shield tunneling machine by the movable trolley 10, the position between the total station and the shield tunneling machine is kept to be measured accurately, and the steps 2 to 6 are repeated, so that the control of the guide device for automatically following the tunneling of the shield tunneling machine is realized.
Claims (5)
1. The posture guiding device capable of automatically following the tunneling of the shield tunneling machine is connected with a shield tunneling machine coil (1), and is characterized by comprising a sliding rail system and a guiding system which are connected, wherein the sliding rail system and the guiding system are respectively in signal connection with a control system, the sliding rail system is magnetically connected with the shield tunneling machine coil (1) through a magnetic block (2), and the sliding rail system is perpendicular to the shield tunneling machine coil (1).
2. The attitude guide device for automatically following the shield tunneling machine according to claim 1, wherein the slide rail system comprises a slide rail (3) perpendicular to a shield tunneling machine coil (1), a slide block (4) is clamped on the slide rail (3), a ball (5) is abutted between the slide rail (3) and the slide block (4), a control module a (7) is fixedly connected to one side of the slide block (4), and the control module a (7) is in signal connection with a control system.
3. The attitude guide device for automatically following the tunneling of a shield tunneling machine according to claim 2, wherein the guide system comprises a lifting rod (6) fixedly connected to the bottom of the sliding block (4), the lifting rod (6) is in signal connection with a control system, and one end of the lifting rod (6) away from the sliding block (4) is fixedly connected with a laser target (8);
the guiding system further comprises a moving trolley (10), the top of the moving trolley (10) is connected with a total station (15) in a clamping mode through a clamp (9), the total station (15) is in signal connection with a control system, a control module b (11) is arranged in the moving trolley (10), and the control module b (11) is in signal connection with the control system.
4. An attitude guide apparatus for automatically following the shield tunneling machine according to claim 3, characterized in that the control system comprises an industrial computer (12) and a radio station (13) in signal connection with each other, and the radio station (13) is in signal connection with the control module a (7), the control module b (11), the lifting rod (6) and the total station (15).
5. The control method of the attitude guide device for automatically following the tunneling of the shield machine is characterized in that the attitude guide device for automatically following the tunneling of the shield machine according to claim 4 is used, and the method specifically comprises the following steps:
step 1: the direction between the laser target (8) and the total station (15) is adjusted through the slide block (4) and the lifting rod (6), a built-in laser emitter of the total station (15) is aligned to the laser target (8), and the normal use condition of the equipment is checked;
step 2: a laser emitter arranged in a total station (15) is used for emitting laser to a photosurface of a laser target (8), then the total station (15) is used for measuring to obtain the position coordinate of a laser point on the laser target (8), a control system drives a sliding block (4) to drive the laser target (8) to move back and forth, the total station (15) is used for measuring again to obtain a plurality of groups of directions, distances and angles of the laser target (8) at different positions, and the directions, the distances and the angles are initial coordinates of the shield machine before tunneling;
and step 3: sending the initial coordinates obtained in the step (2) back to an industrial computer (12) through a radio station (13), and calculating the termination coordinates of the laser targets (8) in different positions when the shield machine stops tunneling through the industrial computer (12) according to the initial coordinates and the preset direction and distance of the shield machine;
and 4, step 4: after the shield machine stops tunneling, the control module a (7) receives moving information sent by an industrial computer (12) through a radio station (13), so that the sliding block (4) moves along the sliding rail (3), and a plurality of groups of directions, distances and angles of the laser target (8) in different positions in the step 2 are measured;
and 5: transmitting the three groups of directions, distances and angles of the laser target (8) at different positions, which are measured in the step (4), back to an industrial computer (12) through a radio station (13), comparing and analyzing the three groups of directions, distances and angles with the termination coordinate in the step (3), and judging whether deviation exists;
step 6: if the deviation occurs, adjusting the direction and the position of the shield machine in time according to the phase difference data;
and if the position coordinate of the shield tunneling machine is consistent with the prediction, the total station (15) is moved towards the tunneling direction of the shield tunneling machine by the movable trolley (10), the position between the total station and the shield tunneling machine is kept accurately measured, and the steps 2 to 6 are repeated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211037735.2A CN115263325A (en) | 2022-08-26 | 2022-08-26 | Attitude guide device for automatically following shield tunneling machine tunneling and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202211037735.2A CN115263325A (en) | 2022-08-26 | 2022-08-26 | Attitude guide device for automatically following shield tunneling machine tunneling and control method thereof |
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| CN115263325A true CN115263325A (en) | 2022-11-01 |
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| CN202211037735.2A Pending CN115263325A (en) | 2022-08-26 | 2022-08-26 | Attitude guide device for automatically following shield tunneling machine tunneling and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117075125A (en) * | 2023-07-31 | 2023-11-17 | 北京工业大学 | Method for monitoring spatial attitude of model test shield tunneling machine based on laser range finder |
-
2022
- 2022-08-26 CN CN202211037735.2A patent/CN115263325A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117075125A (en) * | 2023-07-31 | 2023-11-17 | 北京工业大学 | Method for monitoring spatial attitude of model test shield tunneling machine based on laser range finder |
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