CN115371576A - Shield tail clearance measuring device and method in shield tunneling machine construction process - Google Patents
Shield tail clearance measuring device and method in shield tunneling machine construction process Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
- E21D9/0621—Shield advancing devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
The invention belongs to the technical field of construction of a tunneling machine, and particularly relates to a shield tail clearance measuring device and a shield tail clearance measuring method in the construction process of a shield machine.
Description
Technical Field
The invention belongs to the technical field of construction of tunneling machines, and particularly relates to a shield tail clearance measuring device and method in the construction process of a shield machine.
Background
In recent years, with the development of the shield machine industry, shield machine equipment is continuously improved, and in addition, the tunnel construction has higher and higher safety and technical requirements, so that functions which are not paid much attention in the past are improved to use schedules. In addition, with the improvement and development of science and technology and new technology, some functional blocks based on the new technology are developed and applied, and the shield tail clearance automatic measurement system belongs to one of the functional blocks. Because the technology is not formally used for a long time, although some technical schemes exist, the existing several main measurement modes have obvious limitations. The manual measurement method is time-consuming and labor-consuming, the measurement error is greatly influenced by the segment processing error, and the measurement error is different from person to person; part of the existing shield tail clearance automatic measurement modes need reference objects with known sizes, if the reference objects are changed or damage measurement results, the measurement results are inaccurate, or measurement and calibration are needed during initial use, and the use is troublesome; the existing technology for calculating the shield tail clearance by detecting the distance between a shield body and a duct piece in the market can only be used for measuring once per circle, and the shield tail clearance cannot be detected in real time; the automatic measurement method for directly measuring the shield tail clearance by adopting the sensor in the existing market has the biggest problem of inconvenient assembly and disassembly, and particularly, the assembly and disassembly of some old shield machines are inconvenient. In summary, in the existing measurement schemes, there are significant defects in terms of feasibility and convenience of assembly and disassembly, light interference resistance, measurement accuracy, and the like, so that it is necessary to research a new measurement method.
Disclosure of Invention
Therefore, the shield tail gap measuring device and method in the shield machine construction process provided by the invention have the advantages that the three-dimensional point cloud data for gap calculation is obtained by directly utilizing the measuring equipment, other external parameters are avoided being introduced, the measuring error is reduced, the measuring precision and efficiency are improved, and the practical scene application is facilitated.
According to the design scheme provided by the invention, the shield tail clearance measuring device in the shield machine construction process is provided, and comprises: the shield tunneling machine comprises a measuring device which is arranged on a shield tunneling machine thrust cylinder base and used for acquiring clearance data of a corresponding segment of the thrust cylinder and the shield tail inner wall, and an upper computer which is connected with the measuring device and used for analyzing and processing the clearance data acquired by the measuring device.
As the shield tail clearance measuring device in the shield machine construction process, further, the measuring equipment comprises: the laser emitter is used for emitting laser to position the gap between the pipe piece and the inner wall of the shield tail, and the binocular camera is used for collecting laser positioning data of the laser emitter.
As the shield tail clearance measuring device in the shield machine construction process, a plurality of measuring devices are further arranged according to the number of the pipe pieces to be measured and the inner wall clearance of the shield tail and the use requirement, and each measuring device is arranged on the shield machine propulsion oil cylinder base corresponding to the pipe piece.
The shield tail clearance measuring device in the shield machine construction process further comprises the following steps: at least 2 measuring equipment, utilize the measuring equipment who sets up to obtain every section of jurisdiction and shield tail inner wall clearance data in the section of jurisdiction installation at every turn.
Further, the invention also provides a shield tail clearance measuring method in the shield machine construction process, which is realized based on the device, and the realization process comprises the following contents:
acquiring point cloud coordinate tracks in all coverage area ranges of the segments, the inner wall of the shield tail and a gap between the segments and the inner wall of the shield tail by using measuring equipment according to the inner wall of the shield body, the segments section and the axis of the shield machine;
and eliminating points outside the shield tail inner wall and the segment section in the point cloud coordinate track, searching a coordinate area of a shield tail gap position, acquiring an end point coordinate of a gap between the shield tail inner wall and the segment through data comparison, and determining the size of the shield tail gap to be measured by using the end point coordinate.
As the shield tail clearance measuring method in the shield machine construction process, further, the measuring equipment comprises: a two mesh cameras for launching laser fixes a position all coverage areas in section of jurisdiction and shield tail inner wall clearance, and be used for gathering laser emitter laser positioning data, wherein, laser emitter fixes a position out through launching laser at least at clearance coverage area positioning process: the shield tail inner wall, the segment section and the axis of the shield tunneling machine, and the plane where the laser emitting surface is located points to the axis of the shield tunneling machine.
As the shield tail clearance measuring method in the shield machine construction process, a unified three-dimensional Cartesian coordinate system is constructed by taking the center of the front side of the measuring equipment as the origin of the coordinate system and the front side of the measuring equipment as the Z-axis direction of the coordinate system; and acquiring effective points in the gap coverage area through a uniform three-dimensional Cartesian coordinate system, and constructing a point cloud coordinate track according to the acquired effective points.
The shield tail clearance measuring method in the shield machine construction process further comprises the steps of constructing a straight-line segment which is closest to a measuring device on a segment section in the endpoint coordinates of the clearance, and screening out straight-line segment candidate coordinate data used for determining the clearance of the shield tail to be measured on the straight-line segment according to the Z-axis direction coordinate value of a coordinate point on the straight-line segment; constructing a space linear equation of the linear segment by utilizing the candidate coordinate data of the linear segment; and then screening out a clearance endpoint on the duct piece according to the Z-axis direction coordinate value and the coordinate sequence of the coordinate points on the section of the duct piece, constructing a space linear equation of the two endpoints of the shield tail clearance according to the fact that the straight line of the two endpoints of the shield tail clearance to be detected is parallel to the straight line of the straight line segment, and determining the coordinate of the other clearance endpoint on the inner wall of the shield tail.
The shield tail clearance measuring method in the shield machine construction process further comprises the steps of dividing a straight line segment into a plurality of fine segments according to the number of coordinates of the straight line segment in the space linear equation of the straight line segment, solving coefficients in the space linear equation according to head and tail coordinates of each fine segment, summarizing the space linear equation coefficients in each fine segment, and determining the space linear equation coefficient of the straight line segment by summing and averaging the coefficients.
The shield tail clearance measuring method in the shield machine construction process is characterized in that two end points B (X) of the clearance are obtained B ,Y B ,Z B ) And G (X) G ,Y G ,Z G ) By the formula
The size of the gap between the shield tails to be measured is calculated.
The invention has the beneficial effects that:
according to the invention, the gap between the duct piece and the shield body is measured by utilizing the measuring equipment and combining with the upper computer, the traditional manual measurement is eliminated, the manpower is liberated, the automation of shield tail gap measurement can be realized, the automatic shield tail gap measurement is eliminated from the dependence on a reference object or the need of initial calibration, the factors possibly causing measurement errors are reduced, the measurement precision and efficiency are improved, and the problems of inconvenient installation and disassembly and the like in the automatic measurement scheme for directly measuring the shield tail gap by adopting a sensor in the existing market are solved.
Description of the drawings:
FIG. 1 is a schematic view of the installation of the measuring apparatus in the embodiment;
FIG. 2 is a view field of a measuring apparatus in the embodiment;
FIG. 3 is a schematic view of the cross-sectional processing of the segment in the measurement process in the example.
In the figure, the reference numeral 1 represents a shield body, the reference numeral 2 represents a duct piece, the reference numeral 3 represents measuring equipment, and the reference numeral 4 represents a gap to be measured.
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.
Binocular stereoscopic vision: an important form of machine vision is a method for acquiring three-dimensional geometric information of an object by acquiring two images of the object to be measured from different positions by using an imaging device based on a parallax principle and calculating position deviation between corresponding points of the images. Gap between shield tails: the size of the gap between the inner side of the tail shield of the shield tunneling machine and the outer side of the corresponding segment is often used as an important basis for segment type selection. The embodiment of the invention provides a shield tail clearance measuring device in the construction process of a shield machine, which comprises: the shield tunneling machine comprises a measuring device which is arranged on a shield tunneling machine propulsion oil cylinder base and used for acquiring clearance data of corresponding pipe pieces of the propulsion oil cylinder and the shield tail inner wall, and an upper computer which is connected with the measuring device and used for analyzing and processing the clearance data acquired by the measuring device.
The gap between a duct piece and a shield body is measured by utilizing measuring equipment and combining an upper computer, the problem that external light interference resistance is poor in a shield tail gap automatic measuring scheme applying a photographing analysis principle in the existing market and the problem that the shield tail gap automatic measuring scheme adopting a sensor direct measurement principle is inconvenient to install and the like is solved.
Further, in this embodiment, the measurement apparatus includes: the laser emitter is used for emitting laser to position the gap between the pipe piece and the inner wall of the shield tail, and the binocular camera is used for collecting laser positioning data of the laser emitter. Or, other sensors or measuring instruments capable of realizing the function of acquiring the positioning data can be used while the measuring effect is not influenced.
The duct piece is wrapped by the shield body after being installed, and the gap between the shield tail and the inner wall of the shield body is just the gap distance between the duct piece of the current ring which is just installed and the inner wall of the shield body. As shown in fig. 1, the measuring device can be placed near the bottom of a thrust cylinder of a shield machine, so that line laser is projected on the inner wall of the shield body and the section of a segment, the presenting direction of the line laser points to the axis of the shield machine, and two dotted lines emitted by the measuring device represent a laser coverage area; the method comprises the steps of detecting three-dimensional coordinate data of all points on a laser line through measuring equipment, namely coordinate data of point clouds on the inner wall of a shield body and the section of a duct piece in the figure 1, after obtaining coordinates of the points, analyzing all the points through an upper computer, rejecting unqualified data with obvious deviation by utilizing a corresponding algorithm, removing the points outside the inner wall of the shield body and the section of the duct piece, determining point cloud data in all ranges on the inner wall of the shield body and the section of the duct piece, finding a coordinate area of a gap position of the shield tail through analyzing data by utilizing the upper computer, comparing two end points of the gap through data processing, and finally calculating the gap size of the shield tail of the measured position.
Furthermore, in the embodiment of the scheme, according to the number of the pipe pieces to be detected and the use requirement of the inner wall gap of the shield tail, a plurality of measuring devices are arranged, and each measuring device is installed on the shield machine thrust cylinder base corresponding to the pipe piece. The segments are assembled in a circle at each time, and the measuring equipment can be correspondingly arranged on a base of a thrust oil cylinder of the shield tunneling machine according to the actual application requirement so as to measure the gap between the segments corresponding to the front of the oil cylinder and the shield tail. Further, at least 2 measuring devices can be used for acquiring the data of the clearance between each segment and the inner wall of the shield tail in each segment installation process.
Further, based on the above device, an embodiment of the present invention further provides a method for measuring a shield tail gap in a shield machine construction process, including the following steps:
acquiring point cloud coordinate tracks in all coverage area ranges of gaps between the duct pieces and the inner wall of the shield tail by using measuring equipment according to the inner wall of the shield body, the section of the duct pieces and the axis of the shield machine;
and eliminating points outside the shield tail inner wall and the segment section in the point cloud coordinate track, searching a coordinate area of a shield tail gap position, acquiring an end point coordinate of a gap between the shield tail inner wall and the segment through data comparison, and determining the size of the shield tail gap to be measured by using the end point coordinate.
Need not to add at section of jurisdiction or other positions and measure the characteristic point location, need not measuring or reading other external data, if measuring device to section of jurisdiction distance, section of jurisdiction thickness etc, in the embodiment of the present case, directly only utilize measuring equipment to acquire section of jurisdiction and shield body clearance measurement coordinate data, whole journey only need measure and independently accomplish, measuring equipment directly records three-dimensional point cloud data, and then infer and acquire clearance distance through three-dimensional point cloud data analysis, can not be because of the measuring error of device to section of jurisdiction distance, outside parameters such as thickness error that section of jurisdiction production and processing arouses increase shield tail clearance system measuring error itself, guarantee measurement accuracy, promote measurement of efficiency.
Further, the laser emitter is positioned by emitting laser light at least during the positioning of the gap coverage area: the shield tail inner wall, the segment section and the axis of the shield tunneling machine, and the plane where the laser emitting surface is located points to the axis of the shield tunneling machine. Further, a unified three-dimensional Cartesian coordinate system is constructed by taking the center of the front side of the measuring equipment as the origin of the coordinate system and taking the front side of the measuring equipment as the Z-axis direction of the coordinate system; and acquiring effective points in the gap coverage area through a uniform three-dimensional Cartesian coordinate system, and constructing a point cloud coordinate track according to the acquired effective points.
Referring to fig. 2, a unified coordinate system is established in the system, and the coordinates of all the effective points a to B and C to D at the positions of the laser lines are calculated according to the analysis of the measuring unit. Taking the center of the front of the measuring unit as the origin of a three-dimensional Cartesian coordinate system, and taking the front of the measuring unit as the Z-axis direction of the coordinate system; the coordinate system is given by the measuring unit. Because the tunnel is arranged inside the inner wall of the duct piece, and the gaps are formed between the outer wall of the duct piece and the inner wall of the shield body, no direct shielding object exists, two parts, namely A to B and C to D, of the laser line which can be detected in the visual field exist.
Further, in the embodiment of the scheme, a straight-line segment closest to the measuring equipment on the section of the duct piece is constructed in the end point coordinates of the gap, and candidate coordinate data of the straight-line segment on the straight-line segment, which are used for determining the size of the gap between the shield tails to be measured, are screened out according to the Z-axis direction coordinate value of a coordinate point on the straight-line segment; constructing a space linear equation of the linear segment by utilizing the candidate coordinate data of the linear segment; and then screening out a clearance endpoint on the duct piece according to the Z-axis direction coordinate value and the coordinate sequence of the coordinate points on the section of the duct piece, establishing a space linear equation of the two endpoints of the shield tail clearance according to the fact that the straight line of the two endpoints of the shield tail clearance to be detected is parallel to the straight line of the straight line segment, and determining the coordinate of the other clearance endpoint on the inner wall of the shield tail. Further, in the construction of the space linear equation of the linear segment, the linear segment is divided into a plurality of fine segments according to the number of the coordinates of the linear segment, the coefficients in the space linear equation are solved according to the head and tail coordinates of each fine segment, the space linear equation coefficients in each fine segment are collected, and the space linear equation coefficients of the linear segment are determined by summing and averaging the coefficients.
Since the front end face of the tube sheet is not a complete plane and the tube sheet is attached, A to B are not a straight line, as shown in FIG. 3. The laser line can be regarded as a straight line segment from a point E to a point F on a plane, and the spatial straight line equation of the straight line segment EF is set as follows:
Ax+By+Cz＝1 (1)
let the coordinates of each coordinate point from a to B and C to D be Qn (Xn, yn, zn) in this order, where n is a positive integer increasing in this order from 1, and the maximum value n varies according to the measurement unit configuration.
Because the plane of the front surface of the measuring unit is approximately parallel to the section of the tunnel, and the Z axis is vertical to the plane of the front surface of the measuring unit, the Z axis is approximately vertical to the front end surface of the duct piece. As can be seen from fig. 3, when the coordinate point on the segment of the laser line EF is closest to the measuring unit, the Z value of the coordinate point is smaller than the Z values of other coordinate points on the segment. Therefore, all coordinate data on the EF segment laser line can be screened out according to the following two criteria, as follows: (1) Compared with the coordinates of other laser points on the segment, the Z value of each coordinate point on the EF segment is smaller, and the size change is uniform; (2) Compared with the coordinate points close to the two sides of the EF, the Z values of the point E and the point F are obviously changed. All coordinate data on the EF section laser line can be screened out through the rule, and the coordinate data are P1 (X1, Y1, Z1), P2 (X2, Y2, Z2), P3 (X3, Y3, Z3) \8230, pn (Xn, yn, zn), wherein n is a positive integer and is the number of coordinate points on the EF end laser line, and the value of n is determined by the length of EF and the number of coordinate points actually measured by the measuring unit.
In the calculation of the spatial straight line equation of the EF section, if n is an even number, the EF section is divided into n/2 sections, namely a point P1-point P (n/2 + 1) section and a point P2-point P (n/2 + 2) section of 8230and a Pn/2-point P2 section, and the form of equation (1) is obtained according to the coordinates of the head point and the tail point of each section, so that the corresponding values of the straight lines A, B and C are respectively A1, B1, C1, A2, B2 and C2 \8230Aand A1 n/2 、B n/2 、C n/2 . And finally, summing the n/2 groups of the arrays and taking the average value to obtain the values of A, B and C. If n is an odd number, EF is divided into n/2 sections which are respectively a point P1-point P (n + 1)/2 section, a point P2-point P (n + 3)/2 section \8230anda P (n-1)/2-point P (n-1) section, the form of equation (1) is obtained according to the coordinates of the head point and the tail point of each section, and the values corresponding to the straight lines A, B and C are respectively A1, B1, C1, D1, A2, B2, C2 and D2 \8230andA 1 (n-1)/2 、B (n-1)/2 、C (n-1)/2 . Finally, summing up (n-1)/2 groups of groups to obtain an average value, and obtaining the values A, B and C which are respectively A EF 、B EF 、C EF 。
Because the straight line of EF points to the central axis of the tunnel and is close to the section of the parallel tunnel, the straight lines of two end points of the gap and the straight line of EF can be regarded as a parallel relation. The space linear equation of the straight line where the two end points of the gap are located is set as follows:
Ax+By+Cz+D＝0 (2)
because the straight line is parallel to the straight line of EF, A, B and C are respectively A EF 、B EF 、C EF (ii) a The value D of D can be calculated by substituting the gap endpoint B into equation (2) BG The space linear equation of the straight line of the two end points of the gap is A EF x+B EF y+C EF z+D BG ＝0。
Point G is on the line segment CD, and the points on the CD line segment are brought into A one by one EF x+B EF y+C EF z+D BG ，A EF x+B EF y+C EF z+D BG The point with the value of (c) closest to 0 is point G. The gap between the shield tails is point B (X) B ,Y B ,Z B ) And point G (X) G ,Y G ,Z G ) And then the shield tail clearance is obtained according to the distance formula between the two points
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 shield tail clearance measuring device in shield constructs quick-witted work progress which characterized in that contains: the shield tunneling machine comprises a measuring device which is arranged on a shield tunneling machine thrust cylinder base and used for acquiring clearance data of a corresponding segment of the thrust cylinder and the shield tail inner wall, and an upper computer which is connected with the measuring device and used for analyzing and processing the clearance data acquired by the measuring device.
2. The shield tail clearance measuring device in the shield tunneling machine construction process according to claim 1, wherein the measuring equipment comprises: the laser emitter is used for emitting laser to position the gap between the pipe piece and the inner wall of the shield tail, and the binocular camera is used for collecting laser positioning data of the laser emitter.
3. The shield tail clearance measuring device in the shield tunneling machine construction process according to claim 1 or 2, wherein a plurality of measuring devices are provided according to the number of segments to be measured in the clearance with the inner wall of the shield tail and the use requirements, and each measuring device is installed on the shield tunneling machine thrust cylinder base corresponding to the segment.
4. The shield tail clearance measuring device in the shield tunneling machine construction process according to claim 1 or 2, comprising: and at least 2 measuring devices are used for acquiring the data of the gap between the pipe piece at the measured position and the inner wall of the shield tail.
5. A shield tail clearance measuring method in the shield machine construction process is characterized by being realized based on the device of claim 1, and the realization process comprises the following steps:
acquiring point cloud coordinate tracks in all coverage area ranges of the segments, the inner wall of the shield tail and a gap between the segments and the inner wall of the shield tail by using measuring equipment according to the inner wall of the shield body, the segments section and the axis of the shield machine;
and eliminating points outside the shield tail inner wall and the segment section in the point cloud coordinate track, searching a coordinate area of a shield tail gap position, acquiring an end point coordinate of a gap between the shield tail inner wall and the segment through data comparison, and determining the size of the shield tail gap to be measured by using the end point coordinate.
6. The shield tail clearance measuring method in the shield tunneling machine construction process according to claim 5, wherein the measuring equipment comprises: a two mesh cameras for launching laser fixes a position all coverage areas in section of jurisdiction and shield tail inner wall clearance, and be used for gathering laser emitter laser positioning data, wherein, laser emitter fixes a position out through launching laser at least at clearance coverage area positioning process: the shield tail inner wall, the segment section and the axis of the shield tunneling machine, and the plane where the laser emitting surface is located points to the axis of the shield tunneling machine.
7. The shield tail clearance measuring method in the shield tunneling machine construction process according to claim 5 or 6, characterized in that a unified three-dimensional Cartesian coordinate system is constructed by taking the center of the front face of the measuring equipment as the origin of the coordinate system and the direction of the Z axis of the coordinate system in front of the measuring equipment; and acquiring effective points in the clearance coverage area through a uniform three-dimensional Cartesian coordinate system, and constructing a point cloud coordinate track according to the acquired effective points.
8. The shield tail clearance measuring method in the shield tunneling machine construction process according to claim 7, characterized by constructing a straight-line segment on a segment section, which is closest to a measuring device, in the endpoint coordinates of the clearance, and screening out candidate coordinate data of the straight-line segment on the straight-line segment, which is used for determining the clearance of the shield tail to be measured, according to the Z-axis direction coordinate value of a coordinate point on the straight-line segment; constructing a space linear equation of the linear segment by utilizing the candidate coordinate data of the linear segment; and then screening out a clearance endpoint on the duct piece according to the Z-axis direction coordinate value and the coordinate sequence of the coordinate points on the section of the duct piece, establishing a space linear equation of the two endpoints of the shield tail clearance according to the fact that the straight line of the two endpoints of the shield tail clearance to be detected is parallel to the straight line of the straight line segment, and determining the coordinate of the other clearance endpoint on the inner wall of the shield tail.
9. The shield tail clearance measurement method in the shield tunneling machine construction process according to claim 8, wherein in the construction of the space linear equation of the straight line segment, the straight line segment is divided into a plurality of fine segments according to the number of the coordinates of the straight line segment, the coefficients in the space linear equation are solved according to the head and tail coordinates of each fine segment, the space linear equation coefficients in each fine segment are summarized, and the space linear equation coefficients of the straight line segment are determined by summing and averaging the coefficients.
10. The method as claimed in claim 5, wherein the two endpoints B (X) of the gap are obtained according to the measured gap B ,Y B ,Z B ) And G (X) G ,Y G ,Z G ) By the formula
The size of the gap between the tail of the shield to be measured is calculated.
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| CN202210466512.1A CN114777659A (en) | 2022-04-29 | 2022-04-29 | Shield tail clearance measuring device and method in shield machine construction process |
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- 2022-08-03 CN CN202210929026.9A patent/CN115371576B/en active Active
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| Publication number | Publication date |
|---|---|
| CN115371576B (en) | 2023-12-19 |
| CN114777659A (en) | 2022-07-22 |
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