CN117075126A - Method for monitoring attitude and spatial position of model test shield tunneling machine based on laser reflection principle - Google Patents
Method for monitoring attitude and spatial position of model test shield tunneling machine based on laser reflection principle Download PDFInfo
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- CN117075126A CN117075126A CN202310950346.7A CN202310950346A CN117075126A CN 117075126 A CN117075126 A CN 117075126A CN 202310950346 A CN202310950346 A CN 202310950346A CN 117075126 A CN117075126 A CN 117075126A
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- range finder
- laser
- laser range
- shield
- tunneling
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- 230000005641 tunneling Effects 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 27
- 238000012360 testing method Methods 0.000 title claims abstract description 27
- 238000012544 monitoring process Methods 0.000 title claims abstract description 17
- 238000004364 calculation method Methods 0.000 claims description 17
- 238000009434 installation Methods 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000012937 correction Methods 0.000 claims description 2
- 238000007689 inspection Methods 0.000 claims description 2
- 239000005338 frosted glass Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000005337 ground glass Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C9/00—Measuring inclination, e.g. by clinometers, by levels
Abstract
The invention discloses a method for monitoring the attitude and the spatial position of a model test shield tunneling machine based on a laser reflection principle, and a device for realizing the method comprises the following steps: the shield machine, the laser range finder, the reflecting screen and the target point are arranged at proper positions in the shield machine, and the reflecting surface of the target point is vertical to the axis of the shield machine. And a reflecting screen is arranged behind the shield tunnel, and the reflecting screen is perpendicular to the axis of the shield tunnel. The laser range finder is arranged on the reflecting screen, and the laser range finder can adjust the position of the laser range finder on the reflecting screen according to the test requirement. The bottom surface of the laser range finder is parallel to the reflecting screen, and laser emitted by the laser range finder is parallel to the axis of the shield tunnel. The tunneling distance of the shield machine can be measured through the laser range finder, the eccentric condition can be obtained through adjusting the superposition of the laser range finder and the target point, the posture of the shield machine can be calculated through the position of the laser reflected by the laser range finder on the reflecting screen, and specific parameters are a horizontal inclination angle and a vertical inclination angle.
Description
Technical Field
The invention designs a monitoring technology of a model shield machine based on a laser reflection principle, in particular to a monitoring method of the attitude and the space position of the model test shield machine.
Background
The shield machine model test adopting a certain specific ruler is an important means for researching the influence of the shield machine on stratum and the shield machine in the tunneling process. The shield machine can generate an inclination angle for various reasons in the tunneling process, and the tunneling can cause the shield machine to gradually deviate from the original tunneling route under the condition of a certain inclination angle. Therefore, the space position and the posture of the shield tunneling machine need to be monitored, and the tunneling direction is adjusted by means of the monitoring result. In the related art, the inventor considers that for an indoor model test, the spatial position change rule of a tunnel is very important for the safety and the authenticity of the test, and the lack of accurate shield tunneling machine spatial position data possibly leads to great discount on the reliability of the whole test, and meanwhile, the lack of corresponding data for knowing the tunneling direction is very unfavorable for the test item with small requirement on the tunneling error of the shield tunneling machine. Therefore, the method for accurately measuring the attitude and the spatial position of the shield tunneling machine in the model test process is very necessary.
Disclosure of Invention
The invention aims to provide a method for monitoring the posture and the spatial position of a model test shield tunneling machine based on a laser reflection principle, which is required to be capable of measuring the tunneling distance, the eccentricity, the horizontal inclination angle and the vertical inclination angle of the shield tunneling machine in order to provide richer and more accurate parameters for experiments, provide the current spatial position and the posture parameters of the tunneling machine for the tunneling machine in real time and ensure that the shield tunneling machine can smoothly go out of a tunnel.
The invention realizes the aim of the invention, and adopts the following technical scheme:
the target spot should be installed at a proper position inside the shield machine, so that the reflection surface of the target spot is vertical to the axis of the shield machine. And a reflecting screen is arranged behind the shield tunnel, and the reflecting screen is perpendicular to the axis of the shield tunnel. The laser range finder is arranged on the reflecting screen, and the position of the laser range finder on the reflecting screen can be adjusted according to the test requirement. The bottom surface of the laser range finder is parallel to the reflecting screen, and laser emitted by the laser range finder is parallel to the axis of the shield tunnel. The tunneling distance of the shield machine can be measured through the laser range finder, the eccentric condition can be obtained through adjusting the superposition of the laser range finder and the target point, the posture of the shield machine can be calculated through the position of the laser reflected by the laser range finder on the reflecting screen, and specific parameters are a horizontal inclination angle and a vertical inclination angle.
The working process and working principle of the invention are as follows:
the distance between a target point on the shield machine and the reflecting screen can be directly measured through the laser range finder, and the tunneling distance of the shield machine can be calculated by performing difference calculation on the distance between the target point and the data during the hole entering. After the shield tunneling machine tunnels for a certain distance, the laser beam of the laser range finder may deviate from the target point, and the position of the laser range finder is adjusted until the position coincides with the center of the target point, and the eccentric distance of the shield tunneling machine can be calculated through the track of the laser ranging distance on the reflecting screen. The target point is shown in fig. 6, the dark color part is ground glass, and diffuse reflection can be realized, so that the laser range finder can better measure data; the white part is a plane mirror, which can well reflect laser and help to measure the inclination angle data. The point position change of the laser on the reflecting screen is measured, and the horizontal dip angle and the vertical dip angle can be calculated by combining the data of the laser range finder, so that the posture correction is facilitated.
Compared with the prior art, the invention has the beneficial effects that:
firstly, the test result is comprehensive, and covers the tunneling distance, the eccentricity, the horizontal inclination angle and the vertical inclination angle, so that the current gesture and the space position of the shield machine can be comprehensively reflected, and the gesture adjustment of a tester is effectively facilitated; and secondly, the operation is simple and convenient, the composition of the hardware part is simple, only the laser range finder, the target spot and the reflecting screen are arranged, and the workload of test staff is small. Furthermore, the calculation workload is small, and related calculation software is matched, so that the working efficiency can be greatly improved.
The invention will be described in further detail with reference to the accompanying drawings and detailed description.
Drawings
FIG. 1 is a schematic view of the shield tunneling machine, target, reflective screen and laser rangefinder positions of the present invention
FIG. 2 is a schematic view of a reflective screen according to the present invention
FIG. 3 is a side view of the tunneling distance according to the present invention
FIG. 4 is a schematic view of the vertical tilt angle of the shield tunneling machine according to the present invention
FIG. 5 is a schematic diagram showing the horizontal inclination angle of the shield tunneling machine according to the present invention
FIG. 6 is a schematic view of a target point
FIG. 7 is a schematic diagram of the eccentricity of the shield machine according to the present invention
FIG. 8 is a schematic view of vertical tilt calculation
FIG. 9 is a schematic diagram showing calculation of horizontal tilt angle
The method comprises the following steps: 1-a shield machine; 2-target point; 3-shield tunnel; 4-a laser range finder; 5-a reflective screen; 6-the position of the reflected laser on the reflective screen; 7-laser rangefinder initial position.
Detailed Description
According to one aspect of the embodiment of the invention, a method for monitoring the spatial position of a shield tunneling machine with a large scale model for indoor test based on a laser reflection principle is provided, and the method comprises the following steps:
1. introduction to the apparatus
1) Target point. The target point is shown in fig. 6, and is a glass disc type component, and the dark color part is a rough surface, so that a diffuse reflection effect can be generated, and the distance measurement by laser is facilitated; the white part is a plane mirror, and can reflect laser emitted by the laser range finder, and the measuring point position is a target cross.
2) A reflective screen. The reflective screen is a disc-shaped member with vertical and lateral auxiliary lines marked thereon, facilitating the measurement of data.
3) A laser range finder. Which is capable of measuring the distance between the laser shots at the target points.
2. Installation of equipment
1) And (5) installing a target spot. And installing a target point at a proper position in the shield tunneling machine, and ensuring that the reflection plane of the target point is perpendicular to the axis of the shield tunneling machine.
2) A reflective screen is installed. And a reflecting screen is arranged at a proper position behind the shield tunnel, the reflecting screen is kept perpendicular to the axis of the shield tunnel, and the laser emitted by the laser range finder can be received.
3) And a laser range finder is arranged on the reflecting screen, the position of the laser range finder can be adjusted according to test requirements, and the laser emitted by the laser range finder is ensured to be parallel to the axis of the shield tunnel.
3. Measurement operation flow
After the inspection work of instrument installation is completed, the position of the laser range finder is adjusted, so that laser emitted by the laser range finder is aligned to the cross point on the target point. After the position of the laser range finder is adjusted, the current position of the laser range finder and the laser reflected to the reflecting screen are recorded. The distance between the tunneling distance and the target point can be measured through the laser range finder, and the tunneling distance can be obtained through calculating the difference value between the tunneling distance and the data when the tunneling distance is in the tunnel; the eccentricity can be obtained by comparing the initial state and the current state of the laser range finder; the horizontal dip angle and the vertical dip angle of the shield machine can be calculated by processing the position information of the laser reflected to the reflecting screen.
4. Principle of data processing
Since the whole calculation flow is already embedded in the software program, excessive calculation is not needed in actual operation, and a specific formula calculation flow is as follows.
1) Tunneling distance calculation
The distance between the reflecting screen and the target point can be measured by the laser range finder to be x, and the measured value is x when a hole is formed 0 The calculation formula of the tunneling distance deltax is as follows:
Δx＝x-x 0 [1]
2) Eccentricity calculation method
Referring to fig. 7, wherein (7) is the initial position of the laser range finder, (4) is the current position of the laser range finder, and Δr is the eccentricity of the shield machine.
3) Horizontal tilt and vertical tilt calculation
As in fig. 2, where (4) is the laser rangefinder current position and (6) is the reflected laser position on the reflective screen. Let the vertical inclination angle be alpha 1 A vertical inclination angle alpha 2 The schematic diagrams are shown in fig. 8 and 9, and the calculation formulas are as follows.
The attitude of the shield machine can be reflected through the horizontal inclination angle and the vertical inclination angle of the shield machine, and the space position of the shield machine can be reflected through the tunneling distance and the eccentricity of the shield machine.
Claims (9)
1. A method for monitoring the attitude and the space position of a model test shield machine based on a laser reflection principle comprises the following steps: the method comprises the steps of (1) a shield machine, a laser range finder (4), a reflecting screen (5) and a target point (2), wherein the target point (2) is arranged at a proper position inside the shield machine (1), and the reflecting surface of the target point (2) is vertical to the axis of the shield machine (1); a reflecting screen (5) is arranged behind the shield tunnel (3), and the reflecting screen (5) is perpendicular to the axis of the shield tunnel (3); a laser range finder (4) is arranged on the reflecting screen (5), the bottom surface of the laser range finder is parallel to the reflecting screen, and laser emitted by the laser range finder is parallel to the axis of the shield tunnel;
the method is characterized in that the tunneling distance of the shield tunneling machine (1) can be measured through the laser range finder (4), the eccentric condition can be obtained through adjusting the superposition of the laser range finder (4) and the target point, the posture of the shield tunneling machine can be calculated through the position of the laser reflected by the laser range finder (4) on the reflecting screen, and the specific parameters are the horizontal inclination angle and the vertical inclination angle.
2. The method for monitoring the posture and the spatial position of the model test shield machine based on the laser reflection principle is characterized in that the distance between a target point on the shield machine and a reflection screen can be directly measured through a laser range finder, and the tunneling distance of the shield machine can be calculated by performing difference calculation with data in the process of entering a hole; after the shield tunneling machine tunnels for a certain distance, the laser beam of the laser range finder possibly deviates from the target point, the position of the laser range finder is adjusted until the position coincides with the center of the target point, and the eccentric distance of the shield tunneling machine can be calculated through the track of the laser ranging distance on the reflecting screen; the frosted glass can realize diffuse reflection, so that the laser range finder can measure data; the plane mirror can reflect laser and help to measure dip angle data; the point position change of the laser on the reflecting screen is measured, and the horizontal dip angle and the vertical dip angle can be calculated by combining the data of the laser range finder, so that the posture correction is facilitated.
3. The method for monitoring the posture and the spatial position of the model test shield machine based on the laser reflection principle, which is disclosed in claim 1, is characterized in that a target point is arranged at a proper position in the shield machine, and the reflection plane of the target point is ensured to be perpendicular to the axis of the shield machine.
4. The method for monitoring the posture and the spatial position of the model test shield machine based on the laser reflection principle according to claim 1 is characterized in that a reflection screen is arranged at a proper position behind the shield tunnel, the reflection screen is kept perpendicular to the axis of the shield tunnel, and the laser emitted by the laser range finder can be received.
5. The method for monitoring the posture and the spatial position of the model test shield tunneling machine based on the laser reflection principle according to claim 1 is characterized in that a laser range finder is installed on a reflection screen, the position of the laser range finder can be adjusted according to test requirements, and the laser emitted by the laser range finder is ensured to be parallel to the axis of a shield tunnel.
6. The method for monitoring the posture and the spatial position of the model test shield tunneling machine based on the laser reflection principle according to claim 1 is characterized in that after the inspection work of the instrument installation is completed, the position of the laser range finder is adjusted so that the laser emitted by the laser range finder is aligned to the cross point on the target point; after the position of the laser range finder is adjusted, recording the current laser range finder position and the laser reflected to the reflecting screen; the distance between the tunneling distance and the target point can be measured through the laser range finder, and the tunneling distance can be obtained through calculating the difference value between the tunneling distance and the data when the tunneling distance is in the tunnel; the eccentricity can be obtained by comparing the initial state and the current state of the laser range finder; the horizontal dip angle and the vertical dip angle of the shield machine can be calculated by processing the position information of the laser reflected to the reflecting screen.
7. The method for monitoring the attitude and the spatial position of the model test shield tunneling machine based on the laser reflection principle according to claim 1 is characterized in that the tunneling distance calculation method comprises the following steps:
the distance between the reflecting screen and the target point can be measured by the laser range finder to be x, and the measured value is x when a hole is formed 0 The calculation formula of the tunneling distance deltax is as follows:
Δx＝x-x 0 [1]。
8. the method for monitoring the attitude and the spatial position of a model test shield tunneling machine based on the laser reflection principle according to claim 1 is characterized in that the eccentricity calculation method is as follows,
the initial position of the laser range finder and the current position of the laser range finder are the eccentricity of the shield tunneling machine.
9. The method for monitoring the posture and the spatial position of the model test shield tunneling machine based on the laser reflection principle according to claim 1 is characterized in that the method for calculating the horizontal inclination angle and the vertical inclination angle is as follows,
let the vertical inclination angle be alpha 1 A vertical inclination angle alpha 2 The calculation formula is as follows;
the attitude of the shield machine can be reflected through the horizontal inclination angle and the vertical inclination angle of the shield machine, and the space position of the shield machine can be reflected through the tunneling distance and the eccentricity of the shield machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310950346.7A CN117075126A (en) | 2023-07-31 | 2023-07-31 | Method for monitoring attitude and spatial position of model test shield tunneling machine based on laser reflection principle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310950346.7A CN117075126A (en) | 2023-07-31 | 2023-07-31 | Method for monitoring attitude and spatial position of model test shield tunneling machine based on laser reflection principle |
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| CN117075126A true CN117075126A (en) | 2023-11-17 |
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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 |
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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 |
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