CN1800583A - Method and apparatus for real-time automatic correction of shield attitude deviation - Google Patents
Method and apparatus for real-time automatic correction of shield attitude deviation Download PDFInfo
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- CN1800583A CN1800583A CNA2005101111248A CN200510111124A CN1800583A CN 1800583 A CN1800583 A CN 1800583A CN A2005101111248 A CNA2005101111248 A CN A2005101111248A CN 200510111124 A CN200510111124 A CN 200510111124A CN 1800583 A CN1800583 A CN 1800583A
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Abstract
The invention relates to a method for real-time automatic correcting the figure of shield, and relative device, belonging to the shield driven technique. It is characterized in that: using the full-station device in the tunnel to automatically detect the spatial positions of three objects in the shield; using the program based on the spatial vector theory to automatically calculate the shield figure parameters. There are two shield figure automatic correction modes: pressure section control mode and jack group control mode, and it uses special shield figure automatic correction software to control the figure of shield. The invention can avoid the defect that correcting the axes with manual work with big vibration, to improve the operation quality, shorten working period, reduce the labor, decrease working strength and apply on-site management.
Description
Technical field:
Belonging to the shield driving technical field, exactly is a kind of automatic deviation correction technology to the shield machine operating attitude.
Background technology:
The real-time automatic correction method of shield attitude is meant under the situation that does not need manual intervention, automatically finish measurement, the data acquisition of the real-time attitude of shield structure, carry out comparison with the actual deviation of Tunnel Design axis, by predefined correction formula, make the shield structure advance jack in progradation, to produce the moment opposite automatically, realize the automatic deviation correction of shield attitude with the shield attitude offset direction.
Realize automatic deviation correction, at first must be based on the automatic Technology of Precision Measurement of shield attitude.Automatically measure and guide this series technique product facility for attitude of shield machine, domestic mainly is to rely on to introduce.Also has only several prods few in number abroad.As the ZED 261 shield attitude testers that Britain ZED company produces, the SLS-T tunnel guidance system of German VMT company, the TMG-32B direction detection device of Japanese TOKIMEC etc., and the effect of its application is had nothing in common with each other, is differed greatly.The tunnel guidance system of Britain and Germany all is to adopt the mode of laser alignment on principle, the precision height, but system constitutes complexity; Japanese then the direction detection system that adopts gyroscope, levelling tube leveler, clinometer, deflection meter and advance jack stroke instrument etc. to form, system constitutes simple, but precision is low, cumulative errors are big, can't detect for the horizontal slip that takes place in the shield structure progradation, need manual measurement to proofread.
Direction control for shield machine, it is automatic deviation correction, also be in theoretical research stage substantially, people such as the positive person of outstanding talent in chrysanthemum ground of Japan once did single test, but because of the defective of gyroscope survey system, the most of test period of automatic search equalising torque point methods of employing do not meet actual conditions, so versatility is not strong, automatic and manual state switches frequent, result of the test is also unsatisfactory, does not continue to apply.
Summary of the invention:
The present invention provide a kind of constitute simple, precision is high and real-time automatic correction method of the shield attitude of highly versatile and its device.
The technical solution used in the present invention
Utilization comprises the module that the space vector method calculating function that can obtain the shield attitude parameter automatically is housed in the total powerstation, the present invention will have an Industrial Personal Computer (IPC), in a shield attitude automatic deviation correction software module that real-time control shield attitude and playback history record two big functional modules are arranged is housed, realize the shield attitude automatic deviation correction, specifically take the step of following enforcement:
1) obtains the shield attitude real time data;
2) judgment data validity;
3) determine the residing grouped location in shield structure otch center, and show;
4) selected marshalling pattern: the marshalling pattern of software default; Self-defining marshalling pattern;
5) under the marshalling pattern of software default, obtain the marshalling code information of corresponding jack, and pass to shield structure PLC module;
6) under self-defined pattern:
(1) can adopt the self-defined marshalling pattern that is stored in the database; Obtain the marshalling code information of corresponding jack, and pass to shield structure PLC module;
(2) also can the user edit new marshalling pattern and deposit database in, obtain the marshalling code information of corresponding jack then, and pass to shield structure PLC module;
7) by reverse data transmission, read the performance of current marshalling, and on the graphical interfaces of software, reflect synchronously;
8) will organize into groups performance and record, for routine call into database;
9) repetitive cycling in above 1-8 step, the continuous automatic deviation correction of realization shield attitude.And there is Shield Posture Real-time Automatic Rectifying Device that enforcement is provided, this device includes total powerstation, the control module of industrial computer, shield propelling system, the pressure-control valve of hydraulic system, direction reversal valve and jack group are used for also being equipped with in the shield machine of the present invention three objects-three metallic reflection sheet that is used for measuring automatically the locus; And there is respectively the signal controlling case that links to each other with industrial computer with total powerstation handle by wireless transmission industrial computer by two radio station, the PLC interface module is connected with shield structure control module with industrial computer respectively, and control module is associated with jack control model device; Distributing on the shield machine and controlling the jack group of its action by jack control model device.
Wherein jack control model device can be a jack pressure subregion control model; This pattern is to be used to advance the jack group that is connected with pressure-control valve on the shield structure.
Jack control model device can also be a jack marshalling control model; This pattern is to be used to advance the jack group that is connected with directional control valve that joins with marshalling signal correction on the shield structure.
Good effect behind enforcement the present invention is the big shortcoming of axis fluctuation of having avoided artificial correction, has improved the construction quality of shield tunnel, has shortened construction period, has reduced shield structure operating personnel's quantity, has reduced construction intensity, helps site construction management.
Description of drawings:
The real-time system for automatically correcting schematic diagram of the shield attitude of Fig. 1, jack pressure subregion control model
The real-time system for automatically correcting schematic diagram of shield attitude of Fig. 2, jack action marshalling control model
Fig. 3, jack pressure subregion control schematic diagram
Fig. 4, jack action marshalling control schematic diagram
Fig. 5, shield attitude automatic deviation correction flow chart
Fig. 6, the automatic playback history record of shield attitude flow chart
The specific embodiment: existing the invention will be further described in conjunction with the accompanying drawings
Robot measurement Leica TCA 1800 (being total powerstation 2) with the full-automatic function of remote control is installed in the established tunnel, automatically mensuration is installed in three targets---the metallic reflection sheet 5 in the shield machine 8 in advance, the locus of metallic reflection sheet 6 and metallic reflection sheet 7, resolve theoretical and vector is separated algorithm according to rigid space, the program that is prelisted by total powerstation 2 calculates the attitude parameter of shield structure, and through total powerstation signal controlling case 1 and the radio station 13 wireless industrial computers 12 that send to, the cycle period that total powerstation 2 is measured the shield attitude parameter can be set as required, wherein the metallic reflection sheet 5, metallic reflection sheet 6 and metallic reflection sheet 7 can be installed in the optional position at shield structure rear portion, measure conveniently to adjust to total powerstation 2, and adjusting to is not obstructed the view by shield structure rear portion equipment is the best, and its mirror surface must be towards total powerstation 2.Should be noted that above-mentioned this part content as a patent of invention independently, with in May, 2004 application and accepted, patent name is " a shield structure 3 d pose precision monitor system ", and application number is 200410024705.3.
Be installed in shield attitude automatic deviation correction software in the industrial computer 12 under running status, the meeting automatic reception is by the wireless shield attitude supplemental characteristic that transmits, according to selected correction pattern, result of calculation and control instruction are passed through PLC interface module 4, pass to the control module 3 of shield propelling system, carry out shield attitude correction control instruction.
Under jack pressure subregion control model, as shown, the shield structure advances jack 9 to be divided into several regions, each regional pressure is by the pressure-control valve that is installed in a shield propulsion hydraulic system in the shield machine 8 11 controls of this zone correspondence, this regional operating pressure is by being installed in pressure sensors 10 in the shield machine 8 and in time feeding back and noting down shield attitude automatic deviation correction software, and the controlled pressure of each areal pressure control valve 11 is self-adjusting at any time according to the operation result of shield attitude automatic deviation correction software and control instruction.
Under jack action marshalling control model, as shown, according to the physical location of shield structure and the relativeness of this position of Planned Route, position with this point of Planned Route is a central point, set some ring grille zones, shield attitude automatic deviation correction software will calculate shield structure physical location automatically and be in a certain ring grille zone, by PLC interface module 4 and shield structure control module 3, send corresponding jack action marshalling instruction, each shield structure advances the propulsion hydraulic system directional control valve 14 of jack 9 correspondences, will be according to this marshalling instruction action.In shield attitude automatic deviation correction software, jack action marshalling instruction can be preset, and also can carry out self-defined setting and preservation according to the different geology that the shield structure passes through.
Shield attitude automatic deviation correction software has real-time control shield attitude and playback history record two big functional modules, as shown.The control step of shield attitude automatic deviation correction software when realizing controlling the shield attitude function in real time is as follows:
1, obtain the shield attitude real time data that total powerstation records, these data are passed through the wireless transmission of data wire or radio station with the form of data file;
2, open data file, read the last item record of file, this data recording is carried out validity judge, behind the correct judgment this data message is deposited in the database;
3, according to the residing grouped location in shield attitude information calculations shield structure otch center of record, on the graphic interface of software, show the present residing grouped location of shield structure simultaneously;
4, according to the situation of construction, switching on the software operation interface is the marshalling pattern that adopts software default, still adopts the self-defining as required marshalling pattern of user;
If 5 adopt the marshalling pattern of software default, program will directly bring into operation following the 7th step;
If 6 adopt self-defined pattern, whether software adopts the self-defined marshalling pattern that is stored in the database with the prompting operation user, if the user has selected wherein some self-defined marshalling patterns, then program will bring into operation following the 7th step; If the user thinks that existing self-defined marshalling is all improper, then software provides the user to edit the operation interface of new marshalling pattern, the user can be with the control model of current self-defining marshalling pattern as current jack, and depositing database in the title of making by oneself, program will bring into operation following the 7th step then;
7, program is obtained the marshalling code information of corresponding jack automatically from the marshalling pattern of current definite use, and this information is passed to shield structure PLC module by the communication control;
8, by the reverse data transmission of communication module, read the performance of current marshalling, and on the graphical interfaces of software, reflect synchronously;
9, deposit current marshalling performance in database as a historical record, call for playback program;
10, the repetitive cycling work in above 1-9 step can realize the continuous automatic deviation correction of shield attitude.
Shield attitude automatic deviation correction software is when realizing playback history record function, its step is more single, just according to user's needs, that calls a certain period or a certain zone of established tunnel is stored in data in the database, playback graphical interfaces by software, show for deliberation and reference intuitively.
Claims (4)
1. the real-time automatic correction method of shield attitude comprises the module that the space vector method calculating function that can obtain the shield attitude parameter automatically is housed in the total powerstation (2), it is characterized in that:
Also have an Industrial Personal Computer (IPC) (12), in a shield attitude automatic deviation correction software module that real-time control shield attitude and playback history record two big functional modules are arranged is housed, realize the shield attitude automatic deviation correction, the step of concrete enforcement is as follows:
1) obtains the shield attitude real time data;
2) judgment data validity;
3) determine the residing grouped location in shield structure otch center, and show;
4) selected marshalling pattern: the marshalling pattern of software default; Self-defining marshalling pattern;
5) under the marshalling pattern of software default, obtain the marshalling code information of corresponding jack, and pass to shield structure PLC module;
6) under self-defined pattern:
(1) can adopt the self-defined marshalling pattern that is stored in the database; Obtain the marshalling code information of corresponding jack, and pass to shield structure PLC module;
(2) also can the user edit new marshalling pattern and deposit database in, obtain the marshalling code information of corresponding jack then, and pass to shield structure PLC module;
7) by reverse data transmission, read the performance of current marshalling, and on the graphical interfaces of software, reflect synchronously;
8) will organize into groups performance and record, for routine call into database;
9) repetitive cycling in above 1-8 step, the continuous automatic deviation correction of realization shield attitude.
2. Shield Posture Real-time Automatic Rectifying Device comprises total powerstation (2), and the control module (3) of industrial computer (12), shield propelling system, the pressure-control valve (11) of hydraulic system, direction reversal valve (14) and propelling jack group (9) is characterized in that:
Three objects-three metallic reflection sheet (5), (6), (7) that are used for measuring automatically the locus also are installed in the shield machine (8); And there is respectively the signal controlling case (1) that links to each other with industrial computer (12) with total powerstation (2) handle by wireless transmission industrial computer (12) by two radio station (13), PLC interface module (4) is connected with shield structure control module (3) with industrial computer (12) respectively, and control module (3) is associated with jack control model device; The jack group (9) that is distributing on the shield machine (8) and distributing by jack control model device.
3. Shield Posture Real-time Automatic Rectifying Device according to claim 2 is characterized in that: described jack control model device can be a jack pressure subregion control model; This pattern is to be used to advance the jack group (9) that is connected with pressure-control valve (11) on the shield structure.
4. Shield Posture Real-time Automatic Rectifying Device according to claim 2 is characterized in that: described jack control model device can also be a jack marshalling control model; This pattern is to be used to advance the jack group (9) that is connected with directional control valve (14) that joins with marshalling signal correction on the shield structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005101111248A CN1800583A (en) | 2005-12-05 | 2005-12-05 | Method and apparatus for real-time automatic correction of shield attitude deviation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2005101111248A CN1800583A (en) | 2005-12-05 | 2005-12-05 | Method and apparatus for real-time automatic correction of shield attitude deviation |
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| CN1800583A true CN1800583A (en) | 2006-07-12 |
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| CNA2005101111248A Pending CN1800583A (en) | 2005-12-05 | 2005-12-05 | Method and apparatus for real-time automatic correction of shield attitude deviation |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101685010A (en) * | 2008-09-27 | 2010-03-31 | 上海市机械施工有限公司 | Measuring method of ultra long haul shield tunnel |
| CN101684731A (en) * | 2008-09-27 | 2010-03-31 | 上海市机械施工有限公司 | Measuring method of tunnel shield posture |
| CN101148989B (en) * | 2007-08-09 | 2010-05-19 | 上海港机重工有限公司 | Tunnel shield digging machine local and remote monitoring method |
| CN101221430B (en) * | 2007-12-21 | 2010-07-21 | 佳木斯煤矿机械有限公司 | Cutting track and section shaping control system of development machine |
| CN102102522A (en) * | 2010-12-30 | 2011-06-22 | 浙江大学 | Track and posture composite control method in shield tunneling process |
| CN102996137A (en) * | 2012-12-31 | 2013-03-27 | 上海同岩土木工程科技有限公司 | S-shaped curve based method for control track of shield tunneling machine |
| CN103527215A (en) * | 2013-09-29 | 2014-01-22 | 深圳中海建筑有限公司 | Universal wedge-shaped pipe piece ring of shield tunnel with super-small curvature radius |
| CN103603671A (en) * | 2013-12-06 | 2014-02-26 | 湖南大学 | Tunneling posture adjustment control system of miniature shield tunneling machine and adjustment method thereof |
| CN104881517A (en) * | 2015-04-29 | 2015-09-02 | 中铁一局集团有限公司 | Device and method for measuring overshoot of segments of shield tunnels |
| CN105909270A (en) * | 2016-04-19 | 2016-08-31 | 上海建科工程咨询有限公司 | Shield machine axis control system |
| CN106522973A (en) * | 2016-09-27 | 2017-03-22 | 徐工集团凯宫重工南京有限公司 | Deviation rectifying system of shield tunneling machine |
| CN106703823A (en) * | 2016-11-24 | 2017-05-24 | 浙江大学宁波理工学院 | Posture error correction system and method of large driving equipment |
| CN106835939A (en) * | 2016-12-22 | 2017-06-13 | 李俊叶 | Can adjust automatically tunnel hydraulic pressure trestle lateral shift device and its control method |
| CN107524447A (en) * | 2017-09-28 | 2017-12-29 | 中国十七冶集团有限公司 | A kind of path method for correcting error of Super Long Tunnel shield-tunneling construction |
| CN108222956A (en) * | 2018-02-02 | 2018-06-29 | 中铁隧道局集团有限公司 | A kind of control method of the Thrust System of Shield Tunneling Machines of complex controll |
| CN108316935A (en) * | 2018-02-02 | 2018-07-24 | 中铁隧道局集团有限公司 | A kind of shield machine attitude adjusting method of complex controll |
| CN108625302A (en) * | 2018-05-11 | 2018-10-09 | 东南大学 | A kind of adjusting apparatus and its monitoring and control method of box culvert advancing head fall |
| CN108868805A (en) * | 2018-06-08 | 2018-11-23 | 西安电子科技大学 | Shield method for correcting error based on statistical analysis in conjunction with XGboost |
| CN109630153A (en) * | 2018-11-22 | 2019-04-16 | 浙江大学宁波理工学院 | A kind of unmanned method of large-scale digging device |
| CN110067568A (en) * | 2019-05-30 | 2019-07-30 | 上海隧道工程有限公司 | The self-adaptation control method and system of shield correction oil pressure output |
| CN110306988A (en) * | 2019-07-02 | 2019-10-08 | 重庆市能源投资集团科技有限责任公司 | A kind of deflection deviation correction control system of shield machine |
| CN111810167A (en) * | 2020-07-17 | 2020-10-23 | 上海隧道工程有限公司 | Control method and system of shield propulsion system |
| US11566522B2 (en) * | 2018-02-02 | 2023-01-31 | Herrenknecht Aktiengesellschaft | Device and method for continuously driving a tunnel |
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2005
- 2005-12-05 CN CNA2005101111248A patent/CN1800583A/en active Pending
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101148989B (en) * | 2007-08-09 | 2010-05-19 | 上海港机重工有限公司 | Tunnel shield digging machine local and remote monitoring method |
| CN101221430B (en) * | 2007-12-21 | 2010-07-21 | 佳木斯煤矿机械有限公司 | Cutting track and section shaping control system of development machine |
| CN101684731A (en) * | 2008-09-27 | 2010-03-31 | 上海市机械施工有限公司 | Measuring method of tunnel shield posture |
| CN101685010B (en) * | 2008-09-27 | 2013-01-09 | 上海市机械施工有限公司 | Measuring method of ultra long haul shield tunnel |
| CN101684731B (en) * | 2008-09-27 | 2013-02-27 | 上海市机械施工有限公司 | Measuring method of tunnel shield posture |
| CN101685010A (en) * | 2008-09-27 | 2010-03-31 | 上海市机械施工有限公司 | Measuring method of ultra long haul shield tunnel |
| CN102102522A (en) * | 2010-12-30 | 2011-06-22 | 浙江大学 | Track and posture composite control method in shield tunneling process |
| CN102996137B (en) * | 2012-12-31 | 2014-12-17 | 上海同岩土木工程科技有限公司 | S-shaped curve based method for control track of shield tunneling machine |
| CN102996137A (en) * | 2012-12-31 | 2013-03-27 | 上海同岩土木工程科技有限公司 | S-shaped curve based method for control track of shield tunneling machine |
| CN103527215A (en) * | 2013-09-29 | 2014-01-22 | 深圳中海建筑有限公司 | Universal wedge-shaped pipe piece ring of shield tunnel with super-small curvature radius |
| CN103527215B (en) * | 2013-09-29 | 2016-04-27 | 深圳中海建筑有限公司 | A kind of universal wedge-shaped segment ring of extra small radius of curvature shield tunnel |
| CN103603671A (en) * | 2013-12-06 | 2014-02-26 | 湖南大学 | Tunneling posture adjustment control system of miniature shield tunneling machine and adjustment method thereof |
| CN104881517A (en) * | 2015-04-29 | 2015-09-02 | 中铁一局集团有限公司 | Device and method for measuring overshoot of segments of shield tunnels |
| CN104881517B (en) * | 2015-04-29 | 2018-01-16 | 中铁一局集团有限公司 | The advanced measuring device of duct pieces of shield tunnel and method |
| CN105909270A (en) * | 2016-04-19 | 2016-08-31 | 上海建科工程咨询有限公司 | Shield machine axis control system |
| CN106522973A (en) * | 2016-09-27 | 2017-03-22 | 徐工集团凯宫重工南京有限公司 | Deviation rectifying system of shield tunneling machine |
| CN106703823A (en) * | 2016-11-24 | 2017-05-24 | 浙江大学宁波理工学院 | Posture error correction system and method of large driving equipment |
| CN106703823B (en) * | 2016-11-24 | 2019-01-08 | 浙江大学宁波理工学院 | The posture deviation-rectifying system and method for large-scale digging device |
| CN106835939A (en) * | 2016-12-22 | 2017-06-13 | 李俊叶 | Can adjust automatically tunnel hydraulic pressure trestle lateral shift device and its control method |
| CN107524447A (en) * | 2017-09-28 | 2017-12-29 | 中国十七冶集团有限公司 | A kind of path method for correcting error of Super Long Tunnel shield-tunneling construction |
| CN108222956A (en) * | 2018-02-02 | 2018-06-29 | 中铁隧道局集团有限公司 | A kind of control method of the Thrust System of Shield Tunneling Machines of complex controll |
| CN108316935A (en) * | 2018-02-02 | 2018-07-24 | 中铁隧道局集团有限公司 | A kind of shield machine attitude adjusting method of complex controll |
| US11566522B2 (en) * | 2018-02-02 | 2023-01-31 | Herrenknecht Aktiengesellschaft | Device and method for continuously driving a tunnel |
| CN108222956B (en) * | 2018-02-02 | 2019-03-29 | 中铁隧道局集团有限公司 | A kind of control method of the Thrust System of Shield Tunneling Machines of complex controll |
| CN108625302A (en) * | 2018-05-11 | 2018-10-09 | 东南大学 | A kind of adjusting apparatus and its monitoring and control method of box culvert advancing head fall |
| CN108868805B (en) * | 2018-06-08 | 2019-11-15 | 西安电子科技大学 | Shield method for correcting error based on statistical analysis in conjunction with XGboost |
| CN108868805A (en) * | 2018-06-08 | 2018-11-23 | 西安电子科技大学 | Shield method for correcting error based on statistical analysis in conjunction with XGboost |
| CN109630153A (en) * | 2018-11-22 | 2019-04-16 | 浙江大学宁波理工学院 | A kind of unmanned method of large-scale digging device |
| CN109630153B (en) * | 2018-11-22 | 2020-06-05 | 浙江大学宁波理工学院 | Unmanned driving method of large-scale tunneling equipment |
| CN110067568A (en) * | 2019-05-30 | 2019-07-30 | 上海隧道工程有限公司 | The self-adaptation control method and system of shield correction oil pressure output |
| CN110067568B (en) * | 2019-05-30 | 2020-06-23 | 上海隧道工程有限公司 | Self-adaptive control method and system for shield deviation-correcting oil pressure output |
| CN110306988A (en) * | 2019-07-02 | 2019-10-08 | 重庆市能源投资集团科技有限责任公司 | A kind of deflection deviation correction control system of shield machine |
| CN111810167A (en) * | 2020-07-17 | 2020-10-23 | 上海隧道工程有限公司 | Control method and system of shield propulsion system |
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