CN206111183U - Segment erector space gesture measuring device and shield construct machine with inertial sensor - Google Patents

Abstract

The utility model discloses a space attitude measuring device and a shield machine of a segment assembly machine with an inertial sensor. The space attitude measurement device of the segment assembly machine includes an inertial sensor module, a data processing module and a wireless transmission module. The inertial sensor module is used to measure the pitch angle, yaw angle and rotation angle of the segment assembly machine. The data processing module is used to process the spatial posture information of the segment assembly machine to obtain segment posture change data. The wireless transmission module includes a wireless transmitter and a wireless receiver, the wireless transmitter is electrically connected to the inertial sensor module, and the wireless receiver is electrically connected to the data processing module. According to the space attitude measuring device of the segment assembly machine with the inertial sensor of the utility model, the segment assembly position and orientation can be detected in real time, and the device is easy to install, has high measurement accuracy, small volume and reduced cost.

Description

Segment assembly machine space attitude measurement device and shield machine with inertial sensor

technical field

The utility model relates to a space motion detection device for the attitude of a shield segment assembly machine, in particular to a space attitude measurement device for a segment assembly machine with an inertial sensor and a shield machine.

Background technique

Segment assembly machine is an important part in shield tunneling construction. At present, the segment assembly operation is installed in a humid, hot and narrow shield working environment space, and the visual distance of construction personnel is limited by the space, and work communication is also affected by noise. In addition, only relying on the skill level of the construction personnel, the assembly accuracy and assembly speed will fluctuate greatly, and it is difficult to guarantee the quality and process control of segment assembly. In particular, since the assembly and positioning of the segment is installed by artificial jogging and chiseling, the damage of the segment occurs from time to time, which leads to water leakage in the tunnel and distortion of the segment ring. Moreover, the uneven technical level of labor and the shortage of labor due to age and quantity will affect the quality of shield construction. Therefore, it is necessary to accurately detect the movement of the assembly machine.

However, since the segment assembly machine has multiple degrees of freedom of motion, it is now more often measured by the travel of the drive components of the assembly machine. For example, the detection of pitching motion: the relative position between the captured segment and the installed segment is realized by detecting the stroke of the propulsion cylinder of the shield machine, and the pitching angle is also determined based on the angle detected by the rotary position of the segment obtained through spatial geometry operations. Detection of yaw motion: The detection of yaw motion of the assembled segment adopts the same technical method as the detection of pitch motion. Detection of the rolling fine-tuning movement: the rolling fine-tuning movement of the segment is realized by detecting the rotary encoder. However, the stroke sensor can only measure the displacement, and the measurement of the angle of the assembly machine still needs to be converted, so it is difficult to guarantee the measurement accuracy. In addition, it is difficult to guarantee the accuracy requirements of the rotary encoder in the actual installation. If the detection data is not accurate enough, it needs to be input into the computer for data processing.

Therefore, in the segment assembly process, it is necessary to use a space attitude detection sensor that is easier to install, can be directly detected and has a higher measurement accuracy to realize the precise positioning of the segment assembly, so as to ensure the safety, reliability and high quality of the assembly construction.

Utility model content

This application is aimed at at least one of the technical problems existing in the prior art. For this reason, the utility model aims to provide a space attitude measuring device for segment assembly machines with inertial sensors to solve the problems of low segment assembly detection accuracy, difficult installation, cumbersome data transmission and processing, etc.

Another object of the present utility model is to provide a shield machine equipped with the space attitude measuring device of the segment assembly machine.

According to the utility model, the space attitude measuring device of the segment assembly machine with an inertial sensor includes: an inertial sensor module, which is suitable for being connected with the segment assembly machine to measure the space attitude information of the segment assembly machine, said The space attitude information of the segment assembly machine includes the pitch angle, yaw angle and rotation angle of the segment assembly machine; a data processing module, the data processing module is used to process the space attitude information of the segment assembly machine to obtain The posture change data of the segment assembly machine; a wireless transmission module, the wireless transmission module includes a wireless transmitter and a wireless receiver, and the wireless transmitter is electrically connected to the inertial sensor module to transmit the position of the segment assembly machine Space posture information, the wireless receiver receives the space posture information of the segment assembly machine sent by the wireless transmitter, the wireless receiver is electrically connected with the data processing module to convert the segment assembly machine The spatial attitude information is transmitted to the data processing module.

According to the space attitude measurement device of the segment assembly machine with an inertial sensor according to the embodiment of the present invention, because the inertial sensor module is used to replace the traditional stroke displacement and encoder measurement and positioning, and the wireless transmission module is used to wirelessly transmit the data, the pipe The pose of the piece assembly can be detected in real time, and the device is easy to install, has high measurement accuracy, small size, and low cost.

In some embodiments, the inertial sensor module includes: a three-dimensional accelerometer.

Specifically, the inertial sensor module includes: a gyroscope.

Further, there are three gyroscopes, and the three gyroscopes are arranged orthogonally to each other.

Furthermore, the three gyroscopes are respectively fixedly connected to the three sensitive axes of the three-dimensional accelerometer.

Optionally, the gyroscope is an optical fiber gyroscope.

Specifically, the inertial sensor module is adapted to be connected with a clamping device of a segment assembly machine, and the clamping device is used for clamping segments.

The shield machine according to the utility model includes the segment assembly machine space attitude measuring device with an inertial sensor according to the utility model.

The shield machine in the embodiment of the utility model can improve the engineering quality during construction.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present utility model will become apparent and easy to understand from the description of the embodiments in conjunction with the following drawings, wherein:

Fig. 1 is a structural block diagram of a space attitude measuring device of a segment assembly machine with an inertial sensor according to an embodiment of the present invention.

Reference signs:

Segment assembly machine space attitude measuring device 10,

Inertial sensor module 1, wireless transmission module 2, wireless transmitter 201, wireless receiver 202, data processing module 3,

Segment assembly machine 20, controller 30.

detailed description

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

Referring to FIG. 1 , a space attitude measurement device 10 of a segment assembly machine with an inertial sensor according to an embodiment of the present invention will be described below.

According to the embodiment of the utility model, the spatial attitude measurement device 10 of the segment assembly machine with inertial sensors, as shown in FIG. 1 , includes: an inertial sensor module 1 , a data processing module 3 and a wireless transmission module 2 .

The inertial sensor module 1 is adapted to be connected with the segment assembly machine 20 to measure the space attitude information of the segment assembly machine, and the space attitude information of the segment assembly machine includes pitch angle, yaw angle and rotation angle of the segment assembly machine. The data processing module 3 is used to process the spatial posture information of the segment assembly machine to obtain posture change data of the segment assembly machine. The wireless transmission module 2 includes a wireless transmitter 201 and a wireless receiver 202. The wireless transmitter 201 is electrically connected to the inertial sensor module 1 to transmit the spatial attitude information of the segment assembly machine, and the wireless receiver 202 receives the segments sent by the wireless transmitter 201. The spatial posture information of the assembling machine, the wireless receiver 202 is electrically connected with the data processing module 3 to transmit the spatial posture information of the segment assembling machine to the data processing module 3 .

Here, the inertial sensor module 1 can at least detect the pitch angle, yaw angle and rotation angle of the segment assembly machine. The inertial sensor module 1 has a gyroscope principle, and the device uses the inertial sensor module 1 with a gyroscope principle to determine the position of the segment. Space posture, and can measure the space posture change of the segment in real time, and the detection part of the device is also convenient to install.

In the segment assembling machine, after the segment is clamped by the clamping device of the segment assembling machine 20, it rotates, tilts, etc. with the operation of the clamping device. The inertial sensor module 1 is suitable for connection with the segment assembly machine 20, for example, the inertial sensor module 1 can be rigidly connected with the clamping device of the segment assembly machine 20, or the inertial sensor module 1 can be fixed to the clamping device of the segment assembly machine 20 Nearby, the posture information of the segment can be obtained through the clamping device.

In the embodiment of the present utility model, a reliable and stable wireless transmission module 2 is adopted. After obtaining the rotation attitude information of the segment assembly relative to the initial position, the wireless transmitter 201 of the wireless transmission module 2 will obtain the information from the inertial sensor module 1. The information is converted into a wireless data signal for transmission. After the wireless receiver 202 of the wireless transmission module 2 receives the signal, it is transmitted to the data processing module 3. The wireless transmission module 2 can wirelessly transmit the detection data in real time. In this way, the reliable transmission of detection data signals is facilitated, and there is no need to connect wires between the inertial sensor module 1 and the data processing module 3, which facilitates the installation of the device.

In the embodiment of the present invention, the data processing module 3 is used to perform data processing, and carry out effective signal identification and analysis on the data of the change of the rotation attitude of the segment assembly relative to the initial position. Optionally, the data processing module 3 can be used for signal processing, and can perform denoising, filtering, fusion and calculation, so as to obtain the pose and velocity information of the segment assembly process. Optionally, the data processing module 3 can be connected to the controller 30 in the operating room, so that the data processing module 3 can transmit the result obtained after data processing to the controller 30, so that the controller 30 can control the space attitude information of the segments. storage, recording, analysis, etc.

According to the space attitude measurement device 10 of the segment assembly machine with an inertial sensor according to the embodiment of the present invention, the inertial sensor module 1 is used to replace the traditional stroke displacement and encoder measurement and positioning, and the wireless transmission module 2 is used to wirelessly transmit data , so that the segment assembly pose can be detected in real time, and the device is easy to install, high in measurement accuracy, small in size and low in cost.

In the embodiment of the present utility model, the inertial sensor module 1 may include a three-dimensional accelerometer and a gyroscope, and there may be three gyroscopes, and the three gyroscopes are arranged orthogonally to each other. In addition, the three gyroscopes can be respectively fixedly connected to the three sensitive axes of the three-dimensional accelerometer.

In a specific embodiment, the inertial sensor module 1 can detect the motion state information of the assembly machine in real time. The inertial sensor module 1 is composed of a three-dimensional accelerometer and a fiber optic gyroscope fixed on its three sensitive axes that are orthogonal to each other. The sensor module 1 can measure the motion angular velocity and acceleration of the reference coordinate system of the inertial sensor module 1 relative to the earth's inertial coordinate system.

Inertial sensor module 1 adopts the gyroscope rule, that is, by obtaining the three attitude angles measured by the gyroscope in real time, that is, by measuring the azimuth angle, pitch angle, and roll angle to directly detect the azimuth angle data, pitch angle data, and rotation angle of the assembly machine attitude The change of the data, combined with the three-dimensional Cartesian coordinate transformation, obtains the precise measurement of the angle of the assembly machine.

In this specific embodiment, the wireless transmitter 201 of the wireless transmission module 2 sends the data signal detected by the inertial sensor module 1 , and the wireless receiver 202 receives the signal sent by the wireless transmitter 201 . The data processing module 3 is mainly composed of a data processor, which can denoise, filter, fuse and calculate the transmitted data information, and obtain the pose and speed information of the segment assembly process.

Of course, those skilled in the art can also perform equivalent replacements or changes according to the technical solutions of the embodiments of the present invention, such as using other sensors and processor chips that realize the purpose of the embodiments of the present invention to replace the above-mentioned corresponding elements, for example, Fiber optic gyroscopes can be replaced by laser gyroscopes, etc.

Through the combination of the above three modules, the rotation posture change of the segment assembly can be obtained in real time, and the position accuracy of the segment assembly can be further improved according to the detected posture change, thereby improving the engineering quality.

The shield machine according to the embodiment of the utility model includes the space attitude measuring device 10 of the segment assembly machine with the inertial sensor module 1 according to the embodiment of the utility model.

Due to the adoption of the space attitude measuring device 10 of the segment assembly machine with the inertial sensor module 1 , the engineering quality of the shield machine in the embodiment of the present invention can be improved during construction.

In the description of the present utility model, unless otherwise clearly stipulated and limited, the terms "installation", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, or a Integral; it can be mechanically or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.

In the description of this specification, descriptions with reference to the terms "embodiment", "example" and the like mean that specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention middle. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications, the scope of the present invention is defined by the claims and their equivalents.

Claims (8)

1. A segment assembly machine space attitude measurement device with an inertial sensor, characterized in that it comprises: An inertial sensor module, the inertial sensor module is suitable for being connected with the segment assembly machine to measure the space attitude information of the segment assembly machine, the space attitude information of the segment assembly machine includes the pitch angle and the yaw angle of the segment assembly machine and rotation angle; A data processing module, the data processing module is used to process the space posture information of the segment assembly machine to obtain the posture change data of the segment assembly machine; A wireless transmission module, the wireless transmission module includes a wireless transmitter and a wireless receiver, the wireless transmitter is electrically connected to the inertial sensor module to transmit the space posture information of the segment assembly machine, and the wireless receiver receives The spatial posture information of the segment assembly machine sent by the wireless transmitter, the wireless receiver is electrically connected to the data processing module to transmit the spatial posture information of the segment assembly machine to the data processing module . 2. The space attitude measurement device of the segment assembly machine with an inertial sensor according to claim 1, wherein the inertial sensor module comprises: a three-dimensional accelerometer. 3. The space attitude measurement device of the segment assembly machine with an inertial sensor according to claim 2, wherein the inertial sensor module comprises: a gyroscope. 4. The space attitude measurement device of the segment assembly machine with inertial sensors according to claim 3, characterized in that there are three gyroscopes, and the three gyroscopes are arranged orthogonally to each other. 5 . The space attitude measurement device of the segment assembly machine with inertial sensors according to claim 4 , wherein the three gyroscopes are respectively fixedly connected to the three sensitive axes of the three-dimensional accelerometer. 6 . 6 . The space attitude measurement device of the segment assembly machine with an inertial sensor according to claim 3 , wherein the gyroscope is an optical fiber gyroscope. 7 . 7. The space attitude measuring device of the segment assembly machine with an inertial sensor according to any one of claims 1-6, wherein the inertial sensor module is suitable for being connected with the clamping device of the segment assembly machine, The clamping device is used for clamping the segment. 8. A shield machine, characterized in that it comprises the segment assembly machine space attitude measuring device with an inertial sensor according to any one of claims 1-7.