WO2021114651A1 - 基于盾构机施工的导向管理系统 - Google Patents

基于盾构机施工的导向管理系统 Download PDF

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WO2021114651A1
WO2021114651A1 PCT/CN2020/100755 CN2020100755W WO2021114651A1 WO 2021114651 A1 WO2021114651 A1 WO 2021114651A1 CN 2020100755 W CN2020100755 W CN 2020100755W WO 2021114651 A1 WO2021114651 A1 WO 2021114651A1
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module
data
shield machine
calculation
plc
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PCT/CN2020/100755
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English (en)
French (fr)
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杨志勇
江玉生
郑春燕
侯公羽
江华
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南京城市地下空间工程研究院有限公司
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Publication of WO2021114651A1 publication Critical patent/WO2021114651A1/zh

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    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/06—Making by using a driving shield, i.e. advanced by pushing means bearing against the already placed lining
    • E21D9/093—Control of the driving shield, e.g. of the hydraulic advancing cylinders
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
    • E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
    • E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
    • E—FIXED CONSTRUCTIONS
    • E21—EARTH OR ROCK DRILLING; MINING
    • E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/18—Special adaptations of signalling or alarm devices

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  • the invention belongs to the technical field of subway tunnel construction application, and is specifically a guidance management system based on shield machine construction.
  • Shield guidance system is an automated shield machine attitude measurement and guidance measurement program that has emerged in recent years with the development of computer technology. It provides a basis for attitude control and deviation correction of shield equipment during tunneling, and is the main means to ensure the accuracy of the tunnel axis. Since foreign shield technology has developed earlier than domestic, shield guidance systems are also first developed and used abroad, and there are fewer independent research and development systems in China, and the existing domestic shield guidance systems can't meet the needs of use.
  • the problem to be solved by the present invention is that: the attitude measurement and guidance of the traditional shield machine rely on manual measurement, which has low efficiency and high error rate, and the degree of automation of the existing shield machine guidance system needs to be improved.
  • the technical scheme of the present invention is: a guided management system based on shield machine construction, including a control module, a bottom communication module, a data acquisition module, a data management module, a calculation analysis module, and an interface display and operation module,
  • Control module Including PLC control module and control box.
  • the PLC control module communicates with the PLC system of the shield machine.
  • the control box is used to communicate with the shield machine testing equipment.
  • the shield machine testing equipment includes a total station, an inclinometer and a target prism;
  • Bottom layer communication module used to realize the communication between the guidance management system and the shield machine main controller PLC through the communication protocol of the shield machine PLC system, and realize the communication between the guidance management system and the shield machine detection equipment through the corresponding wireless communication protocol;
  • Data collection module used to collect data from shield machine testing equipment and send it to the data management module;
  • Data management module receives the data from the main controller PLC of the shield machine and the data sent by the data acquisition module, which is used to store the received data in a queue mode, pass the data to the calculation analysis module through the event mode, and perform calculation analysis The result data generated by the module is stored;
  • Calculation and analysis module used to integrate the spatial data calculation function of the shield machine into a series of data matrices, and encapsulate them into multiple calculation function modules for invocation, and make rationality based on the data obtained by the data management module and the set threshold Analysis, the analysis results are transmitted to the interface display and operation module in the form of graphs and values;
  • Interface display and operation module used to receive and display the graphs and numerical data of the calculation analysis module, and provide a human-computer interaction interface
  • control module communicates with the interface display and operation module.
  • the control module communicates with the shield machine and shield machine detection equipment through the bottom communication module, and the data acquisition module obtains the shield machine detection equipment data through the bottom communication module.
  • the management module communicates with the main controller PLC of the shield machine and the calculation and analysis module through the bottom communication module.
  • the calculation function module of the calculation analysis module includes a measured coordinate calculation module, a coordinate system space conversion module, a parameter and deviation warning setting module, and a tunnel design centerline setting module.
  • the data management module obtains the communication with the main controller PLC of the shield machine, and is used to obtain the hinge data of the shield machine and send the oriented data to the PLC.
  • the interface display and operation module adopts WPF as the UI framework.
  • the inclinometer is installed in the shield to measure the rolling and pitch angles of the shield machine in real time.
  • the inclinometer is also used to control the opening and closing of the target prism.
  • the space is powered by an external battery pack, and the control commands of the total station, the measurement result and the remaining power information of the battery pack are transmitted to the control module, and displayed on the interface display and operation module.
  • the total station is controlled by the control module to perform uninterrupted automatic tracking and measurement of the control points installed on the shield machine with known relative coordinates, and then the posture, orientation, and deviation calculation of the shield machine is completed in the calculation and analysis module, and The data or graphic interface is displayed to the shield operator to achieve the purpose of guiding the shield tunneling according to the established route.
  • the calculation analysis module of the present invention can quickly and conveniently complete various calculation functions automatically by designing and encapsulating each calculation function module, including:
  • the guidance management system of the present invention can also check the current posture accuracy of the shield by manually reviewing the results of the calculation function module.
  • the oriented management system of the present invention abandons the wired connection mode of the conventional system, and all adopts wireless connection, which is convenient for installation and use.
  • the guidance management system of the present invention has the characteristics of low visibility requirements, high measurement accuracy, fast measurement speed, small positioning workload, better stability, comprehensiveness, etc., and has the functions of linear calculation, zero-position fitting and restoration.
  • Figure 1 is a layout diagram of the guidance management system based on shield machine construction of the present invention.
  • Figure 2 is a working flow chart of the oriented management system of the present invention.
  • the present invention is a guided management system based on shield machine construction, including a control module, a bottom communication module, a data acquisition module, a data management module, a calculation analysis module, and an interface display and operation module.
  • Control module Including PLC control module and control box.
  • the PLC control module communicates with the PLC system of the shield machine.
  • the control box is used to communicate with the shield machine testing equipment.
  • the shield machine testing equipment includes a total station, an inclinometer and a target prism.
  • Low-level communication module used to realize the communication between the PLC control module of the oriented management system and the main controller PLC of the shield machine through the communication protocol of the shield machine PLC system, and realize the oriented management system control box and the shield through the corresponding wireless communication protocol Machine testing equipment communication.
  • the communication objects of the guidance management system are divided into two categories: the main controller PLC of the shield machine and the communication of the guidance own system.
  • the communication with the shield machine PLC mainly obtains the shield machine hinge data to calculate the position of the shield machine tail shield. At the same time, it can also send the set guidance data to the shield machine PLC for the convenience of users.
  • the underlying communication module is a necessary part to ensure the completion of the communication.
  • the interface display and operation module can be used for man-machine interaction, and the appropriate communication protocol can be selected to achieve Communicate with different shield machines and support simultaneous communication with multiple shield machines PLC.
  • the communication between the guidance management system and the shield machine detection equipment adopts an independent protocol, which allows the control box of the guidance management system to wirelessly control the operation of the inclinometer, total station, and target prism.
  • Data collection module used to collect data from shield machine testing equipment, inquire about the status of the equipment, and send it to the data management module;
  • Data management module receives the data from the main controller PLC of the shield machine and the data sent by the data acquisition module, which is used to store the received data in a queue mode, pass the data to the calculation analysis module through the event method, and perform calculations.
  • the result data generated by the analysis module is stored; among them, the data management module obtains the communication with the main controller PLC of the shield machine, is used to obtain the hinge data of the shield machine, and send the set guidance data to the shield machine PLC.
  • Calculation and analysis module Since posture calculation involves a lot of mathematical calculations, the calculation and analysis module is used to integrate the spatial data calculation functions of the shield machine into a series of data matrices, and encapsulate them into multiple calculation function modules for invocation and management according to the data The data obtained by the module and the set threshold are analyzed for rationality, and the analysis results are transmitted to the interface display and operation module in the form of graphs and values; the calculation function modules of the calculation analysis module include the measured coordinate calculation module, the coordinate system space conversion module, and the parameters And the deviation warning setting module and the tunnel design center line setting module.
  • Interface display and operation module used to receive and display the graphs and numerical data of the calculation analysis module, and provide a human-computer interaction interface; the interface display and operation module preferably uses Microsoft's user interface framework WPF (Windows Presentation Foundation) as the UI framework.
  • WPF Microsoft's user interface framework
  • the main interface of the system is the display of data, the setting of the system and the setting of data parameters.
  • the data display is mainly based on charts, lists and data blocks. Through good human-computer interaction, real-time monitoring data and calculation analysis results can be displayed intuitively.
  • control module communicates with the interface display and operation module.
  • the control module communicates with the shield machine and shield machine detection equipment through the bottom communication module, and the data acquisition module obtains the shield machine detection equipment data through the bottom communication module.
  • the management module communicates with the main controller PLC of the shield machine and the calculation and analysis module through the bottom communication module.
  • the guidance management system of the present invention based on shield machine construction includes a set of hardware equipment, including a control computer, a total station, a control box, an inclinometer, a target prism and related connecting cables, and connectors, as shown in Figure 1.
  • the guidance system computer is installed in the control room of the shield machine.
  • the guidance management system control module, bottom communication module, data acquisition module, data management module, calculation analysis module and interface display and operation module are implemented based on the computer equipment.
  • the routing is connected to the shield machine PLC system, and the PLC control module of the guidance management system is responsible for data exchange with the shield machine PLC; the data control process of the guidance management system can be wirelessly connected to the inclinometer and the whole station through the control box of the control module
  • the inclinometer is installed in the shield machine, which can measure the rolling and pitch angles of the shield machine in real time. At the same time, the inclinometer can control the opening and closing of the target prism through the control command.
  • the total station is powered by an external battery pack.
  • the control commands and measurement results of the total station and the remaining power of the battery pack can be wirelessly transmitted back to the guidance system computer in the control room, and can be displayed and operated on the interface. Displayed on the human-computer interaction interface.
  • the displayed content includes:
  • the parameter data of the shield guidance system is displayed at the time, mainly including: mileage, management stroke, front shield XYZ coordinates, middle shield XYZ coordinates, tail shield XYZ coordinates, roll angle, pitch angle, front shield horizontal deviation, front shield vertical deviation, center Shield horizontal deviation, middle shield vertical deviation, tail shield horizontal deviation and tail shield vertical deviation, these data come from the PLC system of the shield machine.
  • the parameter data in the data management module is updated every 10 seconds.
  • the calculation and analysis module automatically calculates the correction amount of each ring of the shield machine according to the collected parameters and displays the calculation results of nearly 10 rings in a list.
  • FIG. 2 it is a schematic diagram of the work flow displayed by the oriented management system of the present invention through the interface display and operation module.
  • each module realizes its function by configuring the corresponding program, and preferentially adopts C#6.0 as the development language and MySQL as the database.
  • the shield guiding system of the present invention performs uninterrupted tracking and measurement of the control points installed on the shield machine with known relative coordinates, thereby completing the posture, orientation and deviation calculation of the shield machine, and displaying it to the shield operation through data or graphical interface
  • the user can use multiple review methods to check the current attitude accuracy at any time, mainly by manually operating the total station and calling the calculation analysis module
  • Different measurement and calculation methods are used to measure the attitude of the shield to review the automatic measurement data; the system of the present invention abandons the wired connection mode of the conventional system, and all adopts wireless connection, which is convenient for installation and use.
  • the invention automatically finds the measurement target-prism through automatic measurement and control management of the total station, automatically measures, and obtains the three-dimensional coordinates of the prism.
  • the layout of the prism position is the key to the guidance system. It must be relatively safe and stable, but also reflect the attitude of the shield machine well, and at the same time, consider the visibility and measurement convenience of the total station.
  • the two prisms are arranged on the jack support ring of the shield machine, and the third prism is arranged on the screw machine.
  • the third prism can also be arranged on the inner shell in front of the support ring.
  • the total station measures the three prisms installed on the shield machine, uses the coordinates of the prisms to convert the real-time attitude of the shield, and compares it with the design data in real time to obtain the deviation of the shield. All calculations and comparisons are realized through the calculation and analysis module, and the design data and measurement data are stored in the database of the data management module and can be called at any time as needed.
  • the invention satisfies the real-time communication between the total station and the industrial computer through the wireless network, and can meet the long-term power supply needs of the total station and the radio in the tunnel.
  • the shield guiding system of the present invention realizes that the shield machine can automatically measure the attitude of the shield machine for a long time during the advancing process, and the deviation of the shield machine is presented on the computer screen in real time to guide the shield driver to advance. All measurement data and deviation data are managed and inquired. It reduces the probability of various deviations in the process of shield advancement. Improve work efficiency and accuracy.
  • the system guidance parameter interface of the present invention displays the main parameters of the shield attitude, and the update frequency varies according to the type of shield machine. It does not exceed 30s to update once.
  • the displayed guidance parameters include:
  • the calculation and analysis module of the present invention performs rationality analysis based on the data obtained by the data management module and the set threshold to realize parameter early warning, including:
  • the real-time display interface of the guidance management system will change the color of the parameter data displayed in real time, and automatically change to the color consistent with the warning level, such as Red, orange, and yellow.
  • the human-computer interaction interface of the interface display and operation module of the present invention can be used for data query, including all the parameters described above, and displayed in the form of a table, which is convenient for use when querying multiple parameters at the same time.
  • the interface display of the present invention also provides a graph display.
  • the calculation and analysis module analyzes the changes of the shield propulsion parameters during the construction process from the designated start ring to the designated end ring, and draws the relevant parameter change curve.
  • the human-computer interaction interface also has a curve zoom function. The user can zoom in on the curve by dragging and dropping the mouse to analyze the parameter changes in more detail.
  • the single-loop analysis interface can analyze two different types of parameters, and up to 5 similar parameters can be analyzed at the same time.
  • the interface display and operation module also provides statistics and analysis of the guidance data in the shield tunneling process in the form of time periods, and automatically generates reports for decision makers' reference.
  • Report output can be output in the form of "daily report”, "weekly report” and "monthly report” in three time periods.
  • the report is output as an excel file, which is convenient for users to print and store.

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  • Mining & Mineral Resources (AREA)
  • Life Sciences & Earth Sciences (AREA)
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Abstract

基于盾构机施工的导向管理系统，包括控制模块、底层通讯模块、数据采集模块、数据管理模块、计算分析模块和界面显示及操作模块，控制模块与界面显示及操作模块数据互通，控制模块通过底层通讯模块与盾构机及盾构机检测设备通讯，数据采集模块通过底层通讯模块获取盾构机检测设备的数据，数据管理模块通过底层通讯模块与盾构机主控器PLC、计算分析模块通讯。该系统通过控制模块控制全站仪对安装于盾构机上已知相对坐标的控制点进行不间断的自动跟踪测量，进而在计算分析模块中完成盾构机的姿态、方位、偏差计算，并通过数据或图形界面展示给盾构机操作者，实现指导盾构机按既定线路掘进的目的。

Description

基于盾构机施工的导向管理系统 技术领域
本发明属于地铁隧道施工应用技术领域，具体为一种基于盾构机施工的导向管理系统。
背景技术
盾构法隧道施工中，传统盾构机姿态测量和导向常常是采用经纬仪和水准仪测量、人工读数、处理分析偏差的方法进行工作，人为因素大、效率低，出错率高，影响了工作效率。
盾构导向系统是近年来随着计算机技术发展而出现的自动化盾构机姿态测量和导向测量方案，为盾构设备掘进时的姿态控制与纠偏提供依据，是保证隧道轴线精度的主要手段。由于国外盾构技术较国内发展早，盾构导向系统也是国外先行研发使用，国内自主研发的系统较少，且现有国内的盾构导向系统自动化程度等还不能很好的满足使用需求。
发明内容
本发明要解决的问题是：传统盾构机姿态测量和导向依靠人工测量，效率低，出错率高，现有的盾构导向系统自动化程度还有待提高。
本发明的技术方案为：基于盾构机施工的导向管理系统，包括控制模块、底层通讯模块、数据采集模块、数据管理模块、计算分析模块和界面显示及操作模块，
控制模块：包括PLC控制模块和控制盒，PLC控制模块与盾构机PLC系统通讯，控制盒用于与盾构机检测设备通讯，盾构机检测设备包括全站仪、倾斜仪和靶棱镜；
底层通讯模块：用于通过盾构机PLC系统的通信协议实现导向管理系统与盾构机主控器PLC的通讯，以及通过对应的无线通信协议实现导向管理系统与盾构机检测设备的通讯；
数据采集模块：用于采集盾构机检测设备的数据，并发送给数据管理模块；
数据管理模块：接收盾构机主控器PLC的数据和数据采集模块发送的数据，用于采用队列式方式对接收的数据进行存储，通过事件方式将数据传递给计算分析模块，并对计算分析模块产生的结果数据进行存储；
计算分析模块：用于将盾构机的空间数据计算函数整合成一系列数据矩阵，并封装 为多个计算功能模块，用于调用，并根据数据管理模块得到的数据以及设定的阈值进行合理性分析，分析结果以图表和数值的方式传送给界面显示及操作模块；
界面显示及操作模块：用于接收计算分析模块的图表和数值数据并进行显示，以及提供人机交互界面；
上述模块中，控制模块与界面显示及操作模块数据互通，控制模块通过底层通讯模块与盾构机及盾构机检测设备通讯，数据采集模块通过底层通讯模块获取盾构机检测设备的数据，数据管理模块通过底层通讯模块与盾构机主控器PLC、计算分析模块通讯。
进一步的，所述计算分析模块的计算功能模块包括实测坐标计算模块、坐标系统空间转换模块、参数与偏差预警设置模块和隧道设计中线设置模块。
进一步的，数据管理模块获取与盾构机主控器PLC的通讯，用于获取盾构机铰结数据，以及向PLC发送导向的数据。
作为优选方式，界面显示及操作模块采用WPF作为UI框架。
作为优选方式，盾构机检测设备中，倾斜仪安装于盾构内，用于实时测量盾构机的滚动与俯仰角，倾斜仪还用于控制靶棱镜的开与关，全站仪采用大空间外置电池组方式供电，全站仪的控制命令、测量结果与电池组的剩余电量信息传输给控制模块，并在界面显示及操作模块上进行显示。
本发明的通过控制模块控制全站仪对安装于盾构机上已知相对坐标的控制点进行不间断的自动跟踪测量，进而在计算分析模块中完成盾构机的姿态、方位、偏差计算，并通过数据或图形界面展示给盾构操作者，实现指导盾构按既定线路掘进的目的。本发明的计算分析模块通过设计封装各个的计算功能模块，可以快速方便的自动完成各种计算功能，包括：
1.通过实测坐标计算模块计算测定实时盾构中心坐标；
2.通过坐标系统空间转换模块将坐标转换为空间位置；
3.通过参数和偏差预警设置模块对盾构导向进行预警；
本发明导向管理系统还可以通过人工复核计算功能模块的结果检查当前盾构的姿态精度。
本发明导向管理系统摒弃了常规系统的有线连接方式，全部采用无线连接，方便安装与使用。
本发明导向管理系统具有通视要求低、测量精度高、测量速度快、定位工作量小、较好的稳定性、全面性等特点，同时具备线性计算、零位拟合和恢复功能。
附图说明
图1为本发明基于盾构机施工的导向管理系统布置图。
图2为本发明导向管理系统的工作流程图。
具体实施方式
本发明基于盾构机施工的导向管理系统，包括控制模块、底层通讯模块、数据采集模块、数据管理模块、计算分析模块和界面显示及操作模块，
控制模块：包括PLC控制模块和控制盒，PLC控制模块与盾构机PLC系统通讯，控制盒用于与盾构机检测设备通讯，盾构机检测设备包括全站仪、倾斜仪和靶棱镜。
底层通讯模块：用于通过盾构机PLC系统的通信协议实现导向管理系统的PLC控制模块与盾构机主控器PLC的通讯，以及通过对应的无线通信协议实现导向管理系统控制盒与盾构机检测设备的通讯。导向管理系统的通讯对象分为两大类：盾构机主控器PLC和导向自身系统通讯。与盾构机PLC通信主要获取盾构机铰结数据以便计算盾构机尾盾的位置，同时也可以向盾构机PLC发送设置的导向数据，以方便用户使用。底层通讯模块则是保证通讯完成的必要部分，配置了涵盖目前市面上大部分盾构机PLC系统的通信协议，可以通过界面显示及操作模块进行人机交互操作，选择合适的通信协议方式，实现与不同的盾构机通信，并可支持对多个盾构机PLC的同时通信。导向管理系统与盾构机检测设备之间的通讯采用独立的协议，可以使导向管理系统的控制盒通过无线方式控制倾斜仪、全站仪，及靶棱镜的操作。
数据采集模块：用于采集盾构机检测设备的数据，进行设备状态询问，并发送给数据管理模块；
数据管理模块：接收盾构机主控器PLC的数据和数据采集模块发送的数据，用于采用队列式的方式对接收的数据进行存储，通过事件方式将数据传递给计算分析模块，并对计算分析模块产生的结果数据进行存储；其中，数据管理模块获取与盾构机主控器PLC的通讯，用于获取盾构机铰结数据，以及向盾构机PLC发送设置的导向数据。
计算分析模块：由于姿态计算涉及大量的数学计算，计算分析模块用于将盾构机的空间数据计算函数整合成一系列数据矩阵，并封装为多个计算功能模块，用于调用，并根据数据管理模块得到的数据以及设定的阈值进行合理性分析，分析结果以图表和数值的方式传送给界面显示及操作模块；计算分析模块的计算功能模块包括实测坐标计算模块、坐标系统空间转换模块、参数与偏差预警设置模块和隧道设计中线设置模块。
界面显示及操作模块：用于接收计算分析模块的图表和数值数据并进行显示，以及提供人机交互界面；界面显示及操作模块优选采用微软的用户界面框架WPF(Windows Presentation Foundation)作为UI框架。WPF具有界面友好，易于设计，运行流畅的优点。系统主要的界面是对数据的展示、系统的设置和数据参数设置。数据展示以图表、列表和数据块为主。通过良好的人机交互，能够直观的展现实时监控数据和计算分析结果。
上述模块中，控制模块与界面显示及操作模块数据互通，控制模块通过底层通讯模块与盾构机及盾构机检测设备通讯，数据采集模块通过底层通讯模块获取盾构机检测设备的数据，数据管理模块通过底层通讯模块与盾构机主控器PLC、计算分析模块通讯。
下面说明本发明的具体实施。
本发明基于盾构机施工的导向管理系统包括一套硬件设备，包括控制电脑、全站仪、控制盒，倾斜仪，靶棱镜及相关连接线缆，接插件组成，如图1所示。
首先，导向系统电脑安装于盾构的控制室内，导向管理系统的控制模块、底层通讯模块、数据采集模块、数据管理模块、计算分析模块和界面显示及操作模块基于所述电脑设备实现，通过设备路由与盾构机PLC系统相连接，导向管理系统的PLC控制模块负责与盾构机PLC进行数据交换；导向管理系统的数据控制流程可以通过控制模块的控制盒经无线方式连接倾斜仪和全站仪，倾斜仪安装于盾构机内，可以实时测量出盾构机的滚动与俯仰角，同时控制命令经倾斜仪可以控制靶棱镜的开与关。
全站仪采用外置电池组方式供电，全站仪的控制命令与测量结果与电池组的剩余电量等信息可以经无线方式传回控制室的导向系统电脑内，并可在界面显示及操作模块的人机交互界面上显示。显示的内容包括：
①时显示盾构导向系统参数数据，主要包括：里程、管理行程、前盾XYZ坐标、中盾XYZ坐标、尾盾XYZ坐标、滚动角、俯仰角、前盾水平偏差、前盾垂直偏差、中盾水平偏差、中盾垂直偏差、尾盾水平偏差和尾盾垂直偏差，这些数据来源于盾构机PLC系统。
②数据管理模块中参数数据每隔10秒钟更新一次。
③计算分析模块根据采集的参数自动计算盾构机每一环的纠偏量并列表显示近10环的计算结果。
如图2所示，为本发明导向管理系统通过界面显示及操作模块所展示出的工作流程示意图。
本发明基于盾构机施工的导向管理系统中，各模块通过配置对应的程序来实现其功 能，优先采用C#6.0作为开发语言，采用MySQL作为数据库。
本发明盾构导向系统对安装于盾构机上已知相对坐标的控制点进行不间断的跟踪测量，从而完成盾构机的姿态、方位、偏差计算，并通过数据或图形界面展示给盾构操作者，实现指导盾构按既定线路掘进的目的。不但可以实常规的导向系统测量工作，同时还可以实现多种人工复核计算的功能，用户随时可以采用多种复核方式检查当前的姿态精度，主要为通过人工操作全站仪，调用计算分析模块中不同的测量计算方法进行盾构姿态的测量，来对自动测量数据进行复核；本发明系统摒弃了常规系统的有线连接方式，全部采用无线连接，方便安装与使用。
本发明通过对全站仪进行自动测量和控制管理，自动寻找测量目标-棱镜，自动测量，得出棱镜的三维坐标。棱镜位置的布设是导向系统的关键，既要比较安全稳定，又要能很好的反映盾构机的姿态，同时又要考虑全站仪的通视和测量方便。
将两个棱镜设在盾构机千斤顶支撑环上，将第三个棱镜设置在螺旋机上，当然第三个棱镜也可以设在支撑环上前方的内部壳体上。全站仪测量安装在盾构机上的三个棱镜，通过棱镜坐标来换算盾构的实时姿态，并实时与设计数据进行比对，得出盾构的偏差情况。所有计算比对通过计算分析模块实现，设计数据和测量数据都保存在数据管理模块的数据库里，按照需要随时调用。
本发明通过无线网络满足全站仪和工控机的实时通讯，可以满足全站仪和电台再隧道内长时间的供电需要。采用本发明的盾构导向系统，实现了盾构机在推进过程中长时间自动对盾构进行姿态测量，并实时将盾构偏差情况呈现在电脑屏幕上，指导盾构司机推进，并可以对所有测量数据和偏差数据进行管理查询。降低了盾构推进过程中各种偏差出现的概率。提高了工作效率和准确性。
本发明系统导向参数界面显示盾构姿态的主要参数，更新频率按盾构机类型不同而不同，不超过30s更新一次，界面显示及操作模块的界面显示中，显示的导向参数包括：
(1)前中后盾东坐标
(2)前中后盾北坐标
(3)前中后盾海拔
(4)最近10环的刀盘水平纠偏量
(5)最近10环的刀盘垂直纠偏量
(6)前中后盾的水平偏差
(7)前中后盾的垂直偏差
(8)盾构便宜的图形化示意
本发明计算分析模块根据数据管理模块得到的数据以及设定的阈值进行合理性分析，实现参数预警，包括：
①通过对每个导向管理系统参数(含每一环的纠偏量)的预警控制范围进行设定，可以设置每一环的参数预警范围或者一定隧道长度参数预警范围；
②盾构机导向系统参数(含每一环的纠偏量)超过预警控制范围时，导向管理系统实时显示界面上，实时显示的参数数据会变颜色，自动变成与预警级别一致的颜色，如红、橙、黄色。
本发明界面显示及操作模块的人机交互界面可进行数据查询，包含以上描述所有参数，以表格的形式展现，方便同时查询多个参数时使用。
除了数据显示，本发明界面显示还提供图表显示，通过计算分析模块分析盾构推进参数在指定起始环到指定结束环施工过程中的变化情况，并绘出相关参数变化曲线。人机交互界面还具有曲线放大功能，用户可以通过鼠标的拖放对曲线进行放大，从而更加细致的对参数变化进行分析。单环分析界面能够对两种不同类型的参数进行分析，同类参数最多可以同时分析5个。
界面显示及操作模块还提供以时间段的形式对盾构掘进过程中的导向数据进行统计和分析，自动生成报表供决策者参考。报表输出可以以“日报”、“周报”和“月报”三种时间段的形式输出报表，报表以excel文件输出，方便用户打印和储存。

Claims (5)

  1. 基于盾构机施工的导向管理系统，其特征是包括控制模块、底层通讯模块、数据采集模块、数据管理模块、计算分析模块和界面显示及操作模块，
    控制模块：包括PLC控制模块和控制盒，PLC控制模块与盾构机PLC系统通讯，控制盒用于与盾构机检测设备通讯，盾构机检测设备包括全站仪、倾斜仪和靶棱镜；
    底层通讯模块：用于通过盾构机PLC系统的通信协议实现导向管理系统与盾构机主控器PLC的通讯，以及通过对应的无线通信协议实现导向管理系统与盾构机检测设备的通讯；
    数据采集模块：用于采集盾构机PLC及盾构机检测设备的数据，并发送给数据管理模块；
    数据管理模块：接收盾构机PLC的数据和数据采集模块发送的数据，用于采用队列式方式对接收的数据进行存储，通过事件方式将数据传递给计算分析模块，并对计算分析模块产生的结果数据进行存储；
    计算分析模块：用于将盾构机的空间数据计算函数整合成一系列数据矩阵，并封装为多个计算功能模块，用于调用，并根据数据管理模块得到的数据以及设定的阈值进行合理性分析，分析结果以图表和数值的方式传送给界面显示及操作模块；
    界面显示及操作模块：用于接收计算分析模块的图表和数值数据并进行显示，以及提供人机交互界面；
    上述模块中，控制模块与界面显示及操作模块数据互通，控制模块通过底层通讯模块与盾构机PLC及盾构机检测设备通讯，数据采集模块通过底层通讯模块获取盾构机检测设备的数据，数据管理模块通过底层通讯模块与盾构机主控器PLC、计算分析模块通讯。
  2. 根据权利要求1所述的基于盾构机施工的导向管理系统，其特征是所述计算分析模块的计算功能模块包括实测坐标计算模块、坐标系统空间转换模块、参数与偏差预警设置模块和隧道设计中线设置模块。
  3. 根据权利要求1所述的基于盾构机施工的导向管理系统，其特征是数据管理模块获取与盾构机主控器PLC的通讯，用于获取盾构机铰结数据，以及向PLC发送导向的数据。
  4. 根据权利要求1所述的基于盾构机施工的导向管理系统，其特征是界面显示及操作模块采用WPF作为UI框架。
  5. 根据权利要求1所述的基于盾构机施工的导向管理系统，其特征是盾构机检测 设备中，倾斜仪安装于盾构内，用于实时测量盾构机的滚动与俯仰角，倾斜仪还用于控制靶棱镜的开与关，全站仪采用外置电池组方式供电，全站仪的控制命令、测量结果与电池组的剩余电量信息传输给控制模块，并在界面显示及操作模块上进行显示。
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