阅读说明：本技术 一种抗振型激光标靶、盾构机位姿测量系统及测量方法 (Anti-vibration laser target, shield tunneling machine pose measurement system and measurement method ) 是由 张晓日 杜文阳 赵旭晔 刘孟健 于 2020-07-08 设计创作，主要内容包括：本发明公开了一种抗振型激光标靶、盾构机位姿测量系统及测量方法,所述盾构机位姿测量方法包括：通过角度采集单元以大于或等于第一预设频率的频率采集盾构机的第一角度数据；基于滤波算法对所述第一角度数据进行滤波处理,以生成第二角度数据；以及基于所述第二角度数据和全站仪所采集的全站仪数据,确定所述盾构机的位姿。其能够降低盾构机位姿测量过程中盾构机的振动对测量结果的影响,提高盾构机位姿的测量精度。(The invention discloses an anti-vibration laser target, a shield tunneling machine pose measuring system and a shield tunneling machine pose measuring method, wherein the shield tunneling machine pose measuring method comprises the following steps: acquiring first angle data of the shield tunneling machine at a frequency greater than or equal to a first preset frequency through an angle acquisition unit; performing filtering processing on the first angle data based on a filtering algorithm to generate second angle data; and determining the pose of the shield tunneling machine based on the second angle data and total station data acquired by a total station. The method can reduce the influence of the vibration of the shield machine on the measurement result in the process of measuring the pose of the shield machine, and improve the measurement precision of the pose of the shield machine.)

1. The utility model provides an anti vibration type laser mark target, anti vibration type laser mark target is suitable for and installs in the shield constructs the machine for cooperate with the total powerstation, in order to measure the shield constructs the position appearance of machine in the tunnelling process, a serial communication port, include:

a prism;

a camera;

the angle acquisition unit is used for acquiring first angle data of the shield tunneling machine at a frequency greater than or equal to a first preset frequency;

the filtering unit is connected to the angle acquisition unit and is used for filtering the first angle data based on a filtering algorithm to generate second angle data; and

the casing, the casing has a sealed accommodation space, the prism, the camera, angle acquisition unit, vibration acquisition unit and the filtering unit install respectively in the accommodation space of casing, and the prism with the camera is coaxial to be set up, one side of casing has a light transmission area, the light that the total powerstation sent is suitable for passing through light transmission area shines in proper order and gets into the prism and the camera.

2. The anti-vibration laser target according to claim 1, wherein the first predetermined frequency is 100 HZ.

3. The vibration resistant laser target of claim 1, wherein the housing includes a light aperture and a light transmissive member, the light transmissive member having a shape that matches a shape of the light aperture, the light transmissive member being mounted to the light aperture, and the light aperture, the prism, and the camera being coaxially disposed.

4. The utility model provides a shield constructs quick-witted position appearance measurement system for measure the position appearance of shield structure machine in the tunnelling process, its characterized in that includes:

the anti-vibration laser target of any one of claims 1-3 mounted at a rear end of a shield body of the shield machine;

the total station is installed on the side wall of a tunnel where the shield machine is located, and the total station and the anti-vibration laser target are located on the same side of the shield machine;

the rear-view prism is arranged on the side wall of the tunnel and is positioned on the same side with the total station, and the total station is positioned between the anti-vibration laser target and the rear-view prism; and

a control mechanism mounted within a cab of the shield machine and operatively connected to the vibration resistant laser target and the total station.

5. A shield machine position and posture measuring method is characterized by comprising the following steps:

acquiring first angle data of the shield tunneling machine at a frequency greater than or equal to a first preset frequency through an angle acquisition unit;

performing filtering processing on the first angle data based on a filtering algorithm to generate second angle data; and

and determining the pose of the shield tunneling machine based on the second angle data and total station data acquired by a total station.

6. The method of claim 5, wherein determining the pose of the shield machine based on the second angle data and total station data collected by a total station further comprises:

calibrating the position relation of the anti-vibration laser target, the total station, the rearview prism and the shield machine;

establishing a total station coordinate system and an angle sensor coordinate system toAnd a camera coordinate system, wherein the origin of the total station coordinate system is the center of the total station, X_TZero scale co-rotation of axis and coded disc of total station, Z_TThe shaft is vertical to the coded disc and faces upwards; wherein the origin of the camera coordinate system is the prism center of the anti-vibration laser target coordinate system, and the connecting line between the prism and the camera of the anti-vibration laser target is Y_SAxis, Z_SThe axis and the Z_TThe axes are the same; the origin of coordinates of the angle sensor coordinate system is the center of the prism, the X of the angle sensor_SAxis and Y_SThe shaft is respectively in the same direction as the two shafts of the angle sensor; wherein the total station coordinate system, the angle sensor coordinate system, and the camera coordinate system are each left-handed coordinate systems;

determining six pose parameters of the angle sensor coordinate system under the total station coordinate system;

measuring, by the total station, first coordinates of a prism of the anti-vibration laser target in the total station coordinate system;

performing coordinate conversion based on the first coordinate and the angle of the light ray irradiating the prism to obtain a second coordinate of the prism under a geodetic coordinate system; and

and determining the pose of the shield tunneling machine based on the second coordinate and the second angle data provided by the anti-vibration laser target.

7. The method of measuring the pose of the shield machine according to claim 6, wherein the determining six pose parameters of the angle sensor coordinate system in the total station coordinate system further comprises:

directly measuring by the total station to obtain three horizontal parameters of the shield machine;

determining a rolling angle and a pitching angle of the shield tunneling machine based on the second angle data; and

and determining the azimuth angle of the shield tunneling machine based on the rolling angle and the pitch angle.

8. The method of claim 7, wherein determining the roll angle of the shield machine based on the second angle data comprises:

y based on the angle sensor coordinate system_SThe angle between the axis and a reference plane, which is the X of the total station coordinate system, determines the pitch angle_TAxis and Y_TThe plane of the axis.

9. The method for measuring the attitude of the shield machine according to claim 7, wherein determining the pitch angle of the shield machine based on the second angle data comprises:

y based on the angle sensor coordinate system_SAngle between axis and reference plane, X of coordinate system of angle sensor_SAnd determining the rolling angle according to the included angle between the axis and the reference surface.

10. The method for measuring the attitude of the shield tunneling machine according to claim 5, wherein the first preset frequency is 100 Hz.

Technical Field

The invention relates to the field of shield machines, in particular to an anti-vibration laser target, a shield machine pose measuring system and a measuring method.

Background

With the development of science and technology, Tunnel Boring Machines (TBMs) have been developed greatly and are widely used in construction fields such as urban subway construction and coal mine Tunnel excavation. The novel engineering construction technology for the coal mine excavation field is realized by utilizing the tunnel boring machine to carry out coal mine tunnel excavation construction, and compared with other traditional mechanical equipment, the novel engineering construction technology has the advantages of high automation degree, labor saving, high construction quality, high construction speed and the like. Generally, under the condition that the tunnel axis is long and the burial depth is large, the tunneling machine is more economical and reasonable to excavate. Particularly, when the underground hard rock is faced, the advantage of tunneling by adopting the tunnel boring machine is more obvious.

It will be appreciated that the position and attitude of the tunnel boring machine needs to be continually determined during use of the machine to fine tune the path of operation of the machine so that it can operate along the predetermined path.

The position and attitude of the traditional tunnel boring machine are measured by three methods: manual measurement, triple prism measurement, and double prism measurement. It should be noted that the measurement accuracy of the three pose measurement methods of the traditional tunnel boring machine is relatively low, and the measurement process is relatively complicated. Particularly, when the tunnel boring machine encounters a hard rock-soil layer in the construction process, the tunnel boring machine vibrates greatly in the boring process, the problem that the prism cannot be searched by laser easily occurs when the prism method is used for measurement, and the measurement result is not accurate due to the influence of vibration.

In summary, how to accurately measure the position and posture of the tunnel boring machine in the working process of the tunnel boring machine is a problem to be solved in further development and application of the tunnel boring machine.

Disclosure of Invention

In order to solve the problems, the invention aims to provide an anti-vibration laser target, a shield machine pose measuring system and a measuring method, which can reduce the influence of the vibration of a shield machine on a measuring result in the shield machine pose measuring process and improve the shield machine pose measuring precision.

In order to achieve the above object, the present invention provides an anti-vibration laser target, which is suitable for being mounted on a shield machine and used for cooperating with a total station to measure the pose of the shield machine during a tunneling process, and includes:

a prism;

a camera;

the angle acquisition unit is used for acquiring first angle data of the shield tunneling machine at a frequency greater than or equal to a first preset frequency;

the filtering unit is connected to the angle acquisition unit and is used for filtering the first angle data based on a filtering algorithm to generate second angle data; and

the casing, the casing has a sealed accommodation space, the prism, the camera, angle acquisition unit, vibration acquisition unit and the filtering unit install respectively in the accommodation space of casing, and the prism with the camera is coaxial to be set up, one side of casing has a light transmission area, the light that the total powerstation sent is suitable for passing through light transmission area shines in proper order and gets into the prism and the camera.

In some preferred embodiments of the present invention, the first preset frequency is 100 HZ.

In some preferred embodiments of the present invention, the housing includes a light-passing hole and a light-transmitting member, the shape of the light-transmitting member is adapted to the shape of the light-passing hole, the light-transmitting member is mounted to the light-passing hole, and the light-passing hole, the prism, and the camera are coaxially disposed.

According to another aspect of the invention, the invention further provides a system for measuring the pose of the shield machine in the tunneling process, which comprises:

the vibration-resistant laser target is mounted at the rear end of the shield body of the shield machine;

the total station is installed on the side wall of a tunnel where the shield machine is located, and the total station and the anti-vibration laser target are located on the same side of the shield machine;

the rear-view prism is arranged on the side wall of the tunnel and is positioned on the same side with the total station, and the total station is positioned between the anti-vibration laser target and the rear-view prism; and

a control mechanism mounted within a cab of the shield machine and operatively connected to the vibration resistant laser target and the total station.

According to another aspect of the present invention, the present invention further provides a method for measuring the attitude of a shield machine, including:

acquiring first angle data of the shield tunneling machine at a frequency greater than or equal to a first preset frequency through an angle acquisition unit;

performing filtering processing on the first angle data based on a filtering algorithm to generate second angle data; and

and determining the pose of the shield tunneling machine based on the second angle data and total station data acquired by a total station.

In some preferred embodiments of the present invention, the determining the pose of the shield machine based on the second angle data and total station data acquired by a total station further includes:

calibrating the position relation of the anti-vibration laser target, the total station, the rearview prism and the shield machine;

establishing a total station coordinate system, an angle sensor coordinate system and a camera coordinate system, wherein an origin of the total station coordinate system is the fullCenter of standing apparatus, X_TZero scale co-rotation of axis and coded disc of total station, Z_TThe shaft is vertical to the coded disc and faces upwards; wherein the origin of the camera coordinate system is the prism center of the anti-vibration laser target coordinate system, and the connecting line between the prism and the camera of the anti-vibration laser target is Y_SAxis, Z_SThe axis and the Z_TThe axes are the same; the origin of coordinates of the angle sensor coordinate system is the center of the prism, the X of the angle sensor_SAxis and Y_SThe shaft is respectively in the same direction as the two shafts of the angle sensor; wherein the total station coordinate system, the angle sensor coordinate system, and the camera coordinate system are each left-handed coordinate systems;

determining six pose parameters of the angle sensor coordinate system under the total station coordinate system;

measuring, by the total station, first coordinates of a prism of the anti-vibration laser target in the total station coordinate system;

performing coordinate conversion based on the first coordinate and the angle of the light ray irradiating the prism to obtain a second coordinate of the prism under a geodetic coordinate system; and

and determining the pose of the shield tunneling machine based on the second coordinate and the second angle data provided by the anti-vibration laser target.

In some preferred embodiments of the present invention, the determining six pose parameters of the angle sensor coordinate system in the total station coordinate system further comprises:

directly measuring by the total station to obtain three horizontal parameters of the shield machine;

determining a rolling angle and a pitching angle of the shield tunneling machine based on the second angle data; and

and determining the azimuth angle of the shield tunneling machine based on the rolling angle and the pitch angle.

In some preferred embodiments of the present invention, determining the rolling angle of the shield tunneling machine based on the second angle data includes:

based on the angular sensor coordinate systemY_SThe angle between the axis and a reference plane, which is the X of the total station coordinate system, determines the pitch angle_TAxis and Y_TThe plane of the axis.

In some preferred embodiments of the present invention, determining the pitch angle of the shield tunneling machine based on the second angle data comprises:

y based on the angle sensor coordinate system_SThe angle between the axis and the reference plane, X of the coordinate system of the angle sensor_SAnd determining the rolling angle according to the included angle between the axis and the reference surface.

In some preferred embodiments of the present invention, the first preset frequency is 100 HZ.

The scheme of the invention comprises at least one of the following beneficial effects:

1. the influence of the vibration of the shield machine on the measurement result in the process of measuring the pose of the shield machine can be reduced, and the measurement precision of the pose of the shield machine is improved.

2. The measurement precision is improved by improving the frequency of attitude angle acquisition and the frequency of vibration acquisition and carrying out filtering processing on the attitude angle data based on the vibration frequency.

Drawings

The present invention will now be described more fully hereinafter with reference to the accompanying drawings, in which preferred embodiments of the invention are shown.

Fig. 1 is a flow chart of a shield machine attitude measurement method according to a preferred embodiment of the present invention.

Fig. 2 is a schematic structural view of a vibration resistant laser target of a preferred embodiment of the present invention.

Fig. 3 is a schematic structural diagram of a shield tunneling machine pose measurement system in a preferred embodiment of the invention.

Fig. 4 is a schematic coordinate system diagram of the shield tunneling machine pose measurement system according to the above preferred embodiment of the invention.

Fig. 5 is a schematic coordinate system transformation diagram of the shield tunneling machine pose measurement system according to the above preferred embodiment of the invention.

Fig. 6 is the total station coordinate system and the laser target coordinate system of the shield tunneling machine pose measurement system according to the above preferred embodiment of the invention.

The reference numbers illustrate:

1, a vibration-proof laser target, 2 a total station, 3 a shield machine, 4 a rearview prism, 5 a control mechanism, 6 a data processing mechanism and 7 a display mechanism;

the device comprises a prism 11, a camera 12, an angle acquisition unit 13, a shell 14, a light-transmitting piece 15 and a mounting piece 16;

140 receiving space, 141 light transmitting side wall, 1410 light transmitting hole.

Detailed Description

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.

For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product.