双护盾硬岩隧道掘进机导向系统关键技术研究
发布时间：2018-07-31 11:03
【摘要】：在地铁和隧道等地下盾构施工过程中,双护盾硬岩隧道掘进机可以解决小半径转弯隧道,岩石强度高,岩石性质复杂等问题,在硬岩等隧道掘进中成为首要的选择。目前,双护盾硬岩隧道掘进机前盾体位置实时测量是盾构机自动导向急需解决的难点问题,特别是前盾体盾首中心的实时精确定位。本文针对这一需求,设计了激光标靶和单目视觉相结合的组合测量系统,配合全站仪等构成双护盾硬岩隧道掘进机导向系统,研究了系统测量原理和标定方法,最后搭建了实验验证系统精度,结果表明,在35m×3m×2m测量空间范围内,构建的导向系统测量精度优于8mm,能够满足双护盾硬岩隧道掘进机导向过程中位姿精密测量的需求。本文主要研究内容总结如下:1.分析了盾构机导向系统研究现状及其应用于双护盾硬岩隧道掘进机位姿测量时不足,结合单目视觉在相对位姿测量领域的优点,设计了单目视觉和激光标靶相结合的双护盾硬岩隧道掘进机导向系统。2.根据导向系统总体方案设计,完成光学特征点选型及空间结构设计。基于ARM-Linux嵌入式平台,设计了集图像采集和处理、位姿解算以及数据通信一体的智能视觉传感器。智能视觉传感器选用连通域标记特征光斑,利用平方加权质心法精确提取光学特征点光斑中心,通过设计的空间分布模型,实现光学特征点匹配,采用非线性迭代法和线性法相结合求解前盾与后盾之间最佳相对位姿估计。分析了基于激光标靶的后盾体位姿测量方法。构建了导向系统的测量数学模型,实现双护盾硬岩隧道掘进机前盾盾首中心的空间定位。3.搭建立体控制场完成智能视觉传感器相机内参的标定;利用全站仪实现了光学特征点和前盾盾首中心相对位置的标定;利用导向系统组合测量原理的反向求解过程,精确标定智能视觉传感器和激光标靶的相对位姿关系。4.利用MATLAB对导向系统进行仿真验证,搭建了模拟双后盾硬岩掘进机位置和姿态变化的实验系统,并利用全站仪完成测量系统精度验证。
[Abstract]:In the process of underground shield tunneling such as subway and tunnel, double shield hard rock tunneling machine can solve the problems of small radius turning tunnel, high rock strength and complex rock properties. At present, the real-time measurement of the front shield position of the double shield hard rock tunneling machine is a difficult problem to be solved for the shield machine's automatic guidance, especially the real-time accurate positioning of the front shield's head center. In order to meet this demand, a combined measuring system combining laser target and monocular vision is designed in this paper. The guiding system of double shield hard rock tunnel tunneling machine is composed of total station and so on. The measuring principle and calibration method of the system are studied. Finally, the precision of the system is established. The results show that the precision of the system is better than 8mm in the range of 35m 脳 3m 脳 2m measurement space, which can meet the requirement of precision measurement of position and attitude in the guiding process of double-shield hard rock tunnel tunneling machine. The main contents of this paper are summarized as follows: 1. This paper analyzes the present situation of the research on the guide system of shield machine and its application in the measurement of the position and attitude of the double shield hard rock tunneling machine, and combines the advantages of monocular vision in the field of relative position and attitude measurement. The guiding system of double shield hard rock tunneling machine combined with monocular vision and laser target is designed. According to the overall design of the guiding system, the optical feature point selection and space structure design are completed. Based on ARM-Linux embedded platform, an intelligent vision sensor is designed, which integrates image acquisition and processing, position and pose calculation and data communication. The intelligent vision sensor uses the connected region to mark the feature spot, uses the square weighted centroid method to accurately extract the optical feature spot center, and realizes the optical feature point matching through the designed spatial distribution model. The nonlinear iterative method and linear method are used to solve the optimal relative position estimation between the front shield and the backing. The position and attitude measurement method based on laser target is analyzed. The measurement mathematical model of the guiding system is constructed to realize the spatial orientation of the center of the front shield of the double shield hard rock tunnel tunneling machine. The calibration of the internal parameters of the intelligent visual sensor camera is completed by setting up the stereo control field; the relative position of the optical feature point and the front shield head center is calibrated by using the total station; the reverse solution process of the principle of the combined measurement principle of the guide system is used. Accurately calibrate the relative position and attitude relationship between the intelligent vision sensor and the laser target. 4. MATLAB is used to simulate the steering system, and an experimental system is set up to simulate the change of position and attitude of the double backing hard rock roadheader, and the precision of the measuring system is verified by using the total station.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U455.31;TP391.41
[Abstract]:In the process of underground shield tunneling such as subway and tunnel, double shield hard rock tunneling machine can solve the problems of small radius turning tunnel, high rock strength and complex rock properties. At present, the real-time measurement of the front shield position of the double shield hard rock tunneling machine is a difficult problem to be solved for the shield machine's automatic guidance, especially the real-time accurate positioning of the front shield's head center. In order to meet this demand, a combined measuring system combining laser target and monocular vision is designed in this paper. The guiding system of double shield hard rock tunnel tunneling machine is composed of total station and so on. The measuring principle and calibration method of the system are studied. Finally, the precision of the system is established. The results show that the precision of the system is better than 8mm in the range of 35m 脳 3m 脳 2m measurement space, which can meet the requirement of precision measurement of position and attitude in the guiding process of double-shield hard rock tunnel tunneling machine. The main contents of this paper are summarized as follows: 1. This paper analyzes the present situation of the research on the guide system of shield machine and its application in the measurement of the position and attitude of the double shield hard rock tunneling machine, and combines the advantages of monocular vision in the field of relative position and attitude measurement. The guiding system of double shield hard rock tunneling machine combined with monocular vision and laser target is designed. According to the overall design of the guiding system, the optical feature point selection and space structure design are completed. Based on ARM-Linux embedded platform, an intelligent vision sensor is designed, which integrates image acquisition and processing, position and pose calculation and data communication. The intelligent vision sensor uses the connected region to mark the feature spot, uses the square weighted centroid method to accurately extract the optical feature spot center, and realizes the optical feature point matching through the designed spatial distribution model. The nonlinear iterative method and linear method are used to solve the optimal relative position estimation between the front shield and the backing. The position and attitude measurement method based on laser target is analyzed. The measurement mathematical model of the guiding system is constructed to realize the spatial orientation of the center of the front shield of the double shield hard rock tunnel tunneling machine. The calibration of the internal parameters of the intelligent visual sensor camera is completed by setting up the stereo control field; the relative position of the optical feature point and the front shield head center is calibrated by using the total station; the reverse solution process of the principle of the combined measurement principle of the guide system is used. Accurately calibrate the relative position and attitude relationship between the intelligent vision sensor and the laser target. 4. MATLAB is used to simulate the steering system, and an experimental system is set up to simulate the change of position and attitude of the double backing hard rock roadheader, and the precision of the measuring system is verified by using the total station.
【学位授予单位】：天津大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U455.31;TP391.41
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