【摘要】：在地鐵和隧道等地下盾構(gòu)施工過程中,雙護(hù)盾硬巖隧道掘進(jìn)機(jī)可以解決小半徑轉(zhuǎn)彎隧道,巖石強(qiáng)度高,巖石性質(zhì)復(fù)雜等問題,在硬巖等隧道掘進(jìn)中成為首要的選擇。目前,雙護(hù)盾硬巖隧道掘進(jìn)機(jī)前盾體位置實(shí)時(shí)測(cè)量是盾構(gòu)機(jī)自動(dòng)導(dǎo)向急需解決的難點(diǎn)問題,特別是前盾體盾首中心的實(shí)時(shí)精確定位。本文針對(duì)這一需求,設(shè)計(jì)了激光標(biāo)靶和單目視覺相結(jié)合的組合測(cè)量系統(tǒng),配合全站儀等構(gòu)成雙護(hù)盾硬巖隧道掘進(jìn)機(jī)導(dǎo)向系統(tǒng),研究了系統(tǒng)測(cè)量原理和標(biāo)定方法,最后搭建了實(shí)驗(yàn)驗(yàn)證系統(tǒng)精度,結(jié)果表明,在35m×3m×2m測(cè)量空間范圍內(nèi),構(gòu)建的導(dǎo)向系統(tǒng)測(cè)量精度優(yōu)于8mm,能夠滿足雙護(hù)盾硬巖隧道掘進(jìn)機(jī)導(dǎo)向過程中位姿精密測(cè)量的需求。本文主要研究?jī)?nèi)容總結(jié)如下:1.分析了盾構(gòu)機(jī)導(dǎo)向系統(tǒng)研究現(xiàn)狀及其應(yīng)用于雙護(hù)盾硬巖隧道掘進(jìn)機(jī)位姿測(cè)量時(shí)不足,結(jié)合單目視覺在相對(duì)位姿測(cè)量領(lǐng)域的優(yōu)點(diǎn),設(shè)計(jì)了單目視覺和激光標(biāo)靶相結(jié)合的雙護(hù)盾硬巖隧道掘進(jìn)機(jī)導(dǎo)向系統(tǒng)。2.根據(jù)導(dǎo)向系統(tǒng)總體方案設(shè)計(jì),完成光學(xué)特征點(diǎn)選型及空間結(jié)構(gòu)設(shè)計(jì)。基于ARM-Linux嵌入式平臺(tái),設(shè)計(jì)了集圖像采集和處理、位姿解算以及數(shù)據(jù)通信一體的智能視覺傳感器。智能視覺傳感器選用連通域標(biāo)記特征光斑,利用平方加權(quán)質(zhì)心法精確提取光學(xué)特征點(diǎn)光斑中心,通過設(shè)計(jì)的空間分布模型,實(shí)現(xiàn)光學(xué)特征點(diǎn)匹配,采用非線性迭代法和線性法相結(jié)合求解前盾與后盾之間最佳相對(duì)位姿估計(jì)。分析了基于激光標(biāo)靶的后盾體位姿測(cè)量方法。構(gòu)建了導(dǎo)向系統(tǒng)的測(cè)量數(shù)學(xué)模型,實(shí)現(xiàn)雙護(hù)盾硬巖隧道掘進(jìn)機(jī)前盾盾首中心的空間定位。3.搭建立體控制場(chǎng)完成智能視覺傳感器相機(jī)內(nèi)參的標(biāo)定;利用全站儀實(shí)現(xiàn)了光學(xué)特征點(diǎn)和前盾盾首中心相對(duì)位置的標(biāo)定;利用導(dǎo)向系統(tǒng)組合測(cè)量原理的反向求解過程,精確標(biāo)定智能視覺傳感器和激光標(biāo)靶的相對(duì)位姿關(guān)系。4.利用MATLAB對(duì)導(dǎo)向系統(tǒng)進(jìn)行仿真驗(yàn)證,搭建了模擬雙后盾硬巖掘進(jìn)機(jī)位置和姿態(tài)變化的實(shí)驗(yàn)系統(tǒng),并利用全站儀完成測(cè)量系統(tǒng)精度驗(yàn)證。
[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.
【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2016
【分類號(hào)】：U455.31;TP391.41

【相似文獻(xiàn)】

相關(guān)期刊論文 前10條

1 傅冰駿;建立隧道掘進(jìn)機(jī)產(chǎn)業(yè) 促進(jìn)我國(guó)地下空間開發(fā)[J];探礦工程(巖土鉆掘工程);2001年02期

2 ;倡議書——在中國(guó)推廣應(yīng)用隧道掘進(jìn)機(jī)及發(fā)展中國(guó)隧道掘進(jìn)機(jī)制造產(chǎn)業(yè)[J];巖石力學(xué)與工程學(xué)報(bào);2002年03期

3 馬元s，

本文編號(hào)：2155384