【摘要】：在地鐵和隧道等地下盾構施工過程中,雙護盾硬巖隧道掘進機可以解決小半徑轉彎隧道,巖石強度高,巖石性質復雜等問題,在硬巖等隧道掘進中成為首要的選擇。目前,雙護盾硬巖隧道掘進機前盾體位置實時測量是盾構機自動導向急需解決的難點問題,特別是前盾體盾首中心的實時精確定位。本文針對這一需求,設計了激光標靶和單目視覺相結合的組合測量系統(tǒng),配合全站儀等構成雙護盾硬巖隧道掘進機導向系統(tǒng),研究了系統(tǒng)測量原理和標定方法,最后搭建了實驗驗證系統(tǒng)精度,結果表明,在35m×3m×2m測量空間范圍內,構建的導向系統(tǒng)測量精度優(yōu)于8mm,能夠滿足雙護盾硬巖隧道掘進機導向過程中位姿精密測量的需求。本文主要研究內容總結如下:1.分析了盾構機導向系統(tǒng)研究現(xiàn)狀及其應用于雙護盾硬巖隧道掘進機位姿測量時不足,結合單目視覺在相對位姿測量領域的優(yōu)點,設計了單目視覺和激光標靶相結合的雙護盾硬巖隧道掘進機導向系統(tǒng)。2.根據(jù)導向系統(tǒng)總體方案設計,完成光學特征點選型及空間結構設計�；贏RM-Linux嵌入式平臺,設計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記特征光斑,利用平方加權質心法精確提取光學特征點光斑中心,通過設計的空間分布模型,實現(xiàn)光學特征點匹配,采用非線性迭代法和線性法相結合求解前盾與后盾之間最佳相對位姿估計。分析了基于激光標靶的后盾體位姿測量方法。構建了導向系統(tǒng)的測量數(shù)學模型,實現(xiàn)雙護盾硬巖隧道掘進機前盾盾首中心的空間定位。3.搭建立體控制場完成智能視覺傳感器相機內參的標定;利用全站儀實現(xiàn)了光學特征點和前盾盾首中心相對位置的標定;利用導向系統(tǒng)組合測量原理的反向求解過程,精確標定智能視覺傳感器和激光標靶的相對位姿關系。4.利用MATLAB對導向系統(tǒng)進行仿真驗證,搭建了模擬雙后盾硬巖掘進機位置和姿態(tài)變化的實驗系統(tǒng),并利用全站儀完成測量系統(tǒng)精度驗證。
[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.
【學位授予單位】：天津大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：U455.31;TP391.41

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本文編號：2155384