基于单目视觉的双护盾TBM导向方法研究  

Research on Guidance Method of Double Shield TBM Based on Monocular Vision

作　　者：黄喆 程二静 邵震宇 杜文阳 赵旭晔 燕庆德 Huang Zhe;Cheng Erjing;Shao Zhenyu;Du Wenyang;Zhao Xuye;Yan Qingde(School of Electronic Information and Automation,Tianjin University of Science and Technology,Tianjin 300222,China;Tianjin Hengdu Quantum Precision Instrument Technology Co.,Ltd,Tianjin 300384,China)

机构地区：[1]天津科技大学电子信息与自动化学院,天津300222 [2]天津恒度量子精密仪器技术有限公司,天津300384

出　　处：《激光与光电子学进展》2021年第24期301-308,共8页Laser & Optoelectronics Progress

基　　金：国家重点研发计划(2019YFB2006100);天津市自然科学基金(18JCYBJC88600);天津大学精密测试技术与仪器国家重点实验室开放课题(pilab1905)。

摘　　要：针对现有双护盾硬岩隧道掘进机(TBM)导向系统中前盾/支撑盾位姿测量方法普遍存在的结构复杂、可靠性差、成本高和精度低的问题,提出了一种基于工业相机和异形主动标靶进行非接触快速测量的新方法,利用机器视觉、空间位姿变换及多传感器融合/标定等技术,可以实现在强振动掘进状态下对双护盾TBM进行稳定导向的功能。实验结果表明,本文所提方法可实现前盾/支撑盾六自由度空间位姿的高性能测量,测量频率不低于20 Hz,盾构机特征点静态坐标测量误差小于5 mm@(3 m×2 m×6 m),动态坐标测量误差小于10 mm@(振幅为3 mm,频率为20 Hz),可以应用在双护盾TBM导向系统中。Aiming at the problems of complex structure, poor reliability, high cost, and low accuracy in the front shield/support shield pose measurement methods in the existing dual shield tunnel boring machine(TBM) guidance system, this paper proposes a new method for non-contact rapid measurement based on industrial cameras and special-shaped active targets. This method uses technologies such as machine vision, spatial pose transformation, and multi-sensor fusion/calibration to realize the function of stably guiding the dual-shield TBM in the state of strong vibration tunneling. The experimental results show that the proposed method can achieve the high-performance measurement of the six-degree-of-freedom space pose of the front shield/support shield, the measurement frequency is not less than 20 Hz, and the measurement error of the feature point coordinates of the shield machine in a static state is less than 5 mm@(3 m×2 m×6 m), the measurement error under vibration is less than 10 mm@(amplitude is 3 mm, frequency is 20 Hz), which can be used in the double shield TBM guidance system.

关 键 词：机器视觉 非接触测量 双护盾导向 异形标靶 多传感器融合 

分 类 号：TH741[机械工程—光学工程]