组合FPGA光电传感器阵列的顶管机激光姿态测量系统

Laser attitude measurement system of pipe jacking machine based on fpga photoelectric sensor array

由于复杂多变的地质环境、推力不均、注浆不均、尾盾间隙不均等影响,顶管机在施工过程中实际顶进的轨迹与预期轨迹之间往往存在偏差,较大偏差会导致施工事故或严重的经济损失。采用坐标转换方法,设计了基于组合光电传感器阵列和PLC相结合的姿态测量系统,开发了相关实时显示的操作界面,用于实时显示测量的顶管机3个方向姿态角。并应用投影的方法,计算顶管机实时显示运行轨迹,辅助顶管机姿态控制。实验中进行人为模拟顶管机机头的运动偏差情况来验证该测量系统的准确性,实验表明,该激光测量系统点光源的坐标识别精度达3 mm,角度测量精度达0.1°,最大误差0.784°,符合顶管机施工要求,方便了顶管机姿态测量,提高了顶管施工质量和效率。

Due to the complex and changeable geological environment, uneven thrust, uneven grouting and uneven shield clearance, etc., There is often a deviation between the actual jacking trajectory of the pipe jacking machine and the expected trajectory during the construction process, and large deviations may cause construction accidents or serious economic losses. Aiming at the above problems, an attitude measurement system based on the combination of a photoelectric sensor array and a PLC is designed in the method of coordinate conversion. A related real-time display interface is developed, which is used for real-time display of the three angle attitudes of the pipe jacking machine. And the projection method is used to calculate the real-time display of the trajectory of the pipe jacking machine to assist the attitude control of the pipe jacking machine. In the experiment, artificially simulate the movement deviation of the pipe jacking machine head to verify the accuracy of the measurement system. Experiments show that the coordinate recognition accuracy of the point source of the laser measurement system is up to 3 mm, the angle measurement accuracy is 0.1 degree, and the maximum error is about 0.784 degrees, which meets the requirements of pipe jacking construction, facilitates the attitude measurement of pipe jacking, and improves the quality and efficiency of pipe jacking construction.