盾构机位姿测量系统的关键技术研究-机械电子工程专业论文.docxVIP

上海交通大学硕士学位论文 上海交通大学硕士学位论文 IV IV 法，通过搜索目标函数的最小值来确定光斑中心点，经实验验 证，中心点定位精度可达 0.1 个像素。 3. 根据盾构测量精度要求，开展了测量系统中的关键仪器全站仪 和电子激光标靶测量参数的误差分析和误差分配方法的研究。 采用区间计算方法，分别对单个测量参数进行盾构机位置误差 的灵敏度分析，在此基础上，将测量系统误差分配转换成为基 于成本函数最小的带约束的最优化模型，并用序列二次规划方 法进行求解，误差分配结果采用蒙特卡罗方法进行了验证，可 给测量系统的仪器设计，制造和选型提供精度指导。 4. 开展了隧道设计轴线上全站仪测站点位置规划方法的研究。通 过分析隧道设计轴线的平面线形和纵面线形，并研究全站仪和 电子标靶间的可视性判断方法，建立了基于可视性约束，入射 角约束和距离约束的全站仪移站模型。采用该模型，在给定盾 构机模型和隧道设计轴线时，能于施工前确定全站仪测站点位 置，给盾构施工予以指导。 论文的研究工作为研制开发盾构机位姿测量系统提供了技术铺 垫。 关键词：盾构，位姿测量，误差分配，测站点规划 PAGE PAGE VI Research on key technology for measuring shield machine’s position and orientation Abstract Shield machine, which is closely related with subjects of mechanical engineering, electrical engineering, hydraulic, measurement, control and material etc, is a type of large-scale full-face excavation equipment used for tunnel construction. Shield tunneling method, which has the advantage of high efficiency of construction, high degree of automation, savings in manpower, and having no interference from ground, will be used in subway construction project in china increasingly. The measurement and guidance system, serving as the eyes of shield machine, now plays a vital role in shield tunnel construction. At present, shield machines manufactured in China need to be equipped with foreign measurement and guidance system to achieve automatic guidance during the tunneling process. The related equipment of foreign system is expensive to purchase or hire, so it is of great significance to develop measurement and guidance system of shield machine with independent intellectual property rights in China. Supported by national 973 project, the key research work of this dissertation is carried out as follows: Firstly, mathematical model of measuring shield machine’s position and orientation based on total station and laser target is introduced. The central coordinates of the cutter head and tail of shield machine are calculated through the three attitude angles of shield machine and the coordina