为了提高单目视觉实时测量双护盾隧道掘进机前后盾相对位姿的精度, 引入高精度倾角传感器与单目视觉构成一种组合测量系统。该系统将两个倾角传感器分别与视觉传感器和特征点系统固定连接, 通过倾角传感器提供的多个角度约束, 结合单目视觉实现掘进机前盾体相对于后盾体位姿的更高精度测量。仿真实验表明该系统是可行的, 并且具有理想的精度。搭建了模拟双护盾隧道掘进机位姿变化的实验平台, 利用全站仪进行精度验证。结果表明系统的测量精度优于3 mm, 相对于单目视觉测量方法来说, 测量精度有了显著提升, 可以满足隧道施工中双护盾隧道掘进机位姿的精密测量需求。

In order to improve the precision of pure monocular vision for the relative pose between two shields of double shield tunnel boring machine (TBM) during excavating process, this paper presents a new measurement system combining monocular vision and high-precision inclinometer sensors. Two inclinometer sensors are fixed with the camera and feature points separately. By multiple constraints of angles provided by inclinometer sensors and the monocular vision, the pose between front shield and back shield is measured with higher precision. In this paper, simulation shows that the feasibility of the system is validated and it has ideal precision. Afterwards, the experimental platform to simulate the pose of double shield TBM is established, and the accuracy verification experiment is conducted by a total station. The result indicates that the measurement precision is less than 3 mm and much better than that of the pure monocular vision measurement method, which means that this model can satisfy precise measurement requirements of double shield TBM poses during excavating process.