20050507

863

Abstract
The task is from the National 863 project -- the Research and the
Demonstrating Application of the Tunnel Boring Machine's (TBM) Assistant
System and Guidance Technology. The research in this article are some of the main
technology about guidance system of TBM. The details are as following:
The main task of guidance system was researched after we discussed the
actuality of tunnel measure . Than we knew the importance of developing the
TBMs guidance system.
The basic knowledge about TBM and theory of tunnel measurement were
researched. After we compared some type of guidance systems ,we choosed method
of our guidance system.
The main technique of guidance system is how to measure the position and
pose of TBM. By comparing the results of measurement with values of DTA
( Designed Tunnel Axis ), we can find the position offset and angle offset of TBM.
We expounded some problems about how to attain the position and pose of TBM
and how to compare the values with DTA.
How to control the theodolite with computer is very important in the system.
We discuss this problem and bring forward a plan to deal with it.
It is integrant to analyse the precision of equipments and arithmetic than we
can insure that the precision can be accept. We discussed some factors which affect
the precision of guidance system.
This guidance system has been successfully applied in the project of Shanghai,
which has greatly increased the efficiency and the projects quality.

Key words: TBM

tunnel measurement

II

automatic guidance system

1.1
1.1.1
863
2003AA420130

,,

(),

(),

,
[1] ,
,
,

1.1 1.2 [2]

 1.1

1.2

1.1 1.2

a)

1.3 1.4

1.3

1.4

b) 1.5
()

[3]

1.6

1.5

1.6
c) 1.6 [28]

d) 1.1

,
1.1.2
[21][23]

, 863
5

1.2
1.2.1

1.7

1.7

a) [4]
GYRO

b) [26]
enzan ROBOTEC

1.8

1 2 3

c) [5][30]

VMT

1.9
VMT

VMT
VMT
10mm [6]

[7]

VMT

VMT

1.2.2

(1)

10mm30mm

(2)

(3),
9


,
,

1.3

10

2.1

-20mm ~80mm50mm
150mm [8]

(1)

2.1

2.1
(2)

11

2.2

2.2

2.2
2.2.1

[9]

[10]

2.3

12

 2.3

l
(x l , y l , z l ) [27]

xl ,yl ,z=f(
l)
l

2.2.2
[11]
2.4 l / l

2.4

13

 l l

(x,y) l (x l , y l )=f(l)
l / l
L / L , l=Ll / / L /
( xl , yl ) = g (l / ) ( xl , y l ) = g ( l / ) = g ( L/ l / L ) = f ( l )
/

(1)X Y
l X Y X 0 Y 0
X = X 0 + l / cos

/
Y = Y0 + l sin

(2.1)

(2)
x 0 , y 0

R
2.5

2.5
X

14


l/
/
x = R sin
R

/
y / = R(1 cos l )

(2.2)

x,y

l/
l/
x = x0 + R sin cos R(1 cos ) sin
R
R

/
/
y = y + R sin l sin + R(1 cos l ) cos
0

R
R

(2.3)

l / l
l ( x l , y l )= f ( l )
(3)
[12]

[13] 2.6 X /
L , R l /
x / ,y /

l / =L = L /( 2R ) M x / ,y / dl /
N dl / X / Y /
dx / = cos d l / , dy / = sin d l /

15

 2.6

cos = 1

2 4

sin =

3 5

x/ = l /

l /5
l /9
l /3
l /7
l /11
/
y
+

+
40 R 2 L2 3456 R 4 L4
5RL 336 R 3 L3 42240 R 5 L5

(2.4)

, x 0 ,y 0

x = x0 + x / cos y / sin y = y0 + x / sin + y / cos

(2.5)

l / l /
l l
2.2.3

Z L 2.7

16

 2.7

(z l )=g(l) Z
1Z l
l Z Z 0
Z = Z 0 + l sin

(2.6)

2 Z 0
R l
2.8 C ZBC=Rsin(l/R)
EC=BCsin BF=R-Rcos(l/R)AB=DE=BFcos Z=Z 0 +CD C

Z = Z 0 + R sin

l
l
sin R (1 cos ) cos
R
R

(2.7)

2.8

17

2.2.4

2.9

2.9

18

2.3

[14] 2.10

+3~-3

+5~-5

3
X

2.10

19


2.11

2.11

20

3.1

(1)
3.1

3.1
,
,

21

,
,

RS232

(2)

3.2

3.2 Leica TCA1203

22


RS232
3.3
100
RS232
RS232 RS485
RS485

3.3
(3) PLC

PLC

23

 PLC

PLC PLC

(4),
PLC
,

3.4

3.2

3.5

24


PLC

3.5

25

4.1
4.1.1

Z X
Y
4.1

4.1
4.1.2

4.2
a,b,ca / ,b / ,c /
A
A = arctan((b / b) /(a / a ))
26

 R
L T 4.1
(x 0 ,y 0 ,z 0 )
x0 = a / + L sin T cos( A + R 180)
y0 = b / + L sin T sin( A + R 180)

(4.1)

z0 = c / + L cos T

4.2
4.1.3

( 4.3)

4.3
/ , 4.4
tan = DE / AD tan = DF / FE tan = DB / AB AD=L
4.2 /
27

AB = L cos
BC = L tan cos
2

2
L
AC = AE EC =
( L sin L tan sin )
cos
2

( AB 2 + AC 2 BC 2 )

' = arccos

( 2 AB AC )

(4.2)

4.4 /

= + /
4.1.4

,
4.5 (A,-C,-B)
(A,-C,-B,1) (x 0 ,y 0 ,z 0 )

28

 4.5

Y X Z
(x 0 ,y 0 ,z 0 ) [15] (x,y,z)
4.3
0
1
0 cos
( x, y, z,1) = ( A, C , B,1)
0 sin

0
0
1
0

x0

0
1
0
y0

0
0
1
z0

0
sin
cos
0

0 cos
0 0

0 sin

1 0

0 sin
1
0
0 cos
0

0 cos
0 sin

0 0

1 0

sin
cos
0
0

0 0
0 0
1 0

0 1

(4.3)

0
0
0

0 360

4.2

4.3
(-D ,-C, -B)

29


45
PLC
h 1

h 2 h 3 h 4 E 4.6
4.4

4.6

= 2 arcsin ( (h1 h2 ) /(2 E ) )

= 2 arcsin ( (h2 h3 ) /(2 E ) )

(4.4)

4.7
h
h=

( h1 + h2 + h3 + h4 )

4.7
X,Y,Z 4.5

30

( ) ( )
( ) ( )
( ) (

(4.5)

X Y Z 4.3

4.3
( )

4.6 i Li
Xi = XLi
Yi = YLi
Zi = ZLi

(4.6)

4.8
AB 4.8 A

31

 A
A C C
D AE Va La 4.7

4.7 Lc C Zc Zd C D

AE = AC sin a
La = Lc + AC cos a

( AC cos a )
Va = Z1 Zc + ( Zd Zc)
CD

(4.7)

H V 4.8 4.8 Xc Xd
Yc Yd C D X Y
H = arctan ( (Yd Yc ) / ( Xd Xc ) )
V = arctan ( ( Zd Zc ) CD )

(4.8)

4.4

4.9

32

 4.9
X Y

33

5.1
5.1.1

5.1

34

 5.1
5.1.2

N N

5.2

35

 5.2
5.1.3

36

5.3

37

5.2
5.2.1

GEOCOM [16]
GEOCOM
GEOCOM [17]

5.4GEOCOM
GEOCOM

1 COMF

2 BAP
3 MOT

38

 4 AUT
5 TMC
6 EDM
7 CSV
8 BMM
9 SUP
10 COM
11 CTL

ASC
[<LF>]%R1Q,<RPC>[,<TrId>]:[<P0>][,<P1>,...]<Term>
<LF>
%R1Q GEOCOM <RPC> 0

65535 <TrId> ID
[<P0>][,<P1>,...] <Term>

CR/LF
5.2.2

Windows , ,
API
VisualC++6.0 ActiveX MSComm

MSComm ,
MSComm
CommPort

CommEvent

Settings

PortOpen

39

Input

Output

InBufferCount
5.2.3

MSComm API
ASC

GEOCOM [18]
GeoCom.Lib ASC C++ C++

GEOCOM.h

5.2.4

5.5

40

 5.5
2
5.6

5.6

SetTimeOut

41

 3
5.7

5.7
DoMeasure
GetSimpleMea
4

Error

42

6.1
6.1.1

(1)

1mrad
1mrad 0.1
(2)

Leica TCA1203

2mm2ppm 3
(3)

43


0.01mm
6.1.2

x,y,z x 0 ,y 0 ,z 0

4.3 4.3
6.1
1
0
( A, C , B ,1) = ( x, y , z ,1)
0

x0
0
1
0 cos

0 sin

0
0

0
1
0
y0

0
0
1
z0

0
sin
cos
0

0
0
0

0
cos
sin
0

0
0

1
0

sin
cos
0
0

0
0
1
0

0
cos
0
0

sin
0

1
0

0 sin
1
0
0 cos
0
0

0
0
0

(6.1)

6.1
A -C -B

6.1 X

44

 6.1

6.2
6.2.1

[19]
y x 1 x 2 x n

y = f ( x1 , x2 ,, xn )

(6.2)

x 1 x 2 x n x 1 , x 2 , ,x n , y
y

y + y = f ( x1 + x1 , x2 + x2 ,, xn + xn )

(6.3)

x 1 x 2 x n x 1 , x 2 , ,x n

y =

f
f
x1 +
x2 +
x1
x2

n
f
f
xn = xi
xn
i =1 xi

45

(6.4)

 f / xi (i = 1, 2, , n) x 1 x 2
x n

1.

x 1 x 2 x n x 1max , x 2max , ,x nmax ,

y y max

ymax =

f
f
x1max +
x2max +
x1
x2

n
f
f
xn max =
xi max
xn
i =1 xi

(6.5)

y max

2.

x 1max , x 2max , ,x nmax , x 1 x 2 x n

k 1 ,k 2 , ,k n k y
6
k=6 / max y
y max

ymax

6
= 6 / k y =
ky

xi =
ky
i =1 xi

ki xi max
i =1 xi

(6.6)

k 1 ,
k 2 , , k n

k 1 ,
k 2 , , k n k y

46

ymax

f
f

= x1max +
x2max +
x1
x2

+
xn max =
xn

xi max
i =1 xi

(6.7)

6.2.2

L T
x 0 y 0 z 0 h

x = x0 + L sin T cos
y = y0 + L sin T sin
z = z0 + L cos T + h

(6.8)

h x 0 y 0 z 0
x y z L T 5.8
L T L T x y
z x y z
1/2
x =sin T cos L2 +L cos T cos T2 +L sin T sin 2
1/ 2
y =sin T sin L2 +L cos T sin T2 +L sin T cos 2

(6.9)

1/ 2
z =cos T L2 +L sin T T2

T (88,92)

L (0,200) ( 0 , 360 )
L =2mm+2ppm L
200m L =210 -3 +220010 -7 =2.0410 -3 m 3

T =1.45410 -5 rad =1.45410 -5 rad 6.9

47

 x =sin 2 T cos 2 (2.04 103 ) 2 + cos 2 T cos 2 (200 1.454 105 ) 2 +

1/ 2
sin 2 T sin 2 (200 1.454 1052

y =sin 2 T sin 2 (2.04 103 ) 2 + cos 2 T sin 2 (200 1.454 105 ) 2 +

(6.10)

1/ 2
sin 2 T cos 2 (200 1.454 1052
1/ 2
z =cos 2 T (2.04 103 )2 + sin 2 T (200 1.454 105 ) 2

sin 2 = 1 cos 2 sin 2 T = 1 cos 2 T

x = (cos 2 (8.4564 106 sin 2 T 12.7511 106 ) + sin 2 T 8.4564 106 )1/ 2
y = (sin 2 (8.4564 106 sin 2 T 12.7511 106 ) + sin 2 T 8.4564 106 )1/ 2

(6.11)

1/ 2
z = (4.1616 106 + sin 2 T 4.2949 106

T (88 ,92 sin 2 T (0.9988,1)

8.4564 106 sin 2 T 12.7511 106 0

x sinT=1 cos=0 y sinT=1 sin=0 z

sinT=1 m
xmax = 2.908 103
ymax = 2.908 103
zmax = 2.908 103

6.2.3

300m
R=300m 1m h

h = R (1 cos(arcsin(
= arctan(

l
))) = 300 (1 cos(arcsin(1/ 600))) = 0.42 103 m
2R

h
) = arctan(0.42 103 / 0.5) = 0.048
0.5l

48

 1m 0.42mm
0.048
6.2.4

2.3
x = x0 + A cos cos B sin sin cos + C cos sin cos + B sin cos
+C sin sin
y = y0 + A cos sin B sin sin sin + C cos sin sin B cos cos

(6.12)

C sin cos
z = z0 + A sin + B sin cos C cos cos

xmax = ((

x
x
x
x
x0max ) 2 + ( max ) 2 + ( max ) 2 + ( max ) 2 )1/ 2
x0

ymax = ((

y
y
y
y
y0max ) 2 + ( max ) 2 + ( max ) 2 + ( max ) 2 )1/ 2
y0

zmax = ((

z
z
z
z
z0max ) 2 + ( max ) 2 + ( max ) 2 + ( max ) 2 )1/ 2
z0

(6.13)

x 0max y 0max z 0max x max y max

z max A B C

6.3m 8m
A=4m B=0.5m
C=2m (-5,5) (-3,3

) (0,360) =1.75 10 -3 rad =1

10 -3 rad =1 10 -3 rad

cos cos cos cos 1

xmax = (( x0 max ) 2 + (C sin ) 2 max 2 + (C cos ) 2 max 2 + ( B cos A sin ) 2 max 2 )1 / 2
y max = (( y 0 max ) 2 + (C cos ) 2 max 2 + (C sin ) 2 max 2 + ( A cos + B sin ) 2 max 2 )1 / 2
z max = (( z 0 max ) 2 + ( B cos ) 2 max 2 + A 2 max 2 )1 / 2

49

 sin = 1 x max cos = 1 y max

cos = 1 z max , m
xmax = 6.058 10 3
y max = 6.058 10 3
z max = 6.058 10 3

( x , y ) r max x max y max

( x , y ) ( x 0 , y 0 ) r max
r max

rmax = (( xmax ) 2 + ( y max ) 2 )1/ 2 = 7.029 10 3 m

4.7 4.8
7.029 10 -3 m
6.058 10 -3 m
6.2.5

1
E =3m 4.4 h max = h 1 - h 2

hmax = 2 E sin(

180 2

) = 2 3 sin(

360

) = 0.05236 m

h =1 10 -5 m,

= 2

1
h
1

2E

1
h = 0.3333 105 rad
2E

50

 0.3333 10 -5 rad
4m 4.5
m
X = (( L ( sin ) cos ) 2 + ( L cos ( sin ) ) 2 )1/ 2 = 3.29 106
Y = (( L sin sin ) 2 + ( L cos cos ) 2 )1/ 2 = 1.33 105
Z = (( L sin sin ) 2 + ( L cos cos ) 2 )1/ 2 = 1.33 105

7.029 10 -3 m 6.058 10 -3 m
10mm
30mm

51

863

(1)

(2)

(3)

(4)
1

(5)

(6)

52

10mm

PLC PLC

53

54


[1]

1
4(11)

[2]

2003(1) 43-47

[3]

2003(4) 23-25

[4]

2003(3) 75-78
[5]

VMT GmbH SLS-T Manual

[6]

2002(12) 2-5

[7]

2004(4) 14-20
[8]

2001 11 55-60

[9]

1997 77-85

[10]
1999 46-50

[11] 2000(2) 102-106

[12] 2001(2) 55-61
[13] 1994(1) 16-19
[14] CAD
1996 6 112-117

[15] TPS1200 GSI to GeoCOM Conversion Table

[16] GeoCOM Reference Manual
[17] Windows 1996(11) 46-48
[18] 1999 9 65-77

55

[19]
[20] 2
4(12)

[21] 2000
8 102-122
[22] 6.34 2002(12) 46-49
[23] 24(6)
5-7
[24]
2002(12) 63-65
[25] 1996(1) 17-21
[26] 1999(3) 29-35
[27] 6.14m 2002(2)
39-42
[28] 1994(3)
34-37
[29] LOVAT
2003(2) 16-18
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56

Evaluating TBM Bore Ability,GeoConSol,Inc ., 1995

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Tunnel

57

[1]
[2]
2004 5

58

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(10)
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2010130