Shield machine automatic guiding system based on optical fiber gyro and PSD laser target

Abstract

The invention relates to an automatic guiding system of shield machine based on fiber gyro total station and PSD laser target, comprising fiber gyro total station, PSD laser target, computer of automatic guiding system and back-sight reference prism. The fiber gyro total station comprises fiber gyro north seeker, laser total station and ARM processor. The laser total station emits laser to the back-sight reference prism and PSD laser target so as to measure the distance from fiber gyro total station To back-sight reference prism and PSD laser target. The back-sight reference prism reflects laser emitted by laser total station according to the incident direction. The ARM processor calculates coordinates of laser total station, horizontal azimuth angle of emitted laser and coordinates of laser target. PSD laser target reflects laser emitted by laser total station according to the incident direction and measures the angle between the axis and incident laser and rolling angle and sloping angle of shield machine. The computer of automatic guiding system calculates the horizontal azimuth angle of shield machine. The invention is provided with high accuracy, automatic seeking north and convenient operation. It can be applied in automatic guiding in underground working device such as shield machine.

Description

technical field [0001] The invention relates to an automatic guidance system of a shield machine based on an optical fiber gyroscope total station and a PSD laser target, which is suitable for autonomous positioning and orientation of the shield machine and underground operation equipment. Background technique [0002] In the construction of subway tunnels, the shield tunneling method has the advantages of little impact on ground buildings, convenient construction, high degree of automation, labor saving, one-time hole formation, and no weather influence, etc., and has been more and more widely used. However, subway shield construction is mostly carried out in the central area of ​​the city. Due to the constraints of the construction site, municipal transportation, water supply and drainage, power supply, and the safety of surrounding buildings, the requirements for the penetration accuracy of the shield are very high, especially in the two shield tunnels. In the tunnel engi...

AI Technical Summary

Problems solved by technology

The automatic guidance system is a system that integrates measurement, instrumentation, and computer software and hardware technologies, and has the function of dynamically measuring the position and attitude of the shield machine. The traditional total station-laser target automatic guidance system is mainly composed of laser total station Instrument, laser target, a rear-view prism and a computer. Its basic working principle is to first use manual measurement to determine the precise position of the rear-view prism and laser total station, and then use the total station to aim at the prism on the laser target. To determine the position coordinates of the laser target, then aim at the target surface of the laser target, use the laser target to determine the attitude of the shield machine, and finally determine the center coordinates of the shield head and shield tail according to the position coordinates of the shield machine attitude and the prism, The traditional total station-laser target cannot autonomously seek north. It needs to introduce the north direction from the outside and manually measure the coordinates of the total station itself. The operation is complicated and the efficiency is low. High-reliability shield machine automatic guidance system

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