Automatic total station-gyroscope combined guiding shield attitude automatic measurement method and apparatus

Abstract

The invention relates to an automatic total station-gyroscope combined guiding shield attitude automatic measurement method and an apparatus. The automatic total station-gyroscope combined guiding shield attitude automatic measurement method comprises following steps: an automatic total station is controlled by a computer to measure three target prisms at preset measurement intervals, and obtained data is preserved; at the same time, reading of latest attitude angle data of the gyroscope sensor is realized; shield tunneling machine head-tail three-dimensional coordinates and attitude deviation are calculated by combining coordinate data of the three target prisms and the attitude angle data of the gyroscope sensor, are displayed, and are used for controlling advancing direction of the shield tunneling machine. The apparatus comprises the automatic total station, a wireless station, the computer, and the gyroscope sensor and the target prisms which are arranged on the shield tunneling machine; the wireless station is connected with the automatic total station and the computer via RS232 interface communication wires; and the gyroscope sensor is connected with the computer via special cables. Compared with existing technology, the automatic total station-gyroscope combined guiding shield attitude automatic measurement method and the apparatus are excellent in controlling and error correcting effects, high in precision, and low in cost.

Description

Technical field [0001] The invention relates to a method and device for measuring the attitude of a shield machine, in particular to a method and device for automatically measuring the attitude of an automatic total station and a gyroscope guided shield. Background technique [0002] In order to alleviate the serious congestion of urban ground transportation, large cities in many countries and regions in the world have built or are building underground railways, cross-river or cross-sea tunnels. Since the 1980s, Shanghai's rail transit construction has undergone tremendous development, and the scale of construction has become larger and larger. The planned Shanghai rail transit network has 22 lines, with a total operating mileage of 880 kilometers, and the basic road network within the urban area is composed of underground lines. At present, Shanghai Rail Transit Line 1 to Line 11 (North Section) has been put into formal operation one after another, and Lines 11 (South Section),...

AI Technical Summary

Problems solved by technology

[0005] The ruler method is mostly used in domestic shield guidance solutions. It is a manual measurement, which is labor-intensive, poor in accuracy, unable to measure continuously, and complicated to operate. It is basically no longer used abroad;

[0006] The three-point method is to observe the coordinates of three prisms pre-installed at the tail of the shield machine, and calculate the coordinates of the shield head and tail through coordinate conversion. This method can reduce a lot of labor when combined with an automatic total station. The attitude determination needs to observe three targets, and requires better visibility conditions, which is often impossible for the complex component structure at the tail of the shield machine, especially for small-caliber shield machines. Therefore, It is still difficult to achieve continuous measurement in the true sense;

[0011] At present, there are products of shield tunneling automatic measurement system in foreign countries, but the price is very expensive and the unit price is 1.4 million. There are still many restrictions. Designated measuring instruments must be used, and they can only be used on designated shield machines. In addition, many functions are not suitable. my country's national conditions, and cannot be used to solve the automatic guidance of articulated shields; there is an urgent need to develop an automatic measurement system that is suitable for my country's national conditions and has independent intellectual property rights

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