Track type pipe jacking automatic guiding method

Abstract

The invention discloses a track type pipe jacking automatic guiding method which comprises the following steps: S1, mounting a measuring device: mounting a laser range finder in a starting well, selecting a first pipe piece close to the starting well in a tunnel as a rearview pipe piece, and mounting a first reflecting prism and a first electronic clinometer on the rearview pipe piece; selecting one pipe piece from the side, located on the receiving well, of the rearview segment to serve as an observation station pipe piece, and mounting a second reflecting prism, a measuring robot and a second electronic clinometer on the observation station segment; selecting one pipe piece as a foresight segment on the side, located on the receiving well, away from the observation station pipe piece, and mounting a third reflecting prism and a fourth reflecting prism on the foresight pipe piece; mounting a fifth reflecting prism on the pipe jacking machine head; s2, in an initial state, performing fusion calibration on the laser range finder, the first to fifth reflecting prisms, the first electronic inclinometer and the second electronic inclinometer; and S3, carrying out automatic guiding measurement on the pipe jacking machine head. The system provided by the invention has the advantages of reduced building equipment, high economic benefit, strong applicability, higher precision and higher reliability.

Description

technical field [0001] The invention relates to a construction method for pipe jacking engineering, in particular to a track type automatic guiding method for pipe jacking. Background technique [0002] Most of the pipe jacking projects are carried out in the urban environment with dense surface buildings and various underground pipe networks. In order to ensure its safe and smooth penetration, during the pipe jacking process, the pipe jacking head must carry out excavation strictly according to the design axis. Therefore, the three-dimensional position and three-dimensional attitude of the pipe jacking head must be able to be obtained efficiently in real time, so that the operator can adjust their three-dimensional position and three-dimensional attitude in time. At present, the existing automatic guiding methods for pipe jacking are mainly: [0003] 1. Multi-station pipe jacking automatic guidance: multiple measuring robots are used to form branch wires in the tunnel, and...

AI Technical Summary

Problems solved by technology

However, it has the following serious defects and deficiencies: (1) The measurement logic is rough; during the pipe jacking process, the laid segment will inevitably have torsion and pitch, and the torsion and pitch of the segment will affect the three-dimensional measurement of the measuring robot and the rear-view prism. The impact of the coordinates will lead to serious calculation errors; (2) There is no verification of the measurement results; there are no redundant observations during the measurement process, and the automatic guidance results cannot be checked and corrected

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