Automatic guiding method of track type pipe jacking

Abstract

The invention discloses a track-type pipe jacking automatic guiding method. S1, installation of a measuring device: a laser range finder is installed in the starting well, and the first segment in the tunnel close to the starting well is selected as the rear-view segment , install the first reflective prism and the first electronic inclinometer on the rear-view segment; select a segment on the side of the rear-view segment at the receiving well as the station segment, install the second reflective prism on the station segment, measure the The robot and the second electronic inclinometer; a segment is selected as the front-view segment on the side of the distance measuring station segment at the receiving well, and the third and fourth reflection prisms are installed on the front-view segment; the pipe jacking head A fifth reflecting prism is installed on it; S2, in the initial state, the laser rangefinder, the first to fifth reflecting prisms and the first and second electronic inclinometers are fused and calibrated; S3, the automatic guidance of the pipe jacking head Measurement. The system of the invention has less equipment, high economic benefit, strong applicability, and high precision and reliability.

Description

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

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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