A shield machine guidance method and system without moving station

Abstract

The present invention belongs to the field of shield machine guidance, and specifically relates to a shield machine guidance method and system that does not require moving stations. The total station in the present invention moves with the shield machine, and the prism and the total station are used as reference objects for positioning. Only the prism is moved, so that the shield machine does not require moving stations, the guidance process is simplified, and manpower consumption is saved. In addition, whenever the tunneling cylinder of the shield machine reaches the maximum displacement or stops tunneling to reach the set distance, the new coordinates of the total station are determined in time, and the problem that the guidance system that does not require moving stations is installed on the shield machine trailer and moves with the shield machine during tunneling, resulting in its own coordinates constantly changing, making it impossible to locate the laser target, and thus it is impossible to use the laser guidance system to guide the shield machine. Each time the new coordinates of the total station are determined, it is judged whether the position of the prism affects the positioning of the total station, and the prism is moved in time, so that a more reliable positioning result can be obtained.

Description

Technical Field

[0001] The invention belongs to the field of shield machine guidance, and in particular relates to a shield machine guidance method and system without station removal. Background Art

[0002] In order to ensure that the tunneling route of the shield machine does not deviate greatly from the designed axis, the shield machine guidance system needs to have a high guidance accuracy. The existing guidance system consists of a total station, a laser target, a prism, etc. The laser target is fixedly connected to the shield machine, and the total station and the prism are fixedly connected to the relatively fixed segment. The total station emits lasers to hit the laser target to guide the position of the shield machine in real time.

[0003] However, as the relative position of the laser target and the total station of the shield machine becomes farther and farther, exceeding the maximum distance that the guidance system can accurately locate, or due to the angle deviation of the shield machine when turning, the light beam emitted by the total station cannot hit the laser target. At this time, the total station and prism need to be moved. The prism is installed behind the total station. During the relocation process, the prism is installed at the current position of the total station. The total station moves forward. After the total station is moved, the prism needs to be used to recalibrate its coordinates before the relocation can be completed and the guidance can continue. Therefore, the existing guidance system total station is complicated to operate during the relocation process, and the shield machine needs to be shut down for a long time before it can resume excavation, which affects the progress of the project. In addition, the position changes of the total station and prism during the relocation process may also cause certain positioning errors. Summary of the invention

[0004] The purpose of the present invention is to provide a shield machine guiding method and system without moving the station, which is used to solve the problem that the guiding system in the prior art needs to frequently move the total station, the operation process is complicated, and a lot of manpower is consumed.

[0005] In order to achieve the above object, the present invention provides a shield machine guiding method without moving station, comprising the following steps:

[0006] 1) Install the laser target at the shield of the shield machine, install the total station on the shield machine trailer, and install the first prism and the second prism on the shield machine segment respectively, wherein the installation positions of the first prism and the second prism are separated by a certain distance;

[0007] 2) Determine the initial coordinates of the total station before excavation begins, and obtain the coordinates of the first prism, the second prism and the laser target at this time based on the initial coordinates of the total station;

[0008] 3) The shield machine excavates based on the laser target coordinates and uses the cylinder for guidance;

[0009] 4) When the oil cylinder reaches the maximum displacement or stops excavation, the segments are assembled. At this time, according to the connection lines between the first and second prisms and the total station, the angle between the two connection lines and the distance between the total station and the first and second prisms are obtained, thereby determining the current total station coordinates;

[0010] 5) According to the current total station coordinates, determine the current laser target coordinates and return to step 3); the subsequent guidance process repeats steps 3)-5).

[0011] In this guidance method, the total station moves with the shield machine and is positioned according to the relative position relationship between the double prism and the total station, so that the shield machine does not need to be moved. The oil cylinder is used for guidance and the total station is positioned every time the oil cylinder reaches the maximum displacement or stops excavating. This solves the problem that when the shield machine is excavating, the total station is installed on the shield machine trailer, causing its own coordinates to change continuously, making it impossible to position the laser target, and thus the laser guidance system cannot be used to guide the shield machine. This improves the construction efficiency of the shield machine and reduces construction costs.

[0012] Furthermore, in step 4), the current total station coordinates are obtained by the following formula:

[0013] x0=x2+l2*cos A

[0014] y0=y2+l2*sin A

[0015] Among them, A is the angle between the line connecting the total station and the second prism and the horizontal plane where the second prism is located, (x0, y0) is the current total station coordinate, (x2, y2) is the second prism coordinate, and l2 is the distance between the total station and the second prism.

[0016] Furthermore, in different cases, the calculation method of parameter A is as follows:

[0017] A=π / 2-BC

[0018] E=x1-x2

[0019] F=y1-y2

[0020] When F≠0, B=π-(π*D) / 2-tan -1 (E / F); where D=1 when F>0, and D=-1 when F<0;

[0021] When F = 0 and E ≥ 0, B = 0; when F = 0 and E < 0, B = π;

[0022] When α>0:

[0023] H = l1*cos(α*π / 180-π / 2);

[0024] I=l2+l1*sin(α*π / 180-π / 2);

[0025] When α<0:

[0026] H=l1*cos{[(α+360)*π] / 180-π / 2};

[0027] I=l2+l1*sin{[(α+360)*π] / 180-π / 2};

[0028] When I≠0, C=π-(π*G) / 2-tan-1(H / I); wherein, when I>0, G=1, and when I<0, G=-1;

[0029] When I = 0 and E ≥ 0, C = 0, when I = 0 and E < 0, C = π;

[0030] Where (x0, y0) is the current total station coordinate, (x1, y1) is the first prism coordinate, (x2, y2) is the second prism coordinate, l1 is the distance between the total station and the first prism, l2 is the distance between the total station and the second prism; α is the angle between the line connecting the first prism, the second prism and the total station; B is the angle between the line connecting the first prism, the second prism and the horizontal line; C is the angle between the perpendicular line connecting the second prism and the total station and the line connecting the first prism and the second prism;

[0031] D and G are coefficients in the calculation process of the formula. When F>0, D=1, when F<0, D=-1; when I>0, G=1, when I<0, G=-1;

[0032] H is the distance between the line between the second prism and the total station and the parallel line through the first prism;

[0033] I is the difference between the distance l2 between the second prism and the total station and the distance between the projection of the first prism on the line between the second prism and the total station and the total station.

[0034] Furthermore, in order to ensure the accuracy of the total station coordinates located by the first and second prisms, in step 4), after determining the current total station coordinates, it is determined whether any of the distances between the total station and the first prism or the second prism exceeds the maximum allowable value. If there is a prism that exceeds the maximum allowable value, the prism that exceeds the allowable value is removed, moved forward a certain distance and then reinstalled on the segment, and the coordinates of the moved prism are determined based on the current total station coordinates; if not, the prism maintains its current position.

[0035] Furthermore, in order to avoid the unreasonable position of the prism after movement resulting in inaccurate coordinates of the total station, the moving distance of the prism forward is set to twice the distance between the current prism and the horizontal plane of the total station.

[0036] The present invention also provides a shield machine guidance system without moving the station, including a laser target, a total station, a first prism and a second prism;

[0037] The laser target is installed at the shield of the shield machine, and is used to provide the laser target coordinates as a reference for the shield machine to use the cylinder guide for excavation;

[0038] The total station is installed on the shield machine trailer and is used to obtain the initial coordinates of the total station itself before the start of excavation, and obtain the coordinates of the first prism, the second prism and the laser target at this time according to the initial coordinates of the total station; it is also used to obtain the angle between the total station and the line connecting the first and second prisms, and the distance between the total station and the first and second prisms each time the oil cylinder reaches the maximum displacement or stops excavation during the excavation process, so as to determine the current total station coordinates, and determine the current laser target coordinates according to the current total station coordinates;

[0039] The first prism and the second prism are respectively installed on the shield machine segment and are used as reference objects to determine the current total station coordinates when the cylinder reaches the maximum displacement or stops excavation; the installation positions of the first prism and the second prism are separated by a certain distance.

[0040] The system can achieve the same beneficial effects as the above-mentioned station-free shield machine guiding method.

[0041] Furthermore, the current total station coordinates are obtained by the following formula:

[0042] x0=x2+l2*cos A

[0043] y0=y2+l2*sin A

[0044] Among them, A is the angle between the line connecting the total station and the second prism and the horizontal plane where the second prism is located, (x0, y0) is the current total station coordinate, (x2, y2) is the second prism coordinate, and l2 is the distance between the total station and the second prism.

[0045] Furthermore, in different cases, the calculation method of parameter A is as follows:

[0046] A=π / 2-BC

[0047] E=x1-x2

[0048] F=y1-y2

[0049] When F≠0, B=π-(π*D) / 2-tan -1(E / F); where D=1 when F>0, and D=-1 when F<0;

[0050] When F = 0 and E ≥ 0, B = 0; when F = 0 and E < 0, B = π;

[0051] When α>0:

[0052] H = l1*cos(α*π / 180-π / 2);

[0053] I=l2+l1*sin(α*π / 180-π / 2);

[0054] When α<0:

[0055] H=l1*cos{[(α+360)*π] / 180-π / 2};

[0056] I=l2+l1*sin{[(α+360)*π] / 180-π / 2};

[0057] When I≠0, C=π-(π*G) / 2-tan -1 (H / I); where G=1 when I>0, and G=-1 when I<0;

[0058] When I = 0 and E ≥ 0, C = 0, when I = 0 and E < 0, C = π;

[0059] Where (x0, y0) is the current total station coordinate, (x1, y1) is the first prism coordinate, (x2, y2) is the second prism coordinate, l1 is the distance between the total station and the first prism, l2 is the distance between the total station and the second prism; α is the angle between the line connecting the first prism, the second prism and the total station; B is the angle between the line connecting the first prism, the second prism and the horizontal line; C is the angle between the perpendicular line connecting the second prism and the total station and the line connecting the first prism and the second prism;

[0060] D and G are coefficients in the calculation process of the formula. When F>0, D=1, when F<0, D=-1; when I>0, G=1, when I<0, G=-1;

[0061] H is the distance between the line between the second prism and the total station and the parallel line through the first prism;

[0062] I is the difference between the distance l2 between the second prism and the total station and the distance between the projection of the first prism on the line between the second prism and the total station and the total station.

[0063] Furthermore, in order to ensure the accuracy of the total station coordinates located by the first and second prisms, after determining the current total station coordinates, it is determined whether any of the distances between the total station and the first prism or the second prism exceeds the maximum allowable value. If there is a prism that exceeds the maximum allowable value, the prism that exceeds the allowable value is removed, moved forward a certain distance, and then reinstalled on the segment, and the coordinates of the moved prism are determined based on the current total station coordinates; if not, the prism maintains its current position.

[0064] Furthermore, in order to avoid the unreasonable position of the prism after movement resulting in inaccurate coordinates of the total station, the moving distance of the prism forward is set to twice the distance between the current prism and the horizontal plane of the total station. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a flow chart of the guiding method in the embodiment of the guiding method for a shield machine without moving a station according to the present invention;

[0066] Figure 2 It is a schematic diagram of calculating the total station coordinates in the embodiment of the shield machine guiding method without moving the station of the present invention;

[0067] Figure 3 It is a structural schematic diagram of the guide system in an embodiment of the guide system for a shield machine without moving station of the present invention. DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0069] Implementation method of shield machine guidance method without moving station

[0070] This embodiment provides a shield machine guidance method without moving the station. Figure 1 , specifically including the following steps:

[0071] 1) Install a laser target on the shield of a shield machine, install a total station on a trailer of the shield machine, and install a first prism (hereinafter referred to as prism 1) and a second prism (hereinafter referred to as prism 2) on the segments of the shield machine, respectively; wherein the installation positions of the first prism and the second prism are spaced a certain distance apart.

[0072] Among them, the prism 1 and the prism 2 can be installed on the shield machine segment by bonding, and the installation position interval of the prism 1 and the prism 2 is about 50m; the overall installation position of the laser target, the total station and the prism should ensure that the total station laser can smoothly hit the laser target and the prism. In other embodiments, the prism 1 and the prism 2 can also be installed on the shield machine segment by magnetic attraction (adsorbed on the bolts connecting the segments) or directly stuck on the bolts connecting the segments.

[0073] 2) Before the shield machine starts excavation, a reference point is installed in the tunnel, and the coordinates of the reference point in the ground coordinate system are measured, and then the position of the total station is measured by manual measurement; after the total station obtains its own position, it emits lasers to prisms 1 and 2 to obtain the coordinates (x1, y1) and (x2, y2) of prisms 1 and 2 at this time, respectively, and emits lasers to the laser target to obtain the coordinates of the laser target.

[0074] 3) After obtaining the coordinates of the laser target, the shield machine starts excavation based on the laser target coordinates and uses the cylinder for guidance.

[0075] 4) When the cylinder reaches the maximum displacement or stops excavation, the segments are assembled, and the total station emits lasers to prisms 1 and 2 to measure the angle α between the total station and the line connecting prisms 1 and prism 2, as well as the distances l1 and l2 between the total station and the prisms, thereby determining the current total station coordinates. During the excavation process, the shield machine cylinder is used for guidance. When the cylinder reaches the maximum displacement, the shield machine stops excavation naturally, or the shield machine stops excavation actively. At this time, the total station coordinates are determined through prisms 1 and 2.

[0076] Reference Figure 2 , the current coordinates of the total station (x0, y0) are obtained by the following formula.

[0077] x0=x2+l2*cos A

[0078] y0=y2+l2*sin A

[0079] in,

[0080] A=π / 2-BC

[0081] E=x1-x2

[0082] F=y1-y2

[0083] When F≠0, B=π-(π*D) / 2-tan -1 (E / F), where D=1 when F>0, and D=-1 when F<0.

[0084] When F=0 and E≥0, B=0, and when F=0 and E<0, B=π.

[0085] When α>0:

[0086] H = l1*cos(α*π / 180-π / 2);

[0087] I=l2+l1*sin(α*π / 180-π / 2);

[0088] When α<0:

[0089] H=l1*cos{[(α+360)*π] / 180-π / 2};

[0090] I=l2+l1*sin{[(α+360)*π] / 180-π / 2}; when I≠0 c=π-(π*G) / 2-tan -1 (H / I), where G=1 when I>0 and G=-1 when I<0.

[0091] When I=0 and E≥0: C=0, when I=0 and E<0: C=π.

[0092] α is the angle between the line connecting the first prism, the second prism and the total station; B is the angle between the line connecting the first prism, the second prism and the horizontal line; C is the angle between the perpendicular line connecting the second prism and the total station and the line connecting the first prism and the second prism; D and G are coefficients in the calculation process of the formula. When F>0, it means that the position of prism 1 is higher than that of prism 2, then D=1; when F<0, it means that the position of prism 2 is higher than that of prism 1, and D=-1; when I>0, G=1, and when I<0, G=-1;

[0093] H is the distance between the line between the second prism and the total station and the parallel line through the first prism;

[0094] I is the difference between the distance l2 between the second prism and the total station and the distance between the projection of the first prism on the line between the second prism and the total station and the total station.

[0095] In addition, each time after the current new total station coordinates are determined, it is necessary to determine whether any of the distances l1 and l2 between the total station and prisms 1 and 2 exceeds the maximum allowable value. If there is a prism that exceeds the maximum allowable value, the prism that exceeds the allowable value will be removed, moved forward a certain distance and then reinstalled on the segment, and then the coordinates of the moved prism are determined according to the current total station coordinates as the corresponding new prism coordinates; if not, the prism maintains its current position.

[0096] The maximum allowable distance is determined according to the effective range of the laser system and the working conditions at the construction site. In a preferred embodiment, the maximum allowable value can be set to 0.8 times the effective range of the laser guidance system. The distance that the prism moves forward can also be determined according to the effective range of the laser system and the working conditions at the construction site. In a preferred embodiment, the moving distance can be set to twice the horizontal plane distance between the current prism and the total station.

[0097] Since the side walls of the tunnel excavated by the shield machine may be uneven, and since prisms 1 and 2 will move adaptively according to their distance from the total station, the positional relationship is not absolutely fixed (for example, prism 1 can be behind prism 2 or in front of prism 2; and the installation positions of prism 1 and prism 2 are not necessarily on the same horizontal plane), there may be many situations for the positional relationship between the total station and prisms 1 and 2. When calculating parameter A, there are also many possibilities for the values ​​of other parameters. Therefore, the calculation of parameter A needs to consider the values ​​of other parameters corresponding to all situations.

[0098] 5) According to the current total station coordinates, determine the current laser target coordinates and return to step 3).

[0099] After the total station obtains its own coordinates through prisms 1 and 2, it emits a laser to the laser target to determine the current position of the new laser target. The subsequent excavation guidance steps repeat steps 3)-5). After each excavation of a set distance, the shield machine stops excavating, and the total station coordinates are re-determined according to prisms 1 and 2. Then, the new laser target coordinates are determined based on the total station coordinates, and excavation is resumed based on the laser target.

[0100] Since the position of the total station will change with the tunneling of the shield machine, the shield machine will promptly determine the position of the total station every time it advances a certain distance during the entire tunneling process, thereby determining the position of the laser target (i.e. the tunneling direction of the shield machine), so as to timely check whether the tunneling route of the shield machine has deviations and make adjustments.

[0101] Implementation example of the guide system of shield machine without moving station

[0102] This embodiment provides a shield machine guidance system without moving the station. Figure 3 , mainly including laser target, total station, first prism (prism 1) and second prism (prism 2); wherein the laser target is installed at the shield of the shield machine, and is used to provide the laser target coordinates as the reference for the shield machine to use the cylinder guide for excavation; the total station is installed on the shield machine trailer, and is used to obtain the total station's own initial coordinates before the start of excavation, and obtain the coordinates of the first prism, second prism and laser target at this time according to the total station's initial coordinates; the total station is also used to obtain the angle between the total station and the line connecting the first and second prisms, as well as the distance between the total station and the first and second prisms each time the cylinder reaches the maximum displacement or stops excavation during the excavation process, so as to determine the current total station coordinates, and determine the current laser target coordinates according to the current total station coordinates. According to Figure 3 The main control room communicates with the total station through the radio and controls the total station to perform operations such as emitting lasers, measuring angles and distances, and calculating coordinates. The main control room mainly includes a controller (PLC), a PC, and a central control box.

[0103] Prism 1 and prism 2 are respectively installed on the shield machine segment and are used as reference objects to determine the current total station coordinates when the cylinder reaches the maximum displacement or stops excavation; the installation positions of the first prism and the second prism are separated by a certain distance. In a preferred embodiment, the installation interval between prism 1 and prism 2 is 50m.

[0104] The specific control logic and control process of the above-mentioned station-free shield machine guidance system to achieve guidance have been introduced in detail in the method embodiment, and will not be repeated here.

[0105] The characteristics of the present invention are as follows: the total station moves with the shield machine, the prism and the total station are positioned as reference objects to each other, and only the prism is moved, so that the shield machine does not need to be moved, the guidance process is simplified, and manpower consumption is saved; and whenever the excavation cylinder reaches the maximum displacement or stops excavating to reach a set distance, the new coordinates of the total station are determined in time, and the problem that when the shield machine is excavating, the total station is installed on the shield machine trailer and moves with the shield machine, resulting in its own coordinates constantly changing, and the laser target cannot be positioned, and then the laser guidance system cannot be used to guide the shield machine; while determining the new coordinates of the total station, it is judged whether the position of the prism affects the positioning of the total station, and the prism is moved in time, so that a more reliable positioning result can be obtained.

Claims

1. A shield machine guiding method without moving station, characterized in that: The following steps are involved: 1) Install the laser target at the shield of the shield machine, install the total station on the shield machine trailer, and install the first prism and the second prism on the shield machine segment respectively, wherein the installation positions of the first prism and the second prism are separated by a certain distance; 2) Determine the initial coordinates of the total station before excavation begins, and obtain the coordinates of the first prism, the second prism and the laser target at this time based on the initial coordinates of the total station; 3) The shield machine excavates based on the laser target coordinates and uses the cylinder for guidance; 4) When the oil cylinder reaches the maximum displacement or stops excavation, the segments are assembled. At this time, according to the connection lines between the first and second prisms and the total station, the angle between the two connection lines and the distance between the total station and the first and second prisms are obtained, thereby determining the current total station coordinates; 5) According to the current total station coordinates, determine the current laser target coordinates and return to step 3); the subsequent guidance process repeats steps 3)-5); In step 4), the current total station coordinates are obtained by the following formula: x0=x2+l2*cosA y0=y2+l2*sinA Wherein, A is the angle between the line connecting the total station and the second prism and the horizontal plane where the second prism is located, (x0, y0) is the current total station coordinate, (x2, y2) is the coordinate of the second prism, and l2 is the distance between the total station and the second prism; In different cases, the calculation method of parameter A is as follows: A=π / 2-BC E=x1-x2 F=y1-y2 When F≠0, B=π-(π*D) / 2-tan -1 (E / F); where D = 1 when F>0, and D = -1 when F<0; When F = 0 and E ≥ 0, B = 0, when F = 0 and E < 0, B = π; When α>0: H = l1*cos(α*π / 180-π / 2); I=l2+l1*sin(α*π / 180-π / 2); When α<0: H=l1*cos{[(α+360)*π] / 180-π / 2}; I=l2+l1*sin{[(α+360)*π] / 180-π / 2}; When I≠0, C=π-(π*G) / 2-tan -1 (H / I); where G=1 when I>0, and G=-1 when I<0; When I = 0 and E ≥ 0, C = 0, when I = 0 and E < 0, C = π; Where (x0, y0) is the current total station coordinate, (x1, y1) is the first prism coordinate, (x2, y2) is the second prism coordinate, l1 is the distance between the total station and the first prism, l2 is the distance between the total station and the second prism; α is the angle between the line connecting the first prism, the second prism and the total station; B is the angle between the line connecting the first prism, the second prism and the horizontal line; C is the angle between the perpendicular line connecting the second prism and the total station and the line connecting the first prism and the second prism; D and G are coefficients in the calculation process of the formula. When F>0, D=1, when F<0, D=-1; when I>0, G=1, when I<0, G=-1; H is the distance between the line between the second prism and the total station and the parallel line through the first prism; I is the difference between the distance l2 between the second prism and the total station and the distance between the projection of the first prism on the line between the second prism and the total station and the total station.

2. The shield machine guiding method without moving station according to claim 1 is characterized in that: In step 4), after determining the current total station coordinates, determine whether the distance between the total station and the first prism or the second prism exceeds the maximum allowable value. If there is a prism that exceeds the maximum allowable value, the prism that exceeds the allowable value is removed, moved forward a certain distance and then reinstalled on the segment, and the coordinates of the moved prism are determined based on the current total station coordinates; if not, the prism maintains its current position.

3. The shield machine guiding method without moving station according to claim 2 is characterized in that: The moving distance of the prism moving forward is set to twice the distance between the current prism and the horizontal plane where the total station is located.

4. A shield machine guidance system without moving station, characterized in that: It includes a laser target, a total station, a first prism and a second prism; The laser target is installed at the shield of the shield machine, and is used to provide the laser target coordinates as a reference for the shield machine to use the cylinder guide for excavation; The total station is installed on the shield machine trailer and is used to obtain the initial coordinates of the total station itself before the start of excavation, and obtain the coordinates of the first prism, the second prism and the laser target at this time according to the initial coordinates of the total station; it is also used to obtain the angle between the total station and the line connecting the first and second prisms, and the distance between the total station and the first and second prisms each time the oil cylinder reaches the maximum displacement or stops excavation during the excavation process, so as to determine the current total station coordinates, and determine the current laser target coordinates according to the current total station coordinates; The first prism and the second prism are respectively installed on the shield machine segment and are used as reference objects to determine the current total station coordinates when the oil cylinder reaches the maximum displacement or stops excavation; the installation positions of the first prism and the second prism are separated by a certain distance; The current total station coordinates are obtained by the following formula: x0=x2+l2*cosA y0=y2+l2*sinA Wherein, A is the angle between the line connecting the total station and the second prism and the horizontal plane where the second prism is located, (x0, y0) is the current total station coordinate, (x2, y2) is the coordinate of the second prism, and l2 is the distance between the total station and the second prism; In different cases, the calculation method of parameter A is as follows: A=π / 2-BC E=x1-x2 F=y1-y2 When F≠0, B=π-(π*D) / 2-tan -1 (E / F); where D = 1 when F>0, and D = -1 when F<0; When F = 0 and E ≥ 0, B = 0, when F = 0 and E < 0, B = π; When α>0: H = l1*cos(α*π / 180-π / 2); I=l2+l1*sin(α*π / 180-π / 2); When α<0: H=l1*cos{[(α+360)*π] / 180-π / 2}; I=l2+l1*sin{[(α+360)*π] / 180-π / 2}; When I≠0, C=π-(π*G) / 2-tan -1 (H / I); where G=1 when I>0, and G=-1 when I<0; When I = 0 and E ≥ 0, C = 0, when I = 0 and E < 0, C = π; (x0, y0) is the current total station coordinate, (x1, y1) is the first prism coordinate, (x2, y2) is the second prism coordinate, l1 is the distance between the total station and the first prism, l2 is the distance between the total station and the second prism; α is the angle between the line connecting the first prism, the second prism and the total station; B is the angle between the line connecting the first prism, the second prism and the horizontal line; C is the angle between the perpendicular line connecting the second prism and the total station and the line connecting the first prism and the second prism; D and G are coefficients in the calculation process of the formula. When F>0, D=1, when F<0, D=-1; when I>0, G=1, when I<0, G=-1; H is the distance between the line between the second prism and the total station and the parallel line through the first prism; I is the difference between the distance l2 between the second prism and the total station and the distance between the projection of the first prism on the line between the second prism and the total station and the total station.

5. The shield machine guide system without moving station according to claim 4 is characterized in that: The total station is also used to determine whether any of the distances between the total station and the first prism or the second prism exceeds the maximum allowable value after determining the current total station coordinates; if there is a prism that exceeds the maximum allowable value, the prism that exceeds the allowable value is removed, moved forward a certain distance, and then reinstalled on the pipe segment, and the coordinates of the moved prism are determined based on the current total station coordinates; if there is no prism, the prism maintains the current position.

6. The shield machine guide system without moving station according to claim 5 is characterized in that: The moving distance of the prism moving forward is set to twice the distance between the current prism and the horizontal plane where the total station is located.

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