Method, system and storage medium for automatic station setting and directional measurement of segment center coordinates

Abstract

The present invention discloses a method, system, and storage medium for automatically setting up a station and directional measurement of the center coordinates of a segment. A total station is placed on an automatic leveling base, fixed to the rear of a shield machine trolley, and moves synchronously with the shield machine. When the shield machine stops excavating, the system automatically triggers the rear intersection station orientation, automatically scans the point cloud data within the set range of the segment, and uses the same mileage section method to filter the point cloud data to calculate the center coordinates of the segment. The method includes: calibrating the rigid body zero position relationship between the directional prism and the laser target, the azimuth and zenith distance of the directional prism, and the segment scanning area; when the shield machine cutterhead stops rotating, obtaining the coordinates and attitude angle of the laser target of the shield guidance system, calculating the coordinates of the directional prism in the current engineering coordinate system based on the rigid body relationship between the directional prism and the laser target, and determining the coordinates and horizontal azimuth of the total station; measuring the coordinates of key points in the scanning area, determining the segment scanning section range, and scanning the point cloud data; and processing the data to calculate the center coordinates of the segment.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel shield construction, and in particular to a method, system and storage medium for automatically setting up a station for directional measurement of the center coordinates of a segment. Background Art

[0002] With the acceleration of urban rail transit construction, shield technology has developed rapidly. When using the shield method to excavate tunnels, the shield posture needs to be measured and adjusted in time to ensure construction quality. The shield posture is generally determined by measuring the center coordinates of the segments. Currently, the main methods for measuring the center coordinates of segments include the level ruler method, the horizontal laser reference measurement method, the manual prism-free measurement of the segment circular section method, and the laser scanner method. Among the above methods, the first three methods require the use of a measuring robot in the tunnel. Each measurement requires station setting and orientation operations, which takes a lot of time to manually measure the coordinates of the control points. The station setting and orientation are cumbersome and inefficient. As for the laser scanner method, existing laser scanning tunnel point cloud meter products require manual processing of massive point cloud data using mathematical modeling in the background. Automation is not possible, and real-time data processing is not possible on site to obtain the results of the segment center coordinates. Measuring the center of the segment is a daily task. When problems or hidden dangers are discovered, the coordinates of the segment center may be measured multiple times a day. The measurement work is relatively complicated. It also requires professional surveying personnel to operate and special software to process the measurement data. There may be problems with the measurement raw data, analysis data, and result data being messy, which is not convenient for unified management and is not conducive to the query, storage and further analysis of the overall data. Summary of the Invention

[0003] In order to solve the above technical problems, the present invention provides a method and system for automatically setting up stations and orientations, automatically measuring segment cross sections, and calculating segment center coordinates by fitting the segments in combination with a shield guide system.

[0004] Specifically, the technical solution of the present invention is as follows:

[0005] The present invention provides a method for automatically setting up a station for directional measurement of the center coordinates of a segment, comprising the following steps:

[0006] S100: Calibrate the azimuth and zenith distance of the directional target prism, the rigid body zero position relationship between the directional target prism and the laser target, the segment scanning area, and save the configuration;

[0007] S200: monitoring the rotation state information of the shield machine cutter head, and executing the next step when the cutter head enters a stationary state from a rotating state;

[0008] S300: Acquire the real-time coordinates and attitude angle of the laser target, calculate the coordinates of the directional target prism in the current engineering coordinate system based on the rigid body zero position relationship between the directional target prism and the laser target, determine the total station coordinates and horizontal azimuth, and perform station orientation.

[0009] S400: Measure the coordinates of key points in the scanning area, correct the segment scanning area, determine the segment scanning section, and scan point cloud data;

[0010] S500: Process the point cloud data and calculate the center coordinates of the segment;

[0011] S600: Measurement ends, and returns to S200.

[0012] In some embodiments, the calibrating of the azimuth angle and zenith distance of the directional target prism and the rigid body zero position relationship between the directional target prism and the laser target in S100 includes the following steps:

[0013] Set the station coordinates and horizontal azimuth of the total station in the current project coordinate system;

[0014] Use a total station to measure the coordinates of the directional target prism in the current engineering coordinate system;

[0015] Calculate the azimuth and zenith distance of the prism of the directional target;

[0016] Get the coordinates and attitude angles of the laser target in the current engineering coordinate system;

[0017] According to the coordinates of the directional target prism, the coordinates of the laser target and the attitude angle, a rigid body zero position relationship between the directional target prism and the laser target is established.

[0018] In some embodiments, the calibrating the segment scanning area in S100 includes the following steps:

[0019] Measure key points in the segment scanning area;

[0020] Calculate the azimuth and zenith distance changes of key positions in the segment scanning area relative to the laser target;

[0021] Set the segment scanning configuration parameters.

[0022] In some embodiments, determining the total station coordinates and horizontal azimuth in S300 includes the following steps:

[0023] S301: Observing the directional target prisms in sequence using a total station according to the azimuth and zenith distance of the directional target prisms, and calculating the total station coordinates using a resection algorithm;

[0024] S302: Calculate the horizontal azimuth according to the total station measuring station coordinates and the coordinates of the directional target prism in the current engineering coordinate system.

[0025] In some embodiments, the step of measuring the coordinates of key positions in the scanning area, correcting the segment scanning area, determining the segment scanning section, and scanning the point cloud data in step S400 includes the following steps:

[0026] S401: Using the total station to measure the coordinates of the key positions in the scanning area according to the current laser target coordinates, the total station measuring station coordinates, the azimuth angle of the key positions in the segment scanning area relative to the laser target, and the change in zenith distance;

[0027] S402: Correcting the segment scanning area to the same mileage position according to the coordinates of the key position points in the scanning area;

[0028] S403: Determine the segment scanning section based on the corrected segment scanning area and the set scanning point configuration parameters;

[0029] S404: Use a total station to scan the pipe segment cross-section point cloud data.

[0030] In some embodiments, processing the point cloud data to calculate the segment center coordinates in S500 includes the following steps:

[0031] S501: Filtering the scanned point cloud data using the same mileage section method;

[0032] S502: Perform spatial circle fitting on the filtered point cloud data to calculate the center coordinates of the segment.

[0033] In some implementations, S500 further includes:

[0034] S503: Determine the tunnel mileage, ring number, segment attitude deviation, and shield guidance attitude deviation corresponding to the segment based on the segment center coordinates and the shield guidance system historical data.

[0035] The present invention also provides a system for automatically setting up a station for directional measurement of the center coordinates of a segment, comprising:

[0036] Configuration module, used to configure the azimuth and zenith distance of the directional target prism, the rigid body zero position relationship between the directional target prism and the laser target, and the segment scanning area;

[0037] The acquisition module is used to monitor the rotation status information of the shield machine cutter head and obtain the real-time coordinates and attitude angle of the laser target when the cutter head enters the static state from the rotating state;

[0038] The station setting and orientation module is used to calculate the coordinates of the directional target prism in the current engineering coordinate system based on the rigid body zero position relationship between the directional target prism and the laser target, determine the total station measuring station coordinates and horizontal azimuth, and perform station setting and orientation;

[0039] The measurement module is used to measure the coordinates of key points in the scanning area, correct the segment scanning area, determine the segment scanning section, and control the total station to scan point cloud data;

[0040] The data processing module is used to process point cloud data and calculate the center coordinates of the segment.

[0041] In some embodiments, the system further comprises:

[0042] The data analysis module is used to determine the tunnel mileage, ring number, segment attitude deviation, and shield guidance attitude deviation of the segment based on the segment center coordinates and the historical data of the shield guidance system.

[0043] The present invention also provides a computer-readable storage medium storing a control program, which, when executed by a processor, is used to implement the method for automatically setting up a station and directional measuring the center coordinates of a pipe segment as described above.

[0044] Compared with the prior art, the present invention has at least one of the following beneficial effects:

[0045] 1. The present invention installs the total station at the rear of the shield machine frame. It moves with the shield machine as it advances. When the shield machine stops excavating, it automatically triggers the rear intersection method to set up the station orientation, automatically measures the coordinate points of the tunnel segment section in a prism-free manner, and automatically processes the data, which helps to free on-site surveyors from complicated work.

[0046] 2. The present invention obtains the coordinates and posture information of the laser target of the guidance system, and automatically calculates the coordinate value of the station orientation target point in the current engineering coordinate system according to the rigid body zero position relationship between the laser target and the station orientation target prism, thereby realizing automatic station orientation.

[0047] 3. The present invention automatically corrects the position deviation of the measured pipe segment cross-section point cloud and automatically eliminates gross measurement errors and abnormal points, which can reduce the tedious work of surveyors in processing data.

[0048] 4. The present invention measures the center coordinates of the formed segments during tunnel excavation, calculates the corresponding ring number, mileage, shield guide attitude deviation (horizontal deviation / vertical deviation) and segment attitude deviation (horizontal deviation / vertical deviation) of the segments, and comprehensively analyzes the measurement data to obtain the floating situation of the segments, guide the control of the vertical attitude of the shield machine during excavation, and determine the installation benchmarks of components such as the tunnel line and internal box culverts by scanning the segment center line data. It can also dynamically monitor the line shape of the tunnel forming line.

[0049] 5. The present invention supports remote control and viewing of all measurement results in the cloud using PC clients, web pages, tablet computers, mobile phones and other platforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] The following will explain the preferred implementation method in a clear and easy-to-understand manner with reference to the accompanying drawings, and further explain the above-mentioned characteristics, technical features, advantages and implementation methods of a method, system and storage medium for automatically setting up a station for directional measurement of the center coordinates of a pipe segment.

[0051] Figure 1 This is a flow chart of a method for automatically setting up a station for directional measurement of segment center coordinates according to an embodiment of the present invention;

[0052] Figure 2 is a diagram showing the spatial position relationship between the laser target and the directional target prism in an embodiment of the present invention;

[0053] Figure 3 2 is a schematic diagram of a resection algorithm in an embodiment of the present invention. DETAILED DESCRIPTION

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0055] To simplify the drawings, only portions relevant to the invention are schematically depicted in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one component with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one."

[0056] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0057] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0058] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0059] The present invention places the total station on an automatic leveling base and fixes it on the rear of the shield machine trolley and moves synchronously with the shield machine. When the shield machine stops excavating, it automatically triggers the rear intersection station orientation, automatically scans the point cloud data of the set range of the pipe segment, uses the same mileage section method to filter the point cloud data, and calculates the center coordinates of the pipe segment.

[0060] In one embodiment, the reference Figure 1 The present invention provides a method for automatically setting up a station for directional measurement of the center coordinates of a segment, comprising the following steps:

[0061] Step 1: Calibrate the azimuth and zenith distance of the directional target prism, the rigid body zero position relationship between the directional target prism and the laser target, the tube segment scanning area, and save the configuration.

[0062] The steps of calibrating the azimuth angle and zenith distance of the directional target prism and the rigid body zero position relationship between the directional target prism and the laser target include the following steps:

[0063] 1. Manually set the station orientation and set the station coordinates and horizontal azimuth of the total station in the current engineering coordinate system;

[0064] 2. Manually aim and measure the coordinates of the directional target prism in the current engineering coordinate system;

[0065] 3. Calculate the azimuth and zenith distance of the prism of the directional target;

[0066] 4. Obtain the coordinates and attitude angles of the laser target in the current engineering coordinate system. During shield guidance measurement, the real-time coordinates of the laser target and the attitude angles of the shield machine (including rotation angle, pitch angle, and azimuth angle) can be obtained by measuring the data of the laser target sensor.

[0067] 5. According to the coordinates of the directional target prism, the coordinates of the laser target and the attitude angle, establish the rigid body zero position relationship between the directional target prism and the laser target. The rigid body zero position relationship between the directional target prism and the laser target established in this embodiment is as shown in the attached manual. Figure 2 As shown, the laser target and directional target prisms P1, P2, and P3 are rigidly connected to the main beam position of the shield machine.

[0068] Calibrating the segment scanning area includes the following steps:

[0069] 1. Measure the key positions of the upper left, upper right, front center, lower left and lower right in the segment scanning area;

[0070] 2. Calculate the azimuth and zenith distance changes of key positions in the segment scanning area relative to the laser target;

[0071] 3. Set the segment scanning configuration parameters, including horizontal spacing, vertical spacing, fitting segment reference radius, etc.

[0072] Step 2: Monitor the rotation status information of the shield machine cutter head. When the cutter head enters a stationary state from a rotating state, execute the next step.

[0073] The cutterhead rotation status information is obtained from the shield machine PLC in real time. When the cutterhead enters a stationary state from a rotating state, indicating that the shield machine has stopped excavating, the total station will be automatically triggered to set the station orientation and scan the pipe segments in the rear intersection mode.

[0074] Step 3: Get the real-time coordinates and attitude angles of the laser target, calculate the coordinates of the directional target prism in the current engineering coordinate system based on the rigid body zero position relationship between the directional target prism and the laser target, determine the total station coordinates and horizontal azimuth, and perform station orientation.

[0075] 1. Obtain the real-time coordinates and attitude angle of the laser target. Based on the real-time coordinates and attitude angle of the laser target and the rigid body zero position relationship between the directional target prism and the laser target, calculate the three-dimensional coordinates of the directional target prism in the current engineering coordinate system.

[0076] (1) Obtaining the coordinate system rotation coefficient

[0077] During shield guidance measurement, the attitude angle of the shield machine is obtained by measuring the data of the laser target sensor: rotation angle , pitch angle and azimuth , thus obtaining the matrix transformation coefficient of the shield machine coordinate system in the current engineering coordinate system:

[0078]

[0079] in

[0080]

[0081] (2) Obtaining the coordinate system transformation coefficient

[0082] Laser target zero coordinates and engineering coordinate system coordinates measured during shield guidance The displacement transformation of the coordinate system is obtained:

[0083]

[0084] (3) Obtain the new coordinates after coordinate transformation

[0085] The coordinate data of the shield head and shield center at the initial zero position are converted into measurement data in the engineering coordinate system through the common parameters of the coordinate system conversion.

[0086]

[0087] 2. According to the azimuth and zenith distance of the calibrated directional target prism, the total station automatically rotates to the three directional target prisms arranged counterclockwise for observation, and then calculates the total station coordinates according to the three-dimensional coordinates of the directional target prism in the current engineering coordinate system and the observation results according to the rear intersection algorithm. Figure 3 As shown, the calculation process is as follows:

[0088]

[0089] Theoretical angle value:

[0090] Angular closure error:

[0091] When the angle closure error is within the allowable range, Correction and angle, and substitute it into the following formula:

[0092]

[0093] 3. Calculate the horizontal azimuth angle based on the total station coordinates and the three-dimensional coordinates of the directional target prism in the current engineering coordinate system.

[0094]

[0095] Azimuth , (unit: radians)

[0096] in, express The value of represents a symbolic function, if When its value is -1, When is 1, Time is 0.

[0097] 4. Set the total station coordinates and horizontal azimuth to complete automatic station orientation.

[0098] Step 4: Measure the coordinates of key points in the scanning area, correct the segment scanning area, determine the segment scanning section, and scan the point cloud data.

[0099] 1. Obtain the current laser target coordinates. Based on the current laser target coordinates, the total station coordinates, the azimuth angle of the key position points in the segment scanning area relative to the laser target, and the change in zenith distance, the total station rotates to the key position points in the upper left, upper right, front center, lower left, and lower right of the segment scanning area, and measures the coordinates of the key position points in the scanning area.

[0100] 2. Correct the segment scanning area to the same mileage position according to the coordinates of the key position points in the scanning area;

[0101] 3. Based on the corrected segment scanning area and the set scanning point configuration parameters (horizontal spacing, vertical spacing, and fitting segment reference radius), determine the segment scanning section;

[0102] 4. Use the Leica MS60 series total station to automatically scan the segment to set the range of point cloud data. During the measurement process, it is also necessary to handle abnormal conditions, such as the instrument being blocked, vibration causing measurement failure, and other faults.

[0103] Step 5: Process the point cloud data and calculate the center coordinates of the segment.

[0104] 1. Batch process the scanned point cloud data, eliminate gross errors and abnormal data, and calculate the mileage value corresponding to each measuring point;

[0105] 2. Filter the data and extract the set mileage ±5mm point cloud data according to the set interval to form a fitting circular section;

[0106] 3. Perform spatial circle fitting and calculate the center coordinates of the segment;

[0107] 4. Determine the segment's corresponding tunnel mileage, ring number, segment attitude deviation, and shield guidance attitude deviation based on the segment center coordinates and historical shield guidance system data. This embodiment uses the acquired shield guidance system planned route data and guidance result data, performs data analysis based on the center coordinates of the fitted circle, calculates the segment's corresponding tunnel mileage, ring number, segment center deviation (horizontal deviation / vertical deviation) relative to the planned line, and shield guidance attitude deviation (horizontal deviation / vertical deviation) at the corresponding location, and saves the data.

[0108] Through the overall analysis of the measurement results, we can know the floating situation of the pipe segments and guide the control of the vertical posture of the shield machine during excavation. By scanning the center line data of the pipe segments, we can determine the tunnel line and internal construction installation benchmark, and dynamically monitor the tunnel forming line shape.

[0109] After this measurement is completed, continue to monitor the shield machine cutter head rotation status information and wait for the shield machine to stop the next round of excavation before conducting the next measurement.

[0110] In one embodiment, the present invention provides a system for automatically setting up a station for directional measurement of segment center coordinates, comprising:

[0111] Configuration module, used to configure the azimuth and zenith distance of the directional target prism, the rigid body zero position relationship between the directional target prism and the laser target, and the segment scanning area;

[0112] The acquisition module is used to monitor the rotation status information of the shield machine cutter head and obtain the real-time coordinates and attitude angle of the laser target when the cutter head enters the static state from the rotating state;

[0113] The station setting and orientation module is used to calculate the coordinates of the directional target prism in the current engineering coordinate system based on the rigid body zero position relationship between the directional target prism and the laser target, determine the total station measuring station coordinates and horizontal azimuth, and perform station setting and orientation;

[0114] The measurement module is used to measure the coordinates of key points in the scanning area, correct the segment scanning area, determine the segment scanning section, and control the total station to scan point cloud data;

[0115] Data processing module, used to process point cloud data and calculate the center coordinates of the segment;

[0116] The data analysis module is used to determine the tunnel mileage, ring number, segment attitude deviation, and shield guidance attitude deviation of the segment based on the segment center coordinates and the historical data of the shield guidance system.

[0117] In one embodiment, the present invention provides a computer-readable storage medium storing a control program. When executed by a processor, the control program is used to implement the method for automatically setting up a station for directional measurement of segment center coordinates as described above. The technical solution of the present invention, or the portion that contributes to the prior art, or the portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes instructions for causing a computer device (which can be a personal computer, server, programmable calculator, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present invention. The computer-readable storage medium includes various media capable of carrying computer program code, such as a USB flash drive, a mobile hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), or a random access memory (RAM).

[0118] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0119] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0120] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0121] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0122] In the present invention, the terms "comprises," "comprising," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising..." does not preclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0123] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred embodiments of the present invention. It should be noted that those skilled in the art can make several improvements and modifications without departing from the principles of the present invention, and such improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for automatically setting up a station and directional measuring the center coordinates of a segment, characterized in that: The total station is fixed to the rear of the shield machine trolley and moves synchronously with the shield machine, including the following steps: S100: Calibrate the azimuth and zenith distance of the directional target prism, the rigid body zero position relationship between the directional target prism and the laser target, the segment scanning area, and save the configuration; S200: monitoring the rotation state information of the shield machine cutter head, and executing the next step when the cutter head enters a stationary state from a rotating state; S300: Acquire the real-time coordinates and attitude angle of the laser target, calculate the coordinates of the directional target prism in the current engineering coordinate system based on the rigid body zero position relationship between the directional target prism and the laser target, determine the total station station coordinates and horizontal azimuth, and perform station orientation; S300 said determining the total station station coordinates and horizontal azimuth includes the following steps: S301: Based on the azimuth and zenith distance of the directional target prism, use the total station to observe the directional target prism in turn, and calculate the total station station coordinates according to the rear intersection algorithm; S302: Calculate the horizontal azimuth based on the total station station coordinates and the coordinates of the directional target prism in the current engineering coordinate system; S400: Measure the coordinates of key points in the scanning area, correct the segment scanning area, determine the segment scanning section, and scan point cloud data; S500: Process the point cloud data and calculate the center coordinates of the segment; S600: Measurement ends, and returns to S200.

2. The method for automatically setting up a station and directional measuring the center coordinates of a segment according to claim 1 is characterized in that: S100 calibrating the azimuth angle and zenith distance of the directional target prism and the rigid body zero position relationship between the directional target prism and the laser target includes the following steps: Set the station coordinates and horizontal azimuth of the total station in the current project coordinate system; Use a total station to measure the coordinates of the directional target prism in the current engineering coordinate system; Calculate the azimuth and zenith distance of the prism of the directional target; Get the coordinates and attitude angles of the laser target in the current engineering coordinate system; According to the coordinates of the directional target prism, the coordinates of the laser target and the attitude angle, a rigid body zero position relationship between the directional target prism and the laser target is established.

3. The method for automatically setting up a station and directional measuring the center coordinates of a segment according to claim 1 is characterized in that: S100 of calibrating the segment scanning area includes the following steps: Measure key points in the segment scanning area; Calculate the azimuth and zenith distance changes of key positions in the segment scanning area relative to the laser target; Set the segment scanning configuration parameters.

4. The method for automatically setting up a station and directional measuring the center coordinates of a segment according to claim 1 is characterized in that: S400 measures the coordinates of key points in the scanning area, corrects the segment scanning area, determines the segment scanning section, and scans the point cloud data, including the following steps: S401: Using the total station to measure the coordinates of the key positions in the scanning area according to the current laser target coordinates, the total station measuring station coordinates, the azimuth angle of the key positions in the segment scanning area relative to the laser target, and the change in zenith distance; S402: Correcting the segment scanning area to the same mileage position according to the coordinates of the key position points in the scanning area; S403: Determine the segment scanning section according to the corrected segment scanning area and the set scanning point configuration parameters; S404: Use a total station to scan the pipe segment cross-section point cloud data.

5. The method for automatically setting up a station and directional measuring the center coordinates of a segment according to claim 1 is characterized in that: The processing of the point cloud data and calculation of the segment center coordinates in S500 includes the following steps: S501: Filtering the scanned point cloud data using the same mileage section method; S502: Perform spatial circle fitting on the filtered point cloud data to calculate the center coordinates of the segment.

6. The method for automatically setting up a station and directional measuring the center coordinates of a segment according to claim 5 is characterized in that: The S500 also includes: S503: Determine the tunnel mileage, ring number, segment attitude deviation, and shield guidance attitude deviation corresponding to the segment based on the segment center coordinates and the shield guidance system historical data.

7. A system for automatically setting up stations and directional measuring the center coordinates of pipe segments, characterized in that: The total station is fixed to the rear of the shield machine trolley and moves synchronously with the shield machine, including: Configuration module, used to configure the azimuth and zenith distance of the directional target prism, the rigid body zero position relationship between the directional target prism and the laser target, and the segment scanning area; The acquisition module is used to monitor the rotation status information of the shield machine cutter head and obtain the real-time coordinates and attitude angle of the laser target when the cutter head enters the static state from the rotating state; The station setting and orientation module is used to calculate the coordinates of the directional target prism in the current engineering coordinate system based on the rigid body zero position relationship between the directional target prism and the laser target, determine the total station station coordinates and horizontal azimuth, and perform station setting and orientation. The determination of the total station station coordinates and horizontal azimuth includes the following steps: according to the azimuth and zenith distance of the directional target prism, using the total station to observe the directional target prism in sequence, and calculating the total station station coordinates according to the rear intersection algorithm; and calculating the horizontal azimuth based on the total station station coordinates and the coordinates of the directional target prism in the current engineering coordinate system. The measurement module is used to measure the coordinates of key points in the scanning area, correct the segment scanning area, determine the segment scanning section, and control the total station to scan point cloud data; The data processing module is used to process point cloud data and calculate the center coordinates of the segment.

8. The system for automatic station setting and directional measurement of segment center coordinates according to claim 7 is characterized in that: The system further comprises: The data analysis module is used to determine the tunnel mileage, ring number, segment attitude deviation, and shield guidance attitude deviation of the segment based on the segment center coordinates and the historical data of the shield guidance system.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a control program, which, when executed by a processor, is used to implement the method for automatically setting up a station and directional measuring the center coordinates of a pipe segment as described in any one of claims 1 to 6.

Images