Method and system for automatically measuring postures of formed segments in tunnel without moving stations

Abstract

The invention discloses a method and a system for automatically measuring postures of formed segments in a tunnel without moving stations. The method comprises the following steps: S1, configuring specified parameters of the formed segments; s2, monitoring the state of a cutter head by adopting a total station for mobile station guiding; s3, when the shield tunneling machine stops tunneling, automatically measuring a plurality of target prisms fixed on the duct piece, and setting a station for orientation; s4, establishing a mathematical space model according to historical data, and calculating coordinates of key positioning points of the section of the segment to be measured; s5, measuring coordinates of key positioning points of the section of the duct piece in a prism-free manner; s6, cleaning the coordinate data of the section of the measured segment, and removing abnormal data; s7, a least square method is used for fitting a space circle algorithm, the coordinates of the circle center of the inner diameter of the segment are calculated, the deviation with the design axis is calculated, and automatic measurement of the posture of the shield forming segment is achieved; s8, performing accurate control and adjustment on the posture of the duct piece; and S9, monitoring the posture of the duct piece. According to the invention, all-weather segment attitude monitoring can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of shield segment posture detection technology, and in particular to a method and system for automatically measuring the posture of a formed segment in a tunnel without requiring a moving station. Background Art

[0002] At present, the posture of shield tunnel forming segments is measured manually. The general measurement method is to make an aluminum alloy ruler according to the inner diameter of the segment, and stick a reflective sheet on the center of the aluminum alloy ruler. According to the radius of the segment, the aluminum alloy ruler and the size of the center position of the reflective sheet, the height difference between the center of the segment and the center of the reflective sheet on the aluminum alloy ruler can be calculated.

[0003] During measurement, first use a spirit level to accurately level the aluminum alloy ruler, and then use a total station to measure the three-dimensional coordinates of the center of the reflective sheet on the aluminum alloy ruler, thereby calculating the three-dimensional coordinates of the center of the segment to obtain the segment posture. This method requires the cooperation of three people at a time (one person is the main measurer, one person sets up the rear-view prism, and one person holds the ruler). A single measurement of a single hole takes about one hour, and the middle position of the trolley must be occupied during the measurement. It can only be performed when the shield machine stops excavating (during the period when the dump truck is transporting soil outward). The measurement window is short and there are safety hazards.

[0004] At present, a single tunnel is generally required to be measured at least once a day, but in practice, due to interference from construction production or insufficient surveying personnel, the expected requirements are often not met. In other words, the shield tunneling posture cannot be verified and deviations from the designed axis may occur easily.

[0005] To this end, the present application specifically proposes a method and system for automatically measuring the posture of formed segments in a tunnel without moving the station to solve the above-mentioned technical problems. Summary of the invention

[0006] The main purpose of the present invention is to provide a method and system for automatically measuring the posture of formed pipe segments in a tunnel without moving the station. The method adopts automatic measurement of the posture of formed pipe segments to obtain posture data in real time, which can solve the problems of time-consuming and labor-intensive station moving of the guidance system and pipe segment posture monitoring, short measurement operation time window and impact on on-site construction production efficiency, thereby reducing personnel input, reducing labor intensity, realizing all-weather pipe segment posture monitoring, improving station moving efficiency, shortening construction period, and reducing construction costs, so as to solve the above-mentioned technical problems.

[0007] The present invention adopts the following technical solutions to solve the above technical problems:

[0008] A method for automatically measuring the posture of a formed segment in a tunnel without moving a station comprises the following steps:

[0009] S1. Configure the specified parameters including the inner diameter of the formed segment, ring width, the area range of the segment section, the number of sections, the spacing between the section positioning points, the spacing between the segment sections, and the measurement frequency;

[0010] S2. The system uses a total station for mobile station guidance to read the PLC data of the shield machine in real time and monitor the status of the cutterhead. When the cutterhead changes from a rotating state to a stationary state, the next step is executed;

[0011] S3. When the shield machine stops excavating, automatically measure multiple target prisms fixed to the segments and set the station orientation;

[0012] S4. Based on the historical data of shield guidance, a mathematical space model of the segment to be measured is established, and the coordinates of key positioning points of the segment section to be measured are calculated;

[0013] S5. Use a mobile total station, turn on the red indicator laser, rotate to the specified section positioning point using the layout method, and measure the coordinates of the key positioning points of the pipe segment section using the prism-free method;

[0014] S6. Clean up the measured pipe segment cross-section coordinate data and remove abnormal data;

[0015] S7. Use the least squares method to fit the spatial circle algorithm, calculate the coordinates of the center of the inner diameter of the segment, and calculate the deviation from the design axis to achieve automatic measurement of the shield-forming segment posture;

[0016] S8. Accurately control and adjust the segment posture: By measuring the segment posture information in real time, abnormal segment posture problems can be discovered in time, and the segment posture can be accurately adjusted to ensure the connection and construction quality of the segment.

[0017] S9. Monitor the posture of the segments: by measuring the posture information of the segments in real time, draw the posture change curve according to the historical measurement data, monitor the floating data of the segments during the tunneling of the shield machine, and guide the control of the vertical posture during the tunneling of the shield machine to increase the floating parameters of the segments; while monitoring the stable state of the formed segments, evaluate whether the grouting work meets the requirements of tunnel construction.

[0018] Furthermore, the specific operation process of station orientation in step S3 includes:

[0019] S301. Obtain the average value L0 of the main push cylinder stroke in the last station setting and the average value L1 of the main push cylinder stroke in the current position, calculate the difference, and obtain the displacement dL of the shield machine main engine:

[0020] dL=L1-L0

[0021] Where dL takes a positive absolute value;

[0022] S302. According to the coordinates of the directional measuring station St0 (x, y, z) of the last station setting, the azimuth angle α of the shield machine excavation direction, the slope i and the displacement dL of the shield machine host, the current total station measuring station coordinates St1 are calculated within the specified range:

[0023]

[0024] S303. Calculate the azimuth and zenith distance of each target prism according to the calculated station coordinates and the oriented target prism;

[0025] S304. The total station uses the layout mode to rotate to the directional target prism in turn, search and aim at the target prism, and measure the azimuth, zenith distance and horizontal distance of the target prism respectively;

[0026] S305. Calculate the total station coordinates using the resection algorithm;

[0027] S306. Set up and orient the total station.

[0028] Furthermore, the specific operation process of step S4 includes:

[0029] S401. Obtaining the position coordinate data of the end surface of the main push cylinder support shoe at the section of the pipe to be measured during shield guidance from the historical data of the mobile station guidance system;

[0030] S402. According to the coordinates of the end face of the main push cylinder, the least squares method is used to fit the space circle algorithm to roughly calculate the segment center coordinates O and the plane normal direction n corresponding to the end face of the main push cylinder support shoe;

[0031] S403. Calculate the space equation of the corresponding segment end surface according to the segment size parameters;

[0032] S404. Calculate the starting angle θ of the positioning point according to the set measuring segment area, the inner diameter of the segment and the spacing between the positioning points of the measuring section start , deflection angle Δ θ and the end angle θ end ;

[0033] S405. Calculate the coordinates of key positioning points of the segment section to be measured, namely, P1, P2, ..., Pn, according to the three-dimensional mathematical model formula of the space circle of the segment;

[0034] Furthermore, the specific operation steps of calculating the space equation of the corresponding segment end surface in step S403 include:

[0035] In three-dimensional space, the center of the circle is preset as point O, the normal vector is vector n, and the radius of the circle is r to construct a parametric equation, which is expressed as:

[0036]

[0037] in:

[0038] θ means vertically upward is 0°, and the angle θ gradually increases when rotating clockwise;

[0039] v represents the unit vector after the cross product of the vertical unit vector (1,0,0) and the plane normal vector n, u represents the unit after the cross product of the unit vector v and the plane normal vector n, u and v are unit vectors that are perpendicular to n and perpendicular to each other;

[0040] The formula can obtain the coordinates of each point on the space circle by changing the parameter θ from 0 to 2π.

[0041] Furthermore, the specific operation process of step S6 includes:

[0042] S601. By presetting the segment attitude limit, adding restrictions such as discreteness control of the measured data from the actual segment center coordinate O and the mileage deviation of the same section point within a certain range;

[0043] S602. When measuring the assembler at work, the bolt holes inside the pipe segment, the railings of the assembler and other obstacles, abnormal coordinate values ​​are automatically eliminated.

[0044] A system for automatically measuring the attitude of a formed segment in a tunnel without moving a station is used to execute any of the above-mentioned methods for automatically measuring the attitude of a formed segment in a tunnel without moving a station, comprising:

[0045] The mobile station guidance total station, multiple target prisms fixed on the inner side of the segment in a staggered arrangement, automatic leveling base and shock-absorbing bracket are installed at the appropriate position of the measurement channel in front of the shield machine trolley;

[0046] Specified software installed inside computer equipment.

[0047] Furthermore, in the specified software execution state, the following operations are performed:

[0048] When the shield machine stops excavating, the target prism fixed to the inner wall of the segment is automatically measured to set the station orientation;

[0049] The three-dimensional mathematical model of each ring segment is established based on the historical data of shield guidance, the coordinates of the key position points of the section to be measured are calculated, and the set segment section is measured automatically without prism;

[0050] The coordinates of the center of the segment are calculated by fitting the measured point data, and the segment posture and posture curve changing with time are calculated.

[0051] The invention provides a method and system for automatically measuring the posture of formed pipe segments in a tunnel without moving a station.

[0052] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0053] 1. The present invention is based on the existing mobile station guidance total station. It guides normally during shield tunneling. When the shield machine stops tunneling, the total station stops the guidance operation, automatically measures the segment posture, automatically processes data, and stores data according to the set cycle. There is no need to add additional total station equipment and surveying personnel, and no human operation is required, which improves the efficiency of measuring the segment posture and saves man-hours.

[0054] 2. The present invention has the function of real-time monitoring of segment posture. Different from the segment posture detection method with prism marking, the present invention uses a prism-free method to measure and fit the segment center posture. There is no need to deploy a prism device. When the shield machine stops excavating, it automatically and continuously measures the segment posture according to the set cycle, automatically processes the cross-sectional measurement data, calculates the segment center coordinates and the deviation of the segment center relative to the planned line, and generates a segment posture change curve in real time.

[0055] 3. The present invention supports the excavation of tunnel sections with a diameter greater than 6.5m, and customizes the working parameters for measuring segment sections, including the area range for measuring segment sections, the number of measured segment sections, segment point names, the distance between key positioning points, the spacing between segment sections, the measurement frequency, etc. Specifically, based on the preset linear parameters, the mobile station shield guidance data and the segment size parameters, a three-dimensional segment model is established in a digital manner, and the coordinate points of the key positions of the segment sections to be measured are calculated.

[0056] 4. The present invention adopts an automatic measurement system for the posture of formed segments to grasp the posture data in real time, which can solve the problems of time-consuming and labor-intensive measurement of segment posture, short measurement operation time window and impact on on-site construction production efficiency, thereby reducing personnel input, reducing labor intensity, realizing all-weather segment posture monitoring, improving station transfer efficiency, shortening construction period and reducing construction costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0058] Figure 1 This is the application scenario diagram of the present invention

[0059] Figure 2 It is a schematic diagram of the overall process of the method of the present invention;

[0060] Figure 3 It is a plane schematic diagram of a method for measuring the posture of a pipe segment in the prior art;

[0061] Figure 4 It is a schematic plan view of the method for measuring the attitude of a pipe segment of the present invention;

[0062] Figure 5A schematic diagram of the interface for setting working parameters of the measuring segment according to the present invention;

[0063] Figure 6 It is a schematic diagram of the definition of the working parameters of the measuring segment of the present invention;

[0064] Figure 7 This is a schematic diagram of the least square method for fitting the spatial circle data processing for measuring the segment posture of the present invention; DETAILED DESCRIPTION

[0065] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. In the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0066] In the embodiment, see Figures 1 to 7 .

[0067] like Figure 2 As shown, in the prior art, the posture of the shield tunnel forming segment is currently measured manually. The general measurement method is to make an aluminum alloy ruler according to the inner diameter of the segment, and paste a reflector at the center of the aluminum alloy ruler. According to the segment radius, the aluminum alloy ruler and the size of the center position of the reflector, the height difference between the center of the segment and the center of the reflector on the aluminum alloy ruler can be calculated. When measuring, first use a level ruler to accurately level the aluminum alloy ruler, and then use a total station to measure the three-dimensional coordinates of the center of the reflector on the aluminum alloy ruler, so as to deduce the three-dimensional coordinates of the center of the segment to obtain the segment posture. This method requires three people to cooperate at a time (one person is the main measurer, one person sets up the rearview prism, and one person holds the ruler). A single hole single measurement takes about 1 hour, and the measurement needs to occupy the middle position of the trolley. It can only be carried out when the shield machine stops excavating (during the period when the muck truck is transporting soil outward). The measurement window is short and there are safety hazards.

[0068] At present, a single tunnel is generally required to be measured at least once a day, but in practice, due to interference from construction production or insufficient surveying personnel, the expected requirements are often not met. In other words, the shield tunneling posture cannot be verified and deviations from the designed axis may occur easily.

[0069] Therefore, the present invention provides a method and system for automatically measuring the posture of formed pipe segments in a tunnel without the need for station relocation. The automatic measurement system for the posture of formed pipe segments is adopted to obtain posture data in real time, which can solve the problems of time-consuming and labor-intensive measurement of pipe segment posture, short measurement operation time window and impact on on-site construction production efficiency, thereby reducing personnel input, reducing labor intensity, realizing all-weather monitoring of pipe segment posture, improving station relocation efficiency, shortening construction period and reducing construction costs.

[0070] Specifically, Figure 1 and Figure 3 As shown, the method specifically comprises the following steps:

[0071] S1. Configure the specified parameters including the inner diameter of the formed segment, ring width, the area range of the segment section, the number of sections, the spacing between the section positioning points, the spacing between the segment sections, and the measurement frequency;

[0072] S2. The system uses a total station for mobile station guidance to read the PLC data of the shield machine in real time and monitor the status of the cutterhead. When the cutterhead changes from a rotating state to a stationary state, the next step is executed;

[0073] S3. When the shield machine stops excavating, automatically measure multiple target prisms fixed to the segments and set the station orientation;

[0074] S4. Based on the historical data of shield guidance, a mathematical space model of the segment to be measured is established, and the coordinates of key positioning points of the segment section to be measured are calculated;

[0075] S5. Use a mobile total station, turn on the red indicator laser, rotate to the specified section positioning point using the layout method, and measure the coordinates of the key positioning points of the pipe segment section using the prism-free method;

[0076] S6. Clean up the measured pipe segment cross-section coordinate data and remove abnormal data;

[0077] S7. Use the least squares method to fit the spatial circle algorithm, calculate the coordinates of the center of the inner diameter of the segment, and calculate the deviation from the design axis to achieve automatic measurement of the shield-forming segment posture;

[0078] S8. Accurately control and adjust the segment posture: By measuring the segment posture information in real time, abnormal segment posture problems can be discovered in time, and the segment posture can be accurately adjusted to ensure the connection and construction quality of the segment.

[0079] S9. Monitor the posture of the segments: by measuring the posture information of the segments in real time, draw the posture change curve according to the historical measurement data, monitor the floating data of the segments during the tunneling of the shield machine, and guide the control of the vertical posture during the tunneling of the shield machine to increase the floating parameters of the segments; while monitoring the stable state of the formed segments, evaluate whether the grouting work meets the requirements of tunnel construction.

[0080] This method is based on the existing mobile station guidance total station. It guides normally during shield tunneling. When the shield machine stops tunneling, the total station stops the guidance operation, automatically measures the segment posture, processes data, and stores data according to the set cycle. There is no need for additional total station equipment and surveying personnel, and no human operation is required, which improves the efficiency of measuring segment posture and saves man-hours.

[0081] It should be noted that the system is internally provided with designated software for calculating the coordinates of the center of the pipe segment according to the measured point data.

[0082] This method has the function of real-time monitoring of segment posture. Compared with the prior art, it is different from the segment posture detection method with prism marking. It uses a prism-free method to measure and fit the segment center posture, without the need to deploy a prism device. When the shield machine stops excavating, it automatically and continuously measures the segment posture according to the set cycle, automatically processes the cross-section measurement data, calculates the segment center coordinates and the segment center deviation relative to the planned line, and generates a segment posture change curve in real time.

[0083] In some embodiments, in order to realize the station-free function, the total station needs to be installed on an automatic leveling base and move synchronously with the trolley, without the need to manually replace the total station basket; on the other hand, it is necessary to ensure that after the trolley moves to a new position, the internal program uses a special algorithm to ensure that the total station can accurately locate and search for the directional target prism. The specific operation process of station setting and orientation in step S3 includes:

[0084] S301. Obtain the average value L0 of the main push cylinder stroke in the last station setting and the average value L1 of the main push cylinder stroke in the current position, calculate the difference, and obtain the displacement dL of the shield machine main engine:

[0085] dL=L1-L0

[0086] Where dL takes a positive absolute value;

[0087] S302. According to the coordinates of the directional measuring station St0 (x, y, z) of the last station setting, the azimuth angle α of the shield machine excavation direction, the slope i and the displacement dL of the shield machine host, the current total station measuring station coordinates St1 are calculated within the specified range:

[0088]

[0089] S303. Calculate the azimuth and zenith distance of each target prism according to the calculated station coordinates and the oriented target prism;

[0090] S304. The total station uses the layout mode to rotate to the directional target prism in turn, search and aim at the target prism, and measure the azimuth, zenith distance and horizontal distance of the target prism respectively;

[0091] S305. Calculate the total station coordinates using the resection algorithm;

[0092] S306. Set up and orient the total station.

[0093] In some embodiments, the specific operation process of step S4 includes:

[0094] S401. Obtaining the position coordinate data of the end surface of the main push cylinder support shoe at the section of the pipe to be measured during shield guidance from the historical data of the mobile station guidance system;

[0095] S402. According to the coordinates of the end face of the main push cylinder, the least squares method is used to fit the space circle algorithm to roughly calculate the segment center coordinates O and the plane normal direction n corresponding to the end face of the main push cylinder support shoe;

[0096] S403. Calculate the space equation of the corresponding segment end surface according to the segment size parameters;

[0097] In three-dimensional space, the center of the circle is preset as point O, the normal vector is vector n, and the radius of the circle is r to construct a parametric equation, which is expressed as:

[0098]

[0099] in:

[0100] θ means vertically upward is 0°, and the angle θ gradually increases when rotating clockwise;

[0101] v represents the unit vector after the cross product of the vertical unit vector (1,0,0) and the plane normal vector n, u represents the unit after the cross product of the unit vector v and the plane normal vector n, u and v are unit vectors that are perpendicular to n and perpendicular to each other;

[0102] The formula changes the parameter θ from 0 to 2π, and the coordinates of each point on the space circle can be obtained;

[0103] Furthermore, the present application supports the excavation of tunnel sections with a diameter greater than 6.5m, and customizes the working parameters for measuring segment sections, including the area range for measuring segment sections, the number of measured segment sections, segment point names, the distance between key positioning points, the spacing between segment sections, the measurement frequency, etc. Based on the preset linear parameters, mobile station shield guidance data and segment size parameters, a three-dimensional segment model is established in a digital manner, and the coordinate points of the key positions of the segment section to be measured are calculated.

[0104] S404. Calculate the starting angle θ of the positioning point according to the set measuring segment area, the inner diameter of the segment and the spacing between the positioning points of the measuring section start , deflection angle Δ θ and the end angle θ end ;

[0105] S405. According to the three-dimensional mathematical model formula of the space circle of the pipe segment, the coordinates of the key positioning points of the pipe segment section to be measured, namely P1, P2, ..., Pn, are calculated.

[0106] In some embodiments, the specific operation process of step S6 includes:

[0107] S601. The present invention ensures that the system is stable and has a robust data fault-tolerant function, by presetting the segment attitude limit, adding the discrete degree control of the measured data from the actual segment circle center coordinate O, and the mileage deviation of the same section point within a certain range and other restrictive conditions;

[0108] S602. When measuring the assembler at work, the bolt holes inside the pipe segment, the railings of the assembler and other obstacles, abnormal coordinate values ​​are automatically eliminated.

[0109] On the other hand, the present invention further provides a system for automatically measuring the posture of a formed segment in a tunnel without moving a station, which is used to execute the method for automatically measuring the posture of a formed segment in a tunnel without moving a station in the above embodiment, comprising:

[0110] The mobile station guidance total station, multiple target prisms fixed on the inner side of the segment in a staggered arrangement, automatic leveling base and shock-absorbing bracket are installed at the appropriate position of the measurement channel in front of the shield machine trolley;

[0111] The specified software installed in the computer device, when the specified software is executed, performs the following operations:

[0112] When the shield machine stops excavating, the target prism fixed to the inner wall of the segment is automatically measured to set the station orientation;

[0113] The three-dimensional mathematical model of each ring segment is established based on the historical data of shield guidance, the coordinates of the key position points of the section to be measured are calculated, and the set segment section is measured automatically without prism;

[0114] The coordinates of the center of the segment are calculated by fitting the measured point data, and the segment posture and posture curve changing with time are calculated.

[0115] In addition, it should be noted that compared with the prior art, the prior art (patent number CN116481499A) discloses a method, system and storage medium for automatically setting up a station for directional measurement of the center coordinates of a pipe segment. The technical solution of this application has the following different technical features from the prior art:

[0116] Patent No. CN116481499A uses a total station with a scanning function to scan the three-dimensional coordinates of the surface point cloud of the set range of the segment, and selects the segment section coordinate data that meets the requirements through a software algorithm. This measurement system needs to add a total station with a prism-free scanning function for the spatial point cloud coordinates, and needs to rely on the shield guidance system to transmit the station orientation benchmark;

[0117] The present invention uses the existing conventional total station for guidance, uses the station setting and orientation method of the guidance system, and determines the unique pipe segment measurement section through the core technology algorithm, which effectively solves the function of locating and measuring the coordinates of the key positioning points of the pipe segment section. There is no need to use the scanning point cloud method to measure the pipe segment section coordinate point cloud over a large range. The key positioning coordinate points of the section are measured without a prism, and the center coordinates of the pipe segment are calculated using the fitted space circle.

[0118] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

[0119] In addition, it should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0120] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or schemes that A and B meet at the same time. In addition, in the embodiments of the present invention, "multiple" refers to more than two. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in the field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

Claims

1. A method for automatically measuring the posture of formed segments in a tunnel without moving a station, characterized in that: The following steps are involved: S1. Configure the specified parameters including the inner diameter of the formed segment, ring width, the area range of the segment section, the number of sections, the spacing between the section positioning points, the spacing between the segment sections, and the measurement frequency; S2. The system uses a total station for mobile station guidance to read the PLC data of the shield machine in real time and monitor the status of the cutterhead. When the cutterhead changes from a rotating state to a stationary state, the next step is executed; S3. When the shield machine stops excavating, automatically measure multiple target prisms fixed to the segments and set the station orientation; S4. Based on the historical data of shield guidance, a mathematical space model of the segment to be measured is established, and the coordinates of key positioning points of the segment section to be measured are calculated; S5. Use a mobile total station, turn on the red indicator laser, rotate to the specified section positioning point using the layout method, and measure the coordinates of the key positioning points of the pipe segment section using the prism-free method; S6. Clean up the measured pipe segment cross-section coordinate data and remove abnormal data; S7. Use the least squares method to fit the spatial circle algorithm, calculate the coordinates of the center of the inner diameter of the segment, and calculate the deviation from the design axis to achieve automatic measurement of the shield-forming segment posture; S8. Accurately control and adjust the segment posture: By measuring the segment posture information in real time, abnormal segment posture problems can be discovered in time, and the segment posture can be accurately adjusted to ensure the connection and construction quality of the segment. S9. Monitor the posture of the segments: by measuring the posture information of the segments in real time, draw the posture change curve according to the historical measurement data, monitor the floating data of the segments during the tunneling of the shield machine, and guide the control of the vertical posture during the tunneling of the shield machine to increase the floating parameters of the segments; while monitoring the stable state of the formed segments, evaluate whether the grouting work meets the requirements of the tunnel construction.

2. The automatic measurement method for the posture of formed segments in a tunnel without moving a station according to claim 1 is characterized in that: The specific operation process of station orientation in step S3 includes: S301. Obtain the average value L0 of the main push cylinder stroke in the last station setting and the average value L1 of the main push cylinder stroke in the current position, calculate the difference, and obtain the displacement dL of the shield machine main engine: dL=L1-L0 Where dL takes a positive absolute value; S302. According to the coordinates of the directional measuring station St0 (x, y, z) of the last station setting, the azimuth angle α of the shield machine excavation direction, the slope i and the displacement dL of the shield machine host, the current total station measuring station coordinates St1 are calculated within the specified range: S303. Calculate the azimuth and zenith distance of each target prism according to the calculated station coordinates and the oriented target prism; S304. The total station uses the layout mode to rotate to the directional target prism in turn, search and aim at the target prism, and measure the azimuth, zenith distance and horizontal distance of the target prism respectively; S305. Calculate the total station coordinates using the resection algorithm; S306. Set up and orient the total station.

3. The automatic measurement method for the posture of formed segments in a tunnel without moving a station according to claim 1 is characterized in that: The specific operation process of the S4 step includes: S401. Obtaining the position coordinate data of the end surface of the main push cylinder support shoe at the section of the pipe to be measured during shield guidance from the historical data of the mobile station guidance system; S402. According to the coordinates of the end face of the main push cylinder, the least squares method is used to fit the space circle algorithm to roughly calculate the segment center coordinates O and the plane normal direction n corresponding to the end face of the main push cylinder support shoe; S403. Calculate the space equation of the corresponding segment end surface according to the segment size parameters; S404. Calculate the starting angle θ of the positioning point according to the set measuring segment area, the inner diameter of the segment and the spacing between the positioning points of the measuring section start , deflection angle Δ θ and the end angle θ end ; S405. According to the three-dimensional mathematical model formula of the space circle of the pipe segment, the coordinates of the key positioning points of the pipe segment section to be measured, namely P1, P2, ..., Pn, are calculated.

4. The automatic measurement method for the posture of formed segments in a tunnel without moving a station according to claim 3 is characterized in that: The specific operation steps of calculating the space equation of the corresponding segment end surface in step S403 include: In three-dimensional space, the center of the circle is preset as point O, the normal vector is vector n, and the radius of the circle is r to construct a parametric equation, which is expressed as: in: θ means vertically upward is 0°, and the angle θ gradually increases when rotating clockwise; v represents the unit vector after the cross product of the vertical unit vector (1,0,0) and the plane normal vector n, u represents the unit after the cross product of the unit vector v and the plane normal vector n, u and v are unit vectors that are perpendicular to n and perpendicular to each other; The formula can obtain the coordinates of each point on the space circle by changing the parameter θ from 0 to 2π.

5. The automatic measurement method for the posture of formed segments in a tunnel without moving a station according to claim 1 is characterized in that: The specific operation process of step S6 includes: S601. By presetting the segment attitude limit, adding restrictions such as discreteness control of the measured data from the actual segment center coordinate O and the mileage deviation of the same section point within a certain range; S602. When measuring the assembler at work, the bolt holes inside the pipe segment, the railings of the assembler and other obstacles, abnormal coordinate values ​​are automatically eliminated.

6. A system for automatically measuring the attitude of a segment formed in a tunnel without moving a station, used to execute the method for automatically measuring the attitude of a segment formed in a tunnel without moving a station as described in any one of claims 1 to 5, characterized in that: include: The mobile station guidance total station, multiple target prisms fixed on the inner side of the segment in a staggered arrangement, automatic leveling base and shock-absorbing bracket are installed at the appropriate position of the measurement channel in front of the shield machine trolley; The specified software installed in the computer device, when the specified software is executed, performs the following operations: When the shield machine stops excavating, the target prism fixed to the inner wall of the segment is automatically measured to set the station orientation; The three-dimensional mathematical model of each ring segment is established based on the historical data of shield guidance, the coordinates of the key position points of the section to be measured are calculated, and the set segment section is measured automatically without prism; The coordinates of the center of the segment are calculated by fitting the measured point data, and the segment posture and posture curve changing with time are calculated.

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