Out-of-round shield tunnel recovery device and method

Abstract

The invention relates to the technical field of shield tunnel restoration, and discloses an out-of-round shield tunnel restoration device and method.The out-of-round shield tunnel restoration device comprises a movable trolley, one side of the movable trolley is connected with a round hydraulic supporting device through a lifting disc, and the movable trolley is used for driving the round hydraulic supporting device to move in a segment in a shield tunnel; the guide rail is movably arranged on the outer wall of the circular hydraulic supporting device; the supporting mechanism is used for performing circular motion along the outer wall of the circular hydraulic supporting device along with the guide rail; the supporting mechanism comprises a carbon fiber supporting head which is used for making contact with the duct piece and exerting pressure on the duct piece. The segment overrun area is positioned through the center positioning device and the laser range finder, the movable guide rail drives the supporting mechanism to adjust the position of the carbon fiber supporting head, the supporting mechanism ejects the carbon fiber supporting head out to apply pressure to the overrun area, detection and correction of the deformation position of the shield segment are achieved, and directional force application to the local deformation position is achieved; accurate adjustment of the shield segment is achieved, and the problem that overall force application adjustment is not accurate is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of shield tunnel restoration, and particularly to a device and method for restoring an out-of-round shield tunnel. Background Art

[0002] The out-of-roundness (excessive ovality) of a shield tunnel is a phenomenon in which the tunnel structure deviates from the designed circular cross-section during construction or operation. Its essence is the asymmetric deformation of the segment ring under external loads, construction errors or environmental disturbances. For tunnels that have been built, secondary grouting is required to adjust the ovality. The common disposal measures for the deformation exceeding the limit of existing shield tunnels mainly include grouting reinforcement and lining structure reinforcement (such as adding steel rings or concrete linings).

[0003] There are many existing tunnel deformation detection and control technologies, including automatic walking trolleys, shape memory alloy controlled segment deformation, etc. However, these methods are applicable to the deformation recovery in a large range and cannot accurately adjust the shield segments. The integral applied force cannot effectively solve the displacement problem of the segments. Especially when the jacking force needs to be applied at different positions of the same segment, the all-round accurate calibration of the shield segments cannot be achieved. Summary of the Invention

[0004] Aiming at the deficiencies of the prior art, the present invention provides a device and method for restoring an out-of-round shield tunnel, which solves the problems that the prior art cannot accurately detect and directionally repair the local deformation positions of shield segments, and has a single force application method, low adjustment efficiency and unstable restoration effect.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: A device for restoring an out-of-round shield tunnel, comprising:

[0006] A mobile trolley, one side of which is connected to a circular hydraulic support device through a lifting disc, and is used to drive the circular hydraulic support device to move inside the segments of the shield tunnel;

[0007] A guide rail, which is movably arranged on the outer wall of the circular hydraulic support device;

[0008] A support mechanism, which is movably arranged in the guide rail and is used to move circumferentially along the outer wall of the circular hydraulic support device together with the guide rail; the support mechanism includes a carbon fiber support head, which is used to contact the segment and apply pressure to the segment;

[0009] The support mechanism further includes a support trolley, which is movably connected inside the guide rail. A hydraulic rod is fixedly connected to the top of the support trolley. The output end of the hydraulic rod is fixedly connected to a support. A sliding rod is fixedly connected to the outer wall of the support. The end of the sliding rod is fixedly connected to a support frame. The sliding rod penetrates through the carbon fiber support head, and inner springs and outer springs are respectively sleeved on both sides of the outer wall of the sliding rod. The inner spring is inside the carbon fiber support head, and the outer spring is outside the carbon fiber support head.

[0010] A horizontal I-shaped groove is formed on one side of the outer wall of the guide rail. Gears are installed on both sides of the support trolley, and teeth are arranged on one side of the inner wall of the I-shaped groove. The gears are located in the I-shaped groove and mesh with the teeth.

[0011] Preferably, a central positioning device is fixedly connected to the center position of the side of the lifting disc close to the circular hydraulic support device, and a laser rangefinder is installed on one side of the central positioning device.

[0012] Preferably, a moving mechanism is installed on one side of the guide rail close to the circular hydraulic support device. The moving mechanism includes a base, and rollers are installed inside the base. The base is fixedly connected to the guide rail, and a groove is formed on the outer wall of the circular hydraulic support device. The base and the rollers are both located in the groove.

[0013] Preferably, a channel is formed in the middle of the circular hydraulic support device. The channel is communicated with the groove. A through hole is formed in the middle of the base, and a bolt passes through the through hole and penetrates through the channel.

[0014] Preferably, a platform is installed in the middle of the circular hydraulic support device, and a ladder is arranged on one side of the platform.

[0015] A method for restoring an out-of-round shield tunnel includes the following steps:

[0016] a. Drive the moving trolley to travel along the temporary track in the tunnel, and scan the distance between the segment and the central positioning device through the central positioning device;

[0017] b. Move the circular hydraulic support device to make its center coincide with the tunnel center line;

[0018] c. Use the laser rangefinder to scan the surface of the shield segment, obtain the three-dimensional coordinate data and over-limit deformation data of the segment, and determine the segment ring area and specific segments with over-limit deformation;

[0019] d. First, move the guide rail to drive the support mechanism to move, and then move the support mechanism along the guide rail to make the carbon fiber support head close to the position with over-limit deformation;

[0020] e. Drive the output end of the hydraulic rod to extend, pushing out the carbon fiber support head, so that it squeezes the position where the segment is deformed beyond the limit. When squeezing, the carbon fiber support head itself will deform. After the squeezing is completed, drive the output end of the hydraulic rod to retract, pulling back the carbon fiber support head. At this time, the carbon fiber support head will return to its shape before deformation, and thus one adjustment is made.

[0021] f. After one adjustment, use the laser rangefinder to detect the adjustment effect again, and determine whether secondary adjustment is needed according to the detection result. If needed, repeat steps d and e, and then perform step f.

[0022] The present invention provides a device and method for restoring an out-of-round shield tunnel. It has the following beneficial effects:

[0023] 1. By setting the central positioning device and the laser rangefinder, and combining the precise positioning and adjustment of the circular hydraulic support device and the support mechanism, the present invention realizes high-precision detection and correction of the deformation position of the shield tunnel segment. By obtaining three-dimensional point cloud data through laser scanning and performing real-time modeling, it can accurately locate the specific segment and area where the deformation exceeds the limit. With the cooperation of hydraulic expansion and the application of force by the support head, it can apply a directional control force to the local deformation position of a single segment, thus realizing precise adjustment of the shield segment deformation, effectively overcoming the problem of inaccurate adjustment caused by overall force application in the prior art.

[0024] 2. By moving the support trolley within the guide rail, and the guide rail can move circumferentially along the outer wall of the circular hydraulic support device, the support mechanism can move bidirectionally along the outer wall of the circular hydraulic support device and inside the guide rail. Combined with the carbon fiber support head on the support trolley, it can realize the flexible movement and positioning of the support head between different positions of the shield segment ring. Therefore, support forces can be applied in different directions and positions on the same segment ring, and then the all-round and precise calibration of the shield tunnel section can be completed, solving the problem that the traditional device cannot apply force independently to local sub-positions, and improving the overall accuracy and construction efficiency of the tunnel section restoration.

[0025] 3. In the present invention, the support rail moves by being supported by the circular hydraulic support device, and the trolley on the support rail displaces, enabling the support head to flexibly adjust the force application position as needed, so as to apply local pressure to different layout areas of the same shield segment, and then control the position and direction of the applied force, which can effectively correct local deformation and avoid the problem that the traditional integral force application cannot perform fine adjustment for specific positions, further improving the accuracy and controllability of the out-of-round restoration of the shield tunnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0027] Figure 2Schematic diagram of the structure of the lifting disc part of the present invention;

[0028] Figure 3 Schematic diagram of the structure of the circular hydraulic support device part of the present invention;

[0029] Figure 4 Schematic diagram of the structure of the platform part of the present invention;

[0030] Figure 5 Exploded view of the structure of the support mechanism part of the present invention;

[0031] Figure 6 is Figure 5 The enlarged view at position A in

[0032] Figure 7 Exploded view of the structure of the carbon fiber support head part of the present invention;

[0033] Figure 8 Exploded view of the structure of the support part of the present invention.

[0034] Among them, 1. Mobile trolley; 2. Laser rangefinder; 3. Central positioning device; 4. Lifting disc; 5. Circular hydraulic support device; 6. Guide rail; 7. Teeth; 8. Moving mechanism; 81. Base; 82. Roller; 83. Through hole; 9. Duct; 10. Support mechanism; 11. Support trolley; 12. Gear; 13. Hydraulic rod; 14. Support; 15. Slide bar; 16. Support frame; 17. Carbon fiber support head; 18. Inner spring; 19. Outer spring; 20. Platform; 21. Ladder. Specific embodiments

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the specification of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0036] For a better understanding of the present invention, the above content will be described in detail below in conjunction with specific embodiments.

[0037] Please refer to the attached Figure 1 - attached Figure 8, an embodiment of the present invention provides a device for restoring an out-of-round shield tunnel, which is characterized by including: a mobile trolley 1, one side of which is connected to a circular hydraulic support device 5 through a lifting disc 4, and is used to drive the circular hydraulic support device 5 to move inside the segments of the shield tunnel; a guide rail 6, which is movably arranged on the outer wall of the circular hydraulic support device 5; a support mechanism 10, which is movably arranged in the guide rail 6 and is used to move circumferentially along the outer wall of the circular hydraulic support device 5 together with the guide rail 6; the support mechanism 10 includes a carbon fiber support head 17, which is used to contact the segment and apply pressure to the segment.

[0038] In this embodiment, the mobile trolley 1 and the circular hydraulic support device 5 can be connected through the lifting disc 4, and guide wheels for fitting into the temporary track are arranged at the bottoms of the mobile trolley 1 and the circular hydraulic support device 5 to achieve the purpose of moving this device in the tunnel. In addition, components for lifting the heights of the two are also arranged at the bottoms of the mobile trolley 1 and the circular hydraulic support device 5, such as using a hydraulic pump, and this is a complete prior art, so it will not be described in detail in this article. After the mobile trolley 1 and the circular hydraulic support device 5 complete the movement and height adjustment in the tunnel, the over-limit position can be determined. At this time, the guide rail 6 is moved to drive the support mechanism 10 to move circumferentially along the outer wall of the circular hydraulic support device 5, so that the support mechanism 10 can approach the over-limit position. Subsequently, the carbon fiber support head 17 is used to contact the segment and apply pressure to the segment, and then the over-limit position of the segment can be corrected.

[0039] Please refer to the appendix Figure 2 , a central positioning device 3 is fixedly connected to the central position of the side of the lifting disc 4 close to the circular hydraulic support device 5, and a laser rangefinder 2 is installed on one side of the central positioning device 3.

[0040] In this embodiment, through the central positioning device 3, when the mobile trolley 1 and the circular hydraulic support device 5 are adjusting their heights, the center line of the circular hydraulic support device 5 can be made to coincide with the center line of the tunnel, thereby completing the determination of the position of this device in the tunnel. And the laser rangefinder 2 can scan the surface data of the segment along the tunnel to obtain the three-dimensional coordinates of the segment and obtain the over-limit data of the segment. Secondly, the scanned cloud map data is fed back to the rear data processing center for real-time modeling (including radial and circumferential deformations), and then compared with the standard design model. Locate the deformed and over-limit segment area and specific segments, and perform a force analysis on the over-limit segments through simulation software to give an adjustment plan.

[0041] Please refer to the appendix Figure 3 - appendix Figure 6, a moving mechanism 8 is installed on one side of the guide rail 6 close to the circular hydraulic support device 5. The moving mechanism 8 includes a base 81. A roller 82 is installed inside the base 81. The base 81 is fixedly connected to the guide rail 6. A groove is provided on the outer wall of the circular hydraulic support device 5, and the base 81 and the roller 82 are both located in the groove. A duct 9 is provided in the middle of the circular hydraulic support device 5. The duct 9 communicates with the groove. A through hole 83 is provided in the middle of the base 81. A bolt is inserted through the through hole 83, and the bolt penetrates through the duct 9.

[0042] In this embodiment, since the roller 82 is installed inside the base 81 of the moving mechanism 8 and the base 81 is connected to the guide rail 6, the roller 82 and the base 81 can support the guide rail 6 to move along the circular hydraulic support device 5. And a duct 9 is also provided on the circular hydraulic support device 5. Therefore, when moving the guide rail 6, first take out the bolt in the guide rail 6. After the position adjustment of the guide rail 6 is completed, by reinstalling the bolt and making the bolt penetrate through the duct 9 on the circular hydraulic support device 5, the position of the guide rail 6 on the circular hydraulic support device 5 can be fixed in this way.

[0043] Please refer to the attached Figure 5 - attached Figure 8 , the support mechanism 10 further includes a support trolley 11. The support trolley 11 is movably connected inside the guide rail 6. A hydraulic rod 13 is fixedly connected to the top of the support trolley 11. The output end of the hydraulic rod 13 is fixedly connected to a support 14. A sliding rod 15 is fixedly connected to the outer wall of the support 14. A support frame 16 is fixedly connected to the end of the sliding rod 15. The sliding rod 15 penetrates through the carbon fiber support head 17. Inner springs 18 and outer springs 19 are respectively sleeved on both sides of the outer wall of the sliding rod 15. The inner spring 18 is located inside the carbon fiber support head 17, and the outer spring 19 is located outside the carbon fiber support head 17. A horizontal I-shaped groove is provided on one side of the outer wall of the guide rail 6. Gears 12 are installed on both sides of the support trolley 11. And teeth 7 are provided on one side of the inner wall of the I-shaped groove. The gears 12 are located in the I-shaped groove and mesh with the teeth 7.

[0044] In this embodiment, the support 14 can be jacked out by the hydraulic rod 13, thereby driving the carbon fiber support head 17 close to the over-limit position. And when the carbon fiber support head 17 squeezes the over-limit area, at this time, the carbon fiber support head 17 will deform, that is, change from a hemispherical shape to a semi-elliptical shape, so as to pressurize the outer spring 19. When the correction is completed, after the output end of the hydraulic rod 13 is retracted, at this time, the carbon fiber support head 17 resets to the initial position, and at this time, the extrusion force disappears. Therefore, the deformation of the carbon fiber support head 17 will also disappear and return to the initial shape, and the outer spring 19 will also squeeze the carbon fiber support head 17 to help it reset. At the same time, by using the transverse I-shaped groove provided on the guide rail 6, the support trolley 11 can be clamped to prevent it from separating from the other guide rails 6. At the same time, a motor can be installed inside the support trolley 11, and the motor drives the gear 12 to rotate, and the gear 12 and the tooth 7 are meshed, so the electric adjustment of the position of the support trolley 11 can be realized;

[0045] In another embodiment, a high-strength nylon airbag is arranged inside the carbon fiber support head 17, and the airbag is connected to an external air source through a pneumatic regulation tube. When the carbon fiber support head 17 contacts the over-limit deformation area and applies a supporting force, by inflating the airbag, the contact surface of the carbon fiber support head 17 can be further uniformly expanded, increasing the fitting area between the support head and the surface of the segment. By adjusting the inflation pressure, the local supporting force applied to the surface of the segment can be effectively dispersed, avoiding the generation of new cracks, damage or deformation on the surface of the segment due to excessive local stress, and at the same time further improving the stability and restoration accuracy during the support process. In this embodiment, through the airbag-assisted deformation, the problem that the traditional rigid support structure may cause local damage during the restoration of the shield tunnel is effectively solved.

[0046] Please refer to the attached Figure 4 In the middle of the circular hydraulic support device 5, a platform 20 is installed, and a ladder 21 is arranged on one side of the platform 20.

[0047] In this embodiment, the platform 20 can provide the construction space required for the grouting operation for the construction personnel. At the same time, the platform 20 is provided with multiple layers, and adjacent platforms 20 are connected by a ladder 21. And the distance between the platforms 20 between different segments is set to 0.9 m, so that the construction personnel can cross between the platforms 20 at the same height for grouting operations.

[0048] Working principle: When in use, first drive the mobile trolley 1 to drive the lifting disc 4 and the circular hydraulic support device 5 to travel along the temporary track pre-laid in the tunnel. And during the travel of the mobile trolley 1, the distance between the mobile trolley 1 and the segment is scanned and measured by the central positioning device 3. Subsequently, the lifting disc 4 and the circular hydraulic support device 5 are moved to make the center line of the circular hydraulic support device 5 coincide with the center line of the tunnel, so as to carry out positioning;

[0049] After positioning is completed, start the laser rangefinder 2, scan the surface of the shield segment ring along the tunnel axis, collect the three-dimensional coordinate point cloud data of the segments, process the scanned data, obtain the actual positions and deformation degrees of the segments at various locations, and determine the specific segment positions and deformation directions where the deformation exceeds the limit according to the comparison with the design model.

[0050] After the value of the position where the deformation exceeds the limit is determined, first remove the bolts in the base 81, and then move the guide rail 6 to drive the support mechanism 10 to move along the outer wall of the circular hydraulic support device 5. At this time, the roller 82 will move in the groove on the outer wall of the circular hydraulic support device 5, so that the carbon fiber support head 17 can approach the position where the deformation exceeds the limit. Then, insert the bolts into the through holes 83 again and fix the position of the guide rail 6 on the outer wall of the circular hydraulic support device 5 through the through hole 9;

[0051] Subsequently, drive the support mechanism 10 to move along the guide rail 6, and at this time, the gear 12 rotates. Through the cooperation with the teeth 7, the support trolley 11 can be driven to move in the I-shaped groove horizontally in the guide rail 6. Therefore, the carbon fiber support head 17 can further approach the position where the limit is exceeded. Finally, drive the hydraulic rod 13 to extend the output end to push out the support 14, thereby driving the carbon fiber support head 17 to contact the position where the limit is exceeded and applying pressure to it to achieve the correction of the position where the limit is exceeded. At this time, the carbon fiber support head 17 will deform and compress the outer spring 19. When the correction is completed, drive the hydraulic rod 13 to retract the output end. Subsequently, the carbon fiber support head 17 deforms and cooperates with the extension of the outer spring 19 to reset, thus completing one adjustment;

[0052] After one adjustment is completed, restart the laser rangefinder 2 to scan the adjusted segment area, obtain new three-dimensional coordinate data, compare it with the standard design data, and judge whether the segment deformation has returned to the design requirement range. If it is confirmed through detection that the adjustment effect does not meet the standard, then according to the real-time detection data, move the track and the support mechanism 10 again, and then drive the hydraulic rod 13 to push out the carbon fiber support head 17 again for secondary adjustment until the ellipticity of the shield tunnel section returns to the design standard.

[0053] This embodiment also provides a method for restoring an out-of-round shield tunnel based on the above device, including the following steps:

[0054] a. Drive the mobile trolley 1 to travel along the temporary track in the tunnel, and scan the distance between the segment and the central positioning device 3 through the central positioning device 3;

[0055] b. Move the circular hydraulic support device 5 so that its center coincides with the tunnel center line;

[0056] c. Use the laser rangefinder 2 to scan the surface of the shield segment, obtain the three-dimensional coordinate data and the over-limit deformation data of the segment, and determine the segment ring area and the specific segments with over-limit deformation.

[0057] d. First, move the guide rail 6 to drive the support mechanism 10 to move, and then make the support mechanism 10 move along the guide rail 6 to make the carbon fiber support head 17 approach the position with over-limit deformation.

[0058] e. Drive the hydraulic rod 13 to extend the output end to eject the carbon fiber support head 17, so that it squeezes the position with over-limit deformation of the segment. And when squeezing, the carbon fiber support head 17 itself will deform. After the squeezing ends, drive the hydraulic rod 13 to retract the output end to retract the carbon fiber support head 17. At this time, the carbon fiber support head 17 will return to the shape before deformation, and thus make one adjustment.

[0059] f. After one adjustment is completed, use the laser rangefinder 2 to measure the adjustment effect again, and determine whether secondary adjustment is needed according to the detection result. If so, repeat steps d and e, and then execute step f.

[0060] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for restoring a lost-round shield tunnel, characterized in that: include: A mobile trolley (1), one side of which is connected to a circular hydraulic support device (5) via a lifting disc (4), and is used to drive the circular hydraulic support device (5) to move inside a segment in a shield tunnel; A guide rail (6) movably arranged on the outer wall of the circular hydraulic support device (5); A support mechanism (10) is movably arranged in the guide rail (6) and is used to perform circular motion along the outer wall of the circular hydraulic support device (5) along with the guide rail (6); the support mechanism (10) includes a carbon fiber support head (17) which is used to contact the pipe segment and apply pressure to the pipe segment; The support mechanism (10) further comprises a support trolley (11), wherein the support trolley (11) is movably connected to the inside of the guide rail (6), a hydraulic rod (13) is fixedly connected to the top of the support trolley (11), an output end of the hydraulic rod (13) is fixedly connected to a support (14), a sliding rod (15) is fixedly connected to the outer wall of the support (14), an end of the sliding rod (15) is fixedly connected to a support frame (16), the sliding rod (15) passes through a carbon fiber support head (17), and an inner spring (18) and an outer spring (19) are respectively sleeved on both sides of the outer wall of the sliding rod (15), the inner spring (18) is located inside the carbon fiber support head (17), and the outer spring (19) is located outside the carbon fiber support head (17); A transverse I-shaped groove is provided on one side of the outer wall of the guide rail (6), gears (12) are installed on both sides of the support trolley (11), and teeth (7) are provided on one side of the inner wall of the I-shaped groove, and the gear (12) is located in the I-shaped groove and meshes with the teeth (7).

2. The out-of-round shield tunnel restoration device according to claim 1, characterized in that: A center positioning device (3) is fixedly connected to the center position of one side of the lifting disc (4) close to the circular hydraulic support device (5), and a laser rangefinder (2) is installed on one side of the center positioning device (3).

3. The out-of-round shield tunnel restoration device according to claim 1, characterized in that: A moving mechanism (8) is installed on one side of the guide rail (6) close to the circular hydraulic support device (5), the moving mechanism (8) comprising a base (81), a roller (82) being installed inside the base (81), the base (81) being fixedly connected to the guide rail (6), and a groove is provided on the outer wall of the circular hydraulic support device (5), the base (81) and the roller (82) being both located in the groove.

4. The out-of-round shield tunnel restoration device according to claim 3 is characterized in that: A hole (9) is provided in the middle of the circular hydraulic support device (5), the hole (9) being connected to the groove; a through hole (83) is provided in the middle of the base (81), a bolt is passed through the inside of the through hole (83), and the bolt passes through the hole (9).

5. The out-of-round shield tunnel restoration device according to claim 1, characterized in that: A platform (20) is installed in the middle of the circular hydraulic support device (5), and a ladder (21) is provided on one side of the platform (20).

6. A method for restoring a lost-round shield tunnel, based on a lost-round shield tunnel restoration device according to any one of claims 1 to 5, characterized in that: The following steps are involved: a. driving the mobile trolley (1) to travel along a temporary track in the tunnel, and scanning the distance between the segment and the center positioning device (3) through the center positioning device (3); b. Move the circular hydraulic support device (5) so that its center coincides with the tunnel centerline; c. Use a laser rangefinder (2) to scan the surface of the shield segment to obtain the three-dimensional coordinate data and over-limit deformation data of the segment, and determine the segment ring area and specific segment with over-limit deformation; d. first move the guide rail (6) to drive the support mechanism (10) to move, and then move the support mechanism (10) along the guide rail (6) so that the carbon fiber support head (17) is close to the deformation limit position; e. driving the hydraulic rod (13) to extend the output end to push out the carbon fiber support head (17), so that the carbon fiber support head (17) is squeezed at the position where the deformation of the pipe segment exceeds the limit, and during the squeezing, the carbon fiber support head (17) itself will be deformed. When the squeezing is completed, the hydraulic rod (13) is driven to retract the output end to retract the carbon fiber support head (17), and the carbon fiber support head (17) will restore the shape before the deformation, thereby performing an adjustment; f. After completing one adjustment, use the laser rangefinder (2) again to detect the adjustment effect, and determine whether a second adjustment is required based on the detection result. If necessary, repeat steps d and e, and then execute step f.

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