Pipe roofing machine measuring system and method

Abstract

The invention provides a pipe roofing machine measuring system and method. The system comprises a jacking steel pipe; the drill rod is rotatably arranged in the jacking steel pipe; the drill bit is arranged at the jacking end of the drill rod; the lamp target light source is arranged on the drill bit; the directional photography is used for obtaining the drilling direction of the drill bit in real time for photography and pointing the drilling design direction; the displayer is connected with the pointing camera and used for displaying the drilling direction of the drill bit and the drilling design direction pointed by the pointing camera so as to obtain the deviation of the drilling direction of the drill bit; and the drilling deviation correcting mechanism is arranged on the drill bit and used for guiding and correcting the drilling direction of the drill bit. The actual drilling direction and the drilling design direction, obtained by pointing to photography, of the drill bit are displayed through the displayer, whether the actual drilling direction and the drilling design direction are matched or not is determined, the drilling deviation rectifying mechanism is controlled to rectify deviation of the drill rod and the drill bit till the actual drilling direction and the drilling design direction are matched, and the drilling direction is adjusted.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering construction, and in particular, to a pipe roof machine measurement system and method. Background Art

[0002] The pipe roof method is an advanced support technology before the underground tunnel excavation construction. By jacking in closely arranged steel pipes to form an advanced support system, the separate steel pipes are combined into a closed pipe roof through the connection of locking buckles between the steel pipes, which not only improves the overall support strength but also has a good water stop effect. According to the diameter of the pipe roof steel pipes and the geological conditions, the common pipe roof construction methods include the slurry balance pipe jacking method, the earth pressure balance pipe jacking method, and the spiral soil discharge micro pipe jacking method. In the jacking of small-diameter pipe roof steel pipes, the spiral soil discharge micro pipe jacking method is often used for construction.

[0003] The pipe roof tunneling method has been gradually applied to the construction of short-distance intersection utility tunnels, and the pipe roof construction is an important technology to be controlled. During the process of constructing the pipe roof, how to control the jacking accuracy of the pipe roof steel pipes is an important technology. At present, due to the limitations of pipelines and construction techniques, etc., the existing methods cannot achieve real-time measurement during the jacking process, which causes great difficulties in the timely deviation correction and attitude adjustment during the jacking of the pipe roof light pipe, resulting in its inability to meet the measurement accuracy requirements during the jacking of the pipe roof machine and having a large error. Summary of the Invention

[0004] In view of this, the present invention proposes a pipe roof machine measurement system and method, aiming to solve the problem that there is a large error in the measurement during the jacking of the existing pipe roof light pipe and it cannot meet the requirements of timely deviation correction of the pipe roof light pipe.

[0005] On the one hand, the present invention proposes a pipe roof machine measurement system, which includes: a jacking steel pipe; a drill pipe rotatably arranged inside the jacking steel pipe; a drill bit arranged at the tightening end of the drill pipe; a lamp target light source arranged on the drill bit; a pointing photography for obtaining the drilling direction of the drill bit in real time for photography and pointing to the drilling design direction; a display connected to the pointing photography for displaying the drilling direction of the drill bit and the drilling design direction pointed by the pointing photography to obtain the deviation of the drilling direction of the drill bit; a drilling deviation correction mechanism arranged on the drill bit for guiding and correcting the drilling direction of the drill bit.

[0006] Further, in the above pipe roof machine measurement system, the pointing photography is arranged on a tripod.

[0007] Further, in the above pipe roof machine measurement system, a camera angle adjustment member is provided on the tripod for adjusting the pointing angle of the pointing photography to adapt it to the drilling slope of the jacking steel pipe.

[0008] Furthermore, in the above pipe roof machine measurement system, the drilling deviation correction mechanism is a guide rod structure, and a guide surface is provided at its drilling end.

[0009] Furthermore, in the above pipe roof machine measurement system, a probe is provided on the drilling deviation correction mechanism, and the probe is connected to a guide instrument for obtaining the planar position and elevation of the probe, so as to correct the deviation of the guide rod based on the planar position and elevation of the probe until the lamp target light source is displayed within the interface displayed on the display.

[0010] Furthermore, in the above pipe roof machine measurement system, the lamp target light source has a number of lamp source bodies, and the lamp source bodies are arranged in a cross-shaped structure, and one of the lamp source bodies is placed at the center position of the cross-shaped structure for emitting cross-shaped light.

[0011] Furthermore, in the above pipe roof machine measurement system, the drill pipe is a hollow rod.

[0012] On the other hand, the present invention proposes a pipe roof machine measurement method, which uses the above pipe roof machine measurement system. The method includes the following steps: a jacking position determination step of determining the elevation, axis position and slope of the jacked steel pipe; a photography installation step of determining the elevation of the pointing photography based on the elevation of the center point of the jacked steel pipe, the jacking slope of the jacked steel pipe and the horizontal distance between the pointing photography center and the center of the jacked steel pipe, and installing the pipe roof machine measurement system in place; a jacking step of controlling the pipe roof machine measurement system to jack, and observing the deviation of the lamp target light source in real time through the display screen during the jacking process to determine the jacking deviation of the jacked steel pipe, and correcting the jacked steel pipe through the drilling deviation correction mechanism based on the jacking deviation of the jacked steel pipe.

[0013] Furthermore, in the above pipe roof machine measurement method, correcting the jacked steel pipe through the drilling deviation correction mechanism based on the jacking deviation of the jacked steel pipe specifically includes: when the lamp target light source exceeds the photography range of the pointing photography, obtaining the elevation and horizontal position of the probe through the guide instrument to determine the deviation correction direction and deviation correction amount, and then correcting the jacked steel pipe by controlling the drilling deviation correction mechanism until the lamp target light source is displayed within the display interface of the display screen; determining the deviation of the drill bit drilling direction through the cooperation of the pointing photography and the display screen, and correcting the jacked steel pipe by controlling the drilling deviation correction mechanism based on the displayed deviation until the center line of the lamp target light source is displayed at the center position of the display screen.

[0014] Further, in the above pipe shed machine measurement method, obtaining the elevation and horizontal position of the probe by a guiding instrument to determine the deviation correction direction and deviation correction amount specifically includes: lofting the axis of the jacking steel pipe in the advancing direction on the ground by using a total station; determining the preliminary position of the drill bit according to the advancing length of the jacking steel pipe; measuring the plane position and elevation of the probe by using the guiding instrument, comparing with the designed axis, determining the deviation direction and length as the deviation correction direction and deviation correction amount, and correcting the jacking steel pipe by controlling the drilling deviation correction mechanism until the light target light source is displayed within the display interface of the display screen.

[0015] The pipe shed machine measurement system and method provided by the present invention guide the actual drilling directions of the drill bit and the drill pipe through the light target light source in the drill bit, obtain the light of the light target light source in real time through pointing photography to obtain the drilling direction of the drill bit, and point to the designed drilling direction. The actual drilling direction and the designed drilling direction of the drill bit obtained by the pointing photography are displayed through the display to determine whether the actual drilling direction and the designed drilling direction coincide and the position deviation, and based on this, the drilling deviation correction mechanism can be controlled to correct the drill pipe and the drill bit until the actual drilling direction and the designed drilling direction coincide, realizing the adjustment of the drilling direction, accurately measuring the axis deviation of the steel pipe during the pipe shed machine jacking of the steel pipe, and performing dynamic adjustment, solving the problem that the traditional measurement method cannot meet the measurement accuracy requirements during the pipe shed machine jacking and has a large error, effectively solving the measurement accuracy problem during the steel pipe jacking of the pipe shed machine, and providing technical support for the smooth jacking of the steel pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. Moreover, throughout the drawings, the same reference numerals are used to represent the same components. In the drawings: Figure 1 is a schematic structural diagram of the pipe shed machine measurement system provided by an embodiment of the present invention; Figure 2 is a schematic structural diagram of the use state of the pipe shed machine measurement system provided by an embodiment of the present invention; Figure 3 is a schematic structural diagram of the display interface of the display provided by an embodiment of the present invention; Figure 4 is a schematic structural diagram of the light target emitting light provided by an embodiment of the present invention; Figure 5 is a schematic structural diagram of the display interface of the display screen during the jacking process of the pipe shed machine measurement system provided by an embodiment of the present invention; Figure 6 is a schematic structural diagram of the use plane of the guiding instrument of the pipe shed machine measurement system provided by an embodiment of the present invention; Figure 7 Flow chart of the pipe curtain machine measurement method provided by the embodiment of the present invention. Detailed implementation mode

[0017] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be fully conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the drawings and in conjunction with the embodiments.

[0018] Device embodiment: See Figures 1 to 6 , which shows the preferred structure of the pipe curtain machine measurement system provided by the embodiment of the present invention. As shown in the figure, the device includes: jacking steel pipe 1, drill pipe 2, drill bit 3, lamp target light source 4, pointing photography 5, display 6, drilling deviation correction mechanism 7, guide instrument 8 and tripod 9; wherein, The drill pipe 2 is rotatably arranged inside the jacking steel pipe 1. The drill bit 3 is arranged at the tightening end of the drill pipe 2 (such as Figure 1 the right end shown); the lamp target light source 4 is arranged on the drill bit 3; the pointing photography 5 is used to photograph the drilling direction of the drill bit 3 in real time and point to the drilling design direction; the display 6 is connected to the pointing photography 5 and is used to display the drilling direction of the drill bit 3 and the drilling design direction pointed by the pointing photography 5 to obtain the deviation of the drilling direction of the drill bit 3; the drilling deviation correction mechanism 7 is arranged on the drill bit 3 and is used to guide and correct the drilling direction of the drill bit 3.

[0019] Specifically, the jacking steel pipe 1, the drill pipe 2, and the drill bit 3 are jacked by a pipe curtain machine. The drill pipe 2 and the drill bit 3 are rotatably arranged inside the jacking steel pipe 1; the drill pipe 2 is a hollow rod, and the line of sight can be ensured to be unobstructed in the middle, that is, the pointing photography 5 can point forward from inside the drill pipe 2. The lamp target light source 4 is arranged inside the drill bit 3 and is a kind of light source that can emit light such as Figure 4The "plus" shaped light shown is placed in the drill bit 3. The drilling deviation correction mechanism 7 is a mechanism for controlling the jacking direction of the drill pipe 2 during the jacking process. A probe is provided on the drilling deviation correction mechanism 7, for example, a probe can be embedded. The probe is connected to a guiding instrument, which is used to obtain the planar position and elevation of the probe, so as to correct the deviation of the guiding rod based on the planar position and elevation of the probe until the light target light source 4 is displayed within the interface displayed on the display 6. The walking direction and depth of the steel pipe jacking can be determined by detecting the walking direction and depth of the probe through the guiding instrument. The pointing photography 5 is a customized instrument, which can project the eyepiece of the theodolite onto the interface of the display 6 as shown in Figure 3 through a wired line. The interface of the display 6 has cross positioning coordinates and multiple concentric circles centered on the center point of the cross positioning coordinates, so as to verify the deviation between the drilling design direction pointed by the pointing photography 5 and the actual drilling direction represented by the light projected by the light target light source 4. That is to say, it is judged whether the actual drilling azimuth coincides with the drilling design direction by whether the center point of the cross positioning coordinates coincides with the "plus" shaped light. When the center point of the cross positioning coordinates coincides with the "plus" shaped light, it is considered that the actual drilling azimuth coincides with the drilling design direction. When the center point of the cross positioning coordinates deviates from the "plus" shaped light, it is considered that the actual drilling azimuth does not coincide with the drilling design direction. And based on the position deviation between the center point of the cross positioning coordinates and the "plus" shaped light, the drill pipe 2 can be corrected until the center point of the cross positioning coordinates coincides with the "plus" shaped light, and then the drilling is rotated.

[0020] In this embodiment, the tripod 9 plays a supporting role and can support the pointing photography 5. The pointing photography 5 is arranged on the tripod 9 so that its elevation is adapted to the jacking elevation of the jacking steel pipe 1. During the jacking process of the jacking steel pipe 1, there is a certain slope. To adapt to the slope of the jacking steel pipe 1, preferably, a camera angle adjusting member (not shown in the figure) can be provided on the tripod 9, which is used to adjust the pointing angle of the pointing photography 5 so that it is adapted to the drilling slope of the jacking steel pipe 1.

[0021] In this embodiment, the drilling deviation correction mechanism 7 can be a guiding rod structure, and its drilling end (such as Figure 1 the right end shown) is provided with a guiding surface, that is, a wedge surface. When correcting the deviation, the angle of the guiding surface can be adjusted. The drill pipe 2, the drill bit 3 and the drilling deviation correction mechanism 7 do not rotate. The wedge surface can be guided by the jacking of the jacking steel pipe 1 by the three of them, so that the position deviation of the jacking steel pipe 1, the drill pipe 2 and the drill bit 3 can be realized. After the deviation correction is completed, the drilling deviation correction mechanism 7 can rotate with the jacking steel pipe 1, the drill pipe 2 and the drill bit 3 to realize drilling.

[0022] In this embodiment, as shown in Figure 4As shown, the lamp target light source 4 may have a plurality of light source bodies 41. The light source bodies 41 are arranged in a cross-shaped structure, and one of the light source bodies 41 is placed at the center of the cross-shaped structure for emitting cross-shaped light to cooperate with the central cross interface transmitted by the pointing photography 5 to determine the deviation between the drilling design direction pointed by the pointing photography 5 and the actual drilling direction represented by the light projected by the lamp target light source 4, so as to correct the drilling of the drill pipe 2 through the drilling deviation correction mechanism 7 based on this. In this embodiment, the number of the light source bodies 41 may be 7, and of course, it may also be other numbers, and no limitation is made thereto in this embodiment.

[0023] In summary, the pipe jacking machine measurement system provided in this embodiment guides the actual drilling directions of the drill bit and the drill pipe through the lamp target light source in the drill bit, obtains the light of the lamp target light source in real time through the pointing photography to obtain the drilling direction of the drill bit, and points to the drilling design direction. The actual drilling direction and the drilling design direction of the drill bit obtained by the pointing photography are displayed through the display to determine whether the actual drilling direction and the drilling design direction coincide and the position deviation, and the drilling deviation correction mechanism can be controlled based on this to correct the drill pipe and the drill bit until the actual drilling direction and the drilling design direction coincide, realizing the adjustment of the drilling direction, accurately measuring the deviation of the steel pipe axis when the pipe jacking machine jacks the steel pipe, and performing dynamic adjustment, solving the problem that the traditional measurement method cannot meet the measurement accuracy requirements during pipe jacking and has a large error, effectively solving the measurement accuracy problem during the steel pipe jacking of the pipe jacking machine, and providing technical support for the smooth jacking of the steel pipe.

[0024] Method embodiment: See Figure 7 , which is the flowchart of the pipe jacking machine measurement method provided by the embodiment of the present invention. As shown in the figure, this pipe jacking machine measurement method uses a pipe jacking machine measurement system, which can be respectively system initial installation and debugging → pipe jacking → process measurement → auxiliary measurement, and specifically includes the following steps: Jacking position determination step S1, determining the elevation, axis position and slope of the jacked steel pipe.

[0025] Specifically, the elevation, axis position and slope of the jacked steel pipe 1 are determined according to the design drawings.

[0026] Photography installation step S2, determining the elevation of the pointing photography based on the elevation of the center point of the jacked steel pipe, the jacking slope of the jacked steel pipe, and the horizontal distance between the center of the pointing photography and the center of the jacked steel pipe, and installing the pipe jacking machine measurement system in place.

[0027] Specifically, first, the elevation and angle of the pointing photography 5 are adjusted according to the positioning, axis and slope of the jacked steel pipe 1; among them, the angle of the pointing photography 5 is the jacking slope of the jacked steel pipe; combined with Figure 4It can be known that the elevation of the pointing photography 5 can be calculated using the following formula: H1 = H 钢管 + L * i; where H1 is the elevation of the pointing photography 5, H 钢管 is the elevation of the center point of the jacking steel pipe 1, L is the horizontal distance from the pointing photography center to the center of the jacking steel pipe 1, and i is the jacking slope of the jacking steel pipe. Then, install the pipe curtain machine measurement system in place.

[0028] In the jacking step S3, control the pipe curtain machine measurement system to jack, and observe the deviation of the lamp target light source in real time through the display screen during the jacking process to determine the jacking deviation of the jacking steel pipe, and based on the jacking deviation of the jacking steel pipe, correct the jacking steel pipe through the drilling deviation correction mechanism.

[0029] Specifically, after installation and adjustment, the pipe curtain machine jacks normally, observes the deviation of the lamp target light source 4 in real time through the display screen 6, and then determines the overall jacking deviation of the jacking steel pipe, that is, the deviation between the designed jacking direction and the actual jacking direction. The schematic diagram of the display screen during the jacking process is shown in Figure 5 as shown; if the lamp target light source exceeds the lens range of the pointing photography during the jacking process, use the orientation instrument to measure the depth and horizontal position of the probe, determine the deviation direction and deviation amount and then correct the deviation. After the lamp target light source reappears on the display screen, use directional photography to measure again.

[0030] The correction of the jacking steel pipe through the drilling deviation correction mechanism based on the jacking deviation of the jacking steel pipe specifically includes: When the lamp target light source exceeds the photography range of the pointing photography, obtain the elevation and horizontal position of the probe through the orientation instrument to determine the deviation correction direction and deviation correction amount, and then correct the jacking steel pipe by controlling the drilling deviation correction mechanism until the lamp target light source is displayed within the display interface of the display screen.

[0031] Determine the deviation of the drill bit drilling direction through the cooperation of the pointing photography and the display screen, and correct the jacking steel pipe by controlling the drilling deviation correction mechanism based on the displayed deviation until the center line of the lamp target light source is displayed at the center position of the display screen.

[0032] The obtaining of the elevation and horizontal position of the probe through the orientation instrument to determine the deviation correction direction and deviation correction amount, as Figure 6 shown, specifically includes: Use a total station to loft the axis of the jacking direction of the jacking steel pipe on the ground; Determine the preliminary position of the drill bit according to the jacking length of the jacking steel pipe; Use a direction finder to measure the plane position and elevation of the probe, compare it with the designed axis, determine the deviation direction and length, which are used as the deviation correction direction and amount, and correct the jacked steel pipe through the control of the drilling deviation correction mechanism until the light source of the lamp target is displayed within the display interface of the display screen.

[0033] In summary, for the pipe curtain machine measurement method provided in this embodiment, the light source of the lamp target inside the drill bit is used to guide the actual drilling direction of the drill bit and the drill pipe. The light of the lamp target light source is obtained in real time through pointing photography to obtain the drilling direction of the drill bit and point to the designed drilling direction. The actual drilling direction and the designed drilling direction of the drill bit obtained by pointing photography are displayed through the display to determine whether the actual drilling direction and the designed drilling direction match and the position deviation, and based on this, the drilling deviation correction mechanism can be controlled to correct the drill pipe and the drill bit until the actual drilling direction and the designed drilling direction match, realizing the adjustment of the drilling direction, accurately measuring the axis deviation of the steel pipe when the pipe curtain machine jacks the steel pipe, and making dynamic adjustments, solving the problem that the traditional measurement method cannot meet the measurement accuracy requirements during the pipe curtain machine jacking and has a large error, effectively solving the measurement accuracy problem during the steel pipe jacking of the pipe curtain machine, and providing technical support for the smooth jacking of the steel pipe.

[0034] It should be noted that in the description of the present invention, the terms indicating the direction or position relationship such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the direction or position relationship shown in the drawings. This is only for convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, so it cannot be understood as a limitation of the present invention.

[0035] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0036] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A pipe curtain machine measurement system, characterized in that: include: Jacking steel pipe; A drill rod rotatably disposed inside the jacking steel pipe; A drill bit disposed at the top tightening end of the drill rod; A light target light source is arranged on the drill head; Pointing photography is used to obtain the drilling direction of the drill bit in real time for photography and to point to the designed drilling direction; A display connected to the directional photography, used to display the drilling direction of the drill bit and the drilling design direction pointed by the directional photography, so as to obtain the deviation of the drilling direction of the drill bit; The drilling deviation correction mechanism is arranged on the drill bit and is used for guiding and correcting the drilling direction of the drill bit.

2. The pipe curtain machine measurement system according to claim 1, characterized in that: The pointing photography is arranged on a tripod.

3. The pipe curtain machine measurement system according to claim 2, characterized in that: The tripod is provided with a camera angle adjustment member for adjusting the directional angle of the directional photography so as to make it compatible with the drilling slope of the jacking steel pipe.

4. The pipe curtain machine measurement system according to any one of claims 1 to 3, characterized in that: The drilling deviation correction mechanism is a guide rod structure, and a guide surface is provided at the drilling end of the guide rod structure.

5. The pipe curtain machine measurement system according to any one of claims 1 to 3, characterized in that: The drilling deviation correction mechanism is provided with a probe, and the probe is connected to a guide instrument for obtaining the plane position and elevation of the probe, so as to correct the guide rod based on the plane position and elevation of the probe until the light source of the target lamp is displayed in the interface displayed on the display.

6. The pipe curtain machine measurement system according to any one of claims 1 to 3, characterized in that: The target light source has a plurality of light source bodies, which are arranged in a cross-shaped structure, and one of the light source bodies is placed at the center of the cross-shaped structure to emit cross-shaped light.

7. The pipe curtain machine measurement system according to any one of claims 1 to 3, characterized in that: The drill rod is a hollow rod.

8. A pipe curtain machine measurement method, characterized in that: Using the pipe curtain machine measurement system according to any one of claims 1 to 7, the method comprises the following steps: The step of determining the jacking position is to determine the elevation, axis position and slope of the jacking steel pipe; The photographic installation step is to determine the elevation of the pointing photography based on the elevation of the center point of the jacking steel pipe, the jacking slope of the jacking steel pipe, and the horizontal distance from the center of the pointing photography to the center of the jacking steel pipe, and install the pipe curtain machine measurement system in place; In the jacking step, the pipe curtain machine measuring system is controlled to perform jacking, and the deviation of the target light source is observed in real time through the display screen during the jacking process to determine the jacking deviation of the jacking steel pipe, and based on the jacking deviation of the jacking steel pipe, the jacking steel pipe is corrected through the drilling correction mechanism.

9. The pipe curtain machine measurement method according to claim 8, characterized in that: The method of correcting the jacking steel pipe based on the jacking deviation of the jacking steel pipe by means of a drilling correction mechanism specifically includes: When the target light source exceeds the photographic range of the pointing photography, the elevation and horizontal position of the probe are obtained through the guide instrument to determine the direction and amount of correction, and then the jacking steel pipe is corrected by controlling the drilling correction mechanism until the target light source is displayed on the display interface of the display screen; The deviation of the drilling direction of the drill bit is determined by the coordination of directional photography and display screen, and the jacking steel pipe is corrected based on the displayed deviation by controlling the drilling correction mechanism until the center line of the target light source is displayed at the center position of the display screen.

10. The pipe curtain machine measurement method according to claim 9, characterized in that: The method of obtaining the elevation and horizontal position of the probe by the guide instrument to determine the direction and amount of correction specifically includes: Use a total station to lay out the axis of the jacking direction of the jacking steel pipe on the ground; Determine the initial position of the drill bit according to the jacking length of the jacking steel pipe; The guide instrument is used to measure the plane position and elevation of the probe and compare them with the design axis to determine the deviation direction and length, which are used as the correction direction and correction amount. The jacking steel pipe is corrected by controlling the drilling correction mechanism until the target light source is displayed on the display interface of the display screen.

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