Formed shield segment prism random two-point method attitude measurement method based on total station

Abstract

The invention discloses a formed shield segment prism random two-point method attitude measurement method based on a total station, and relates to the field of shield segment technical measurement. In order to solve the problem that an existing measurement method is large in measurement error, after a total station is arranged, a prism is arranged on a circular seam of a shield segment, and the center point of the prism is a measurement point A and a measurement point B; measuring the three-dimensional coordinates (XA YA ZA) and (XB YB ZB) of the measuring point A and the measuring point B by using a total station; the actual measurement coordinate (XO YO ZO) of the circle center O of the shield segment is calculated through the three-dimensional coordinates of the measuring points A and B; obtaining design coordinates (XO 'YO' ZO ') of segments with related ring numbers; and comparing the actual measurement coordinate (XO YO ZO) of the circle center O of the shield segment with the design coordinate (XO 'YO' ZO '), and analyzing the attitude deviation of the formed shield segment according to the comparison result. Through the innovative prism any two-point method measurement technology, the dual improvement of the measurement efficiency and precision is realized, and meanwhile, the equipment cost and the data processing complexity are remarkably reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of shield segment measurement, and in particular to a posture measurement method of a formed shield segment prism using a random two-point method based on a total station. Background Art

[0002] Measuring the attitude of shield segments is a core step in ensuring the quality and safety of tunnel construction. Its accuracy directly determines the degree of fit between the tunnel axis and the designed trajectory. Millimeter-level deviations can lead to serious problems such as track laying anomalies, segment misalignment, and even failure to penetrate the tunnel. Real-time and accurate measurement data is the key basis for dynamically adjusting shield propulsion parameters and preventing segment leakage and ground subsidence. According to statistics, 60% of tunnel water seepage accidents are caused by improper attitude control. Efficient measurement methods can shorten single-ring inspection time (traditional methods use 15-30 minutes / ring), reduce the number of corrections, avoid over-grouting (increasing the cost per ring by approximately 2,000 yuan) and segment damage (repair costs exceed 10,000 yuan / ring), and significantly optimize construction costs.

[0003] During shield tunnel construction, measuring the segment's posture is a key technical step in controlling the accuracy of the tunnel's axis. Currently, the industry primarily employs the horizontal ruler method, cross-section fitting method, and 3D laser scanning method. The horizontal ruler method uses a manually leveled aluminum alloy ruler to determine the segment's center. However, the ruler length increases with tunnel diameter (for example, a 10-meter-diameter tunnel requires an 8-meter ruler), leading to issues such as portability and the accumulation of manual leveling errors (with an overall accuracy of only ±5mm). The cross-section fitting method relies on a total station to collect a large number of scattered points from the same section for fitting. A single measurement takes more than 15 minutes, and the uneven distribution of scattered points can easily lead to an offset in the fitting center (measured deviations reach 8mm). While the 3D laser scanning method can acquire high-precision point cloud data, the equipment is expensive (over 500,000 yuan per unit) and the data processing is complex (a single loop takes >30 minutes), making it difficult to meet the real-time demands of construction. Summary of the Invention

[0004] The purpose of the present invention is to provide a prism random two-point method attitude measurement method for a formed shield segment based on a total station, so as to solve the problems of large measurement error and low measurement efficiency of the existing measurement method.

[0005] The technical solution of the present invention to solve the above technical problems is as follows:

[0006] A method for measuring the attitude of a prism of a formed shield segment using a random two-point method based on a total station comprises the following steps:

[0007] S1. Deploy the total station to the designated measuring station;

[0008] S2. After the total station is set up, two prisms are placed on the annular seam of the shield segment, with the center points of the prisms as measuring points A and B;

[0009] S3, using a total station to measure the three-dimensional coordinates of the measuring points A and B are (X A Y A Z A ) and (X B Y B Z B );

[0010] S4. The measured coordinates of the shield segment center O are calculated by measuring the three-dimensional coordinates of points A and B as (X O Y O Z O );

[0011] S5. Obtain the design coordinates of the relevant ring segment (X O 'Y O 'Z O ');

[0012] S6. Compare the measured coordinates of the center O of the shield segment (X O Y O Z O ) and design coordinates (X O 'Y O 'Z O '), and analyze the posture deviation of the formed shield segment based on the comparison results.

[0013] Furthermore, in step S2, two prisms may be arranged at any two points on the annular seam, where the annular seam is an annular joint between two adjacent ring segments along the longitudinal direction of the tunnel, and the annular seam is perpendicular to the axial direction of the tunnel.

[0014] Furthermore, in step S4, the measured coordinates are (X O Y O Z O ) is calculated as follows:

[0015] S41, measure the coordinates of the prism center A and B using the total station, the coordinates are A(X A Y A Z A ), B(X B Y B Z B );

[0016] S42, based on the measured coordinates of points A and B, calculate the coordinates of point C in the middle of line AB (X C Y C Z C ): Calculate the azimuth of AB: In ΔEAB: f = Z B -Z A ;

[0017] S43. Based on the calculated f and s, calculate ∠ABE=α=sin -1 (f / s); calculated in ΔCAO: m = Rd;

[0018] S44. In ΔEAB: In ΔCDO:

[0019] S45, therefore Calculate

[0020] S46, the coordinates of the center of the segment are: X O =X C +g·cosθ;Y O =Y C +g·sinθ;Z O =Z C +h;

[0021] Among them, X A is the coordinate of point A on the X axis, Y A is the coordinate of point A on the Y axis, Z A is the coordinate of point A on the Z axis, X B is the coordinate of point B on the X axis, Y B is the coordinate of point B on the Y axis, Z B is the coordinate of point B on the Z axis, X C is the coordinate of the midpoint C on the X axis, Y C is the coordinate of the midpoint C on the Y axis, Z C is the coordinate of the midpoint C on the Z axis, X O is the coordinate of the center O on the X axis, Y O is the coordinate of the center O on the Y axis, Z O is the coordinate of the center O on the Z axis, X O' is the coordinate of the center O' on the X axis, Y O' is the coordinate of the center O' on the Y axis, Z O'is the coordinate of the design center O' on the Z axis, R is the radius of the shield segment, d is the radius of the prism, α is the azimuth of the line segment AB, which is used to describe the direction of the line segment AB, β is the adjustment value of a certain angle or azimuth, AB is the line segment AB, AC is the line segment AC, BC is the line segment BC, ∠ACB is the angle between the line segment AC and the line segment CB, ∠ABC is the angle between the line segment AB and the line segment BC, a and b are the two thresholds set in the autonomous correction decision tree, which are used to judge the axis deviation of the shield segment, f is the observation distance from the total station to the center point A or B of the prism, s is the length of the line segment AB, g is the observation distance from the total station to the center point O of the segment, and v is the length of the line segment CD.

[0022] Furthermore, multiple redundant prism layout processing is performed on the prism layout to obtain multiple redundant prism layout data.

[0023] Furthermore, AI visual recognition processing is performed on the total station to obtain automatic scanning tunnel section data;

[0024] The multi-redundant prism data is processed by convolutional neural network recognition to obtain prism position data, evaluate prism visibility and geometric distribution, and dynamically select two-point prism combination data.

[0025] Furthermore, multiple sets of two-point prism combination data are processed by a robust estimation algorithm, and the obtained measurement results are weighted fused to automatically eliminate outliers.

[0026] Furthermore, in step S1, an edge computing module is deployed on the total station to realize measurement data cleaning, fitting calculation and deviation analysis.

[0027] Furthermore, based on the magnitude and trend of the deviation, a three-level response mechanism is triggered using the total station, including the following steps:

[0028] Set threshold a and threshold b, where a <b;

[0029] If the deviation is less than the threshold a, only the log is recorded;

[0030] If the deviation is between threshold a and threshold b, the linked shield control system fine-tunes the propulsion parameters;

[0031] If the deviation is greater than the threshold b, an emergency stop is performed and a correction plan is generated.

[0032] Furthermore, the correction plan includes grouting points and jack pressure ratios.

[0033] The present invention has the following beneficial effects:

[0034] This invention significantly reduces reliance on manpower and greatly improves inspection efficiency through its innovative prism-based two-point measurement technology. Furthermore, its measurement accuracy is not limited by the physical properties of the alloy ruler, effectively avoiding the error accumulation problem found in traditional methods, thereby significantly improving measurement accuracy.

[0035] By optimizing the measurement method, this invention requires only two prisms placed on the annular seam of the segment to complete the measurement, eliminating the need to collect a large number of scattered points. This not only significantly reduces the measurement workload but also significantly improves measurement efficiency. It also avoids fitting errors caused by uneven distribution of scattered points, effectively improving measurement accuracy and reliability.

[0036] This invention utilizes a total station-based measurement solution, combined with the prism two-point method and a robust estimation algorithm. This significantly reduces equipment costs and simplifies the data processing process, enabling rapid acquisition and real-time processing of measurement data. This ensures that while maintaining measurement accuracy, the invention better meets the real-time requirements of tunnel construction, providing strong support for timely adjustment of shield propulsion parameters during construction. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a schematic diagram of the measurement arrangement of the present invention;

[0038] Figure 2 This is a schematic diagram of pipeline posture calculation in the present invention;

[0039] Figures 1 to 2 The reference numerals shown in the figure are: 1-tunnel segment; 2-total station; 3-prism; 4-segment annular joint. DETAILED DESCRIPTION

[0040] The following is a clear and complete description of the technical solution of the present invention in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0041] Please refer to Figure 1-2When implementing the random two-point method for attitude measurement and decision-making of the shaped shield segment prism based on the total station of the present invention, a series of preparatory work needs to be done first. These preparatory work includes but is not limited to: ensuring that the total station is in good working condition and has been calibrated to the designated measuring station. At the same time, two high-precision prisms are selected and arranged on the annular seam of the shield segment. The annular seam is the annular joint between two adjacent ring segments along the longitudinal direction of the tunnel and is perpendicular to the axial direction of the tunnel. When arranging the prism, it should be ensured that the center point of the prism is clearly visible so that the total station can accurately measure its three-dimensional coordinates. Before measuring, the total station must be initialized, including setting parameters such as the measurement mode, coordinate system, and data storage path. After these preparatory work is completed, the formal measurement process can be started.

[0042] Next, use the total station to measure the three-dimensional coordinates of the center points A and B of the two prisms. During the measurement process, the total station accurately obtains the position information of the center points A and B of the prisms in space through its built-in distance measurement and angle measurement system. Specifically, the total station first aims at the center point A of the prism, and measures the distance from the total station to the center point A of the prism by emitting and receiving laser signals, while recording the horizontal angle and vertical angle at this time. Based on these measurement data, combined with the total station's own coordinate system, the three-dimensional coordinates (X A ,Y A ,Z A Similarly, perform the same measurement operation on the prism center point B to obtain its three-dimensional coordinates (X B ,Y B ,Z B During the measurement process, in order to improve the measurement accuracy, multiple measurements can be taken to obtain the average value, and the data of each measurement can be recorded for subsequent data processing and analysis.

[0043] After completing the three-dimensional coordinate measurement of the prism center points A and B, the data processing stage begins. First, the coordinates of the midpoint C of the line segment AB (X C ,Y C ,Z C This can be obtained by averaging the three-dimensional coordinates of the prism center points A and B, that is, Next, calculate the azimuth angle θ of line segment AB. The calculation formula for azimuth angle θ is where tan -1 By calculating the azimuth angle θ, the projection direction of line segment AB on the horizontal plane can be determined.

[0044] Based on the calculated coordinates of the midpoint C (X C Y C Z C ) and azimuth angle θ, and further calculate the measured coordinates (XO Y O Z O ). In the calculation process, some geometric relationships and the application of trigonometric functions are involved. Specifically, considering the shape and size of the shield segment and the layout position of the prism on the annular seam, a corresponding geometric model can be established. In this geometric model, using the known parameters such as the shield segment radius R and the prism radius d, combined with the coordinates of the midpoint C and the azimuth angle θ, through a series of mathematical derivations and calculation steps, the measured coordinates of the center O (X O Y O Z O These calculation steps include but are not limited to: calculating the angle β between the line connecting the midpoint C and the center O and the line segment AB, calculating the distance from the midpoint C to the center O, and determining the exact position of the center O in three-dimensional space based on geometric relationships.

[0045] At the same time, the design coordinates of the relevant ring segment (X O 'Y O 'Z O These design coordinates are typically derived from the tunnel project's design drawings or the associated BIM (Building Information Modeling) model. When obtaining the design coordinates, it is important to ensure that the coordinate information corresponds to the shield segment ring number being measured and that the coordinate system is consistent. If necessary, the design coordinates must be converted or adjusted to match the total station's coordinate system.

[0046] After completing the above calculations and data acquisition, the measured coordinates (X O Y O Z O ) and design coordinates (X O 'Y O 'Z O ') for comparative analysis. By calculating the difference between the two sets of coordinates, the attitude deviation of the formed shield segment in space is determined. Specifically, in ΔEAB: f = Z B -Z A ; Based on the calculated f and s, calculate ∠ABE=α=sin -1 (f / s); calculated in ΔCAO: m = Rd;

[0047] In ΔEAB: In ΔCDO:

[0048] therefore Calculate

[0049] The coordinates of the center of the segment are: X O =X C +g·cosθ;Y O =Y C +g·sinθ;Z O =Z C +h. Among them, X A is the coordinate of point A on the X axis, Y A is the coordinate of point A on the Y axis, Z A is the coordinate of point A on the Z axis, X B is the coordinate of point B on the X axis, Y B is the coordinate of point B on the Y axis, Z B is the coordinate of point B on the Z axis, X C is the coordinate of the midpoint C on the X axis, Y C is the coordinate of the midpoint C on the Y axis, Z C is the coordinate of the midpoint C on the Z axis, X O is the coordinate of the center O on the X axis, Y O is the coordinate of the center O on the Y axis, Z O is the coordinate of the center O on the Z axis, X O' is the coordinate of the center O' on the X axis, Y O' is the coordinate of the center O' on the Y axis, Z O' is the coordinate of the design center O' on the Z axis, R is the radius of the shield segment, d is the radius of the prism, θ is the azimuth of the line segment AB, which is used to describe the direction of the line segment AB, β is the adjustment value of a certain angle or azimuth, AB is the line segment AB, AC is the line segment AC, BC is the line segment BC, ∠ACB is the angle between the line segment AC and the line segment CB, ∠ABC is the angle between the line segment AB and the line segment BC, a and b are the two thresholds set in the autonomous correction decision tree, which are used to judge the axis deviation of the shield segment, f is the observation distance from the total station to the center point A or B of the prism, s is the length of the line segment AB, g is the observation distance from the total station to the center point O of the segment, and v is the length of the line segment CD.

[0050] Specifically, the deviation ΔX=X between the measured coordinates of the center O and the designed coordinates on the X, Y, and Z axes can also be calculated. O -X O' , ΔY=Y O -Y O' , ΔZ=Z O -Z O' In addition, the spatial position deviation ΔD of the center of circle O can be calculated using the formula ΔD = sqrt[(ΔX)^2 + (ΔY)^2 + (ΔZ)^2], where sqrt represents the square root function. These deviation values can intuitively reflect the posture deviation of the shield segment and provide a basis for subsequent decision-making.

[0051] After analyzing the attitude deviation of the shield segment, based on the deviation magnitude and trend, a three-level response mechanism of the total station-triggered autonomous deviation correction decision tree is utilized. Specifically, two thresholds a and b need to be set first, where a < b. These two thresholds can be adjusted and set according to engineering experience and actual requirements. For example, in some tunnel projects with high precision requirements, the threshold a can be set to 5 mm and the threshold b to 10 mm. When the calculated deviation ΔD is less than the threshold a, it indicates that the attitude deviation of the shield segment is within the allowable range. At this time, only relevant measurement data and deviation information need to be recorded in the log file for subsequent data analysis and quality traceability. The logged information should include details such as the measurement time, measuring point coordinates, deviation values, etc.

[0052] When the deviation ΔD is between the threshold a and the threshold b, it means that the attitude deviation of the shield segment has exceeded the normal range, and certain measures need to be taken for deviation correction. At this time, the total station will be linked to the shield control system to fine-tune the propulsion parameters of the shield machine. The specific operations for fine-tuning the propulsion parameters may include adjusting the pressure of the propulsion cylinders of the shield machine, the telescopic amount of the jacks, and the attitude angle of the shield machine. The adjustment amounts of these parameters should be accurately calculated according to the magnitude and direction of the deviation to ensure that the shield segment can gradually return to the designed attitude. After fine-tuning the propulsion parameters, measurements and deviation analysis need to be carried out again to verify the deviation correction effect and further adjust the propulsion parameters according to the actual situation.

[0053] If the deviation ΔD is greater than the threshold b, it indicates that the attitude deviation of the shield segment is very serious and may have a significant impact on the quality and safety of tunnel construction. In this case, the total station will immediately trigger an emergency stop instruction to stop the tunneling operation of the shield machine. At the same time, a detailed deviation correction plan will be generated, including information such as grouting points and jack pressure ratios. The determination of the grouting points should be based on the position and direction of the deviation, and appropriate grouting positions should be selected to effectively support and adjust the shield segment. The jack pressure ratio needs to accurately calculate the pressure values to be applied to each jack according to the magnitude of the deviation and the force conditions of the shield segment to achieve precise control of the attitude of the shield segment. After the emergency stop, the construction personnel should take corresponding measures for deviation correction operations according to the generated deviation correction plan until the attitude deviation of the shield segment returns to the acceptable range before the shield machine can be restarted to continue the tunneling operation.

[0054] In order to further improve the accuracy and reliability of the measurement, the present invention also adopts a multi-redundant prism layout scheme. In practical applications, multiple prisms can be randomly arranged on the annular seam of the shield segment, not just two. The layout positions of these prisms do not need to be strictly fixed, and random occlusions are allowed under construction interference. By increasing the number of prisms, more measurement data can be provided, thereby improving the accuracy and reliability of the center coordinate solution. The total station is equipped with an AI visual recognition system that can automatically scan the tunnel section and use a convolutional neural network to identify the prism position. The system can evaluate the visibility and geometric distribution of each prism in real time, and dynamically select the optimal two-point prism combination for measurement based on certain spatial constraints, such as the maximum baseline length, orthogonality threshold, etc. This dynamic selection mechanism can ensure that high-quality measurement data can still be obtained in a complex construction environment, thereby improving measurement efficiency and accuracy.

[0055] In terms of data processing, the present invention adopts a robust estimation algorithm. This algorithm can perform weighted fusion on the measurement results of multiple sets of two-point prism combinations, and automatically identify and eliminate outliers. For example, during the construction process, interference factors such as vibration and dust may cause deviations or errors in some measurement data. The robust estimation algorithm performs statistical analysis on multiple sets of measurement data, giving higher weights to reliable measurement data, and reducing the weights or directly eliminating suspected abnormal measurement data, thereby improving the robustness of the center coordinate solution. In this way, the measurement error can be effectively reduced and the accuracy and reliability of shield segment posture measurement can be improved.

[0056] In addition, in order to achieve rapid processing of measurement data and real-time decision-making, the present invention deploys an edge computing module on the total station side. This module has powerful data processing capabilities and can quickly clean, fit and analyze the measurement data locally, and the data processing delay can be controlled within 1 second. This enables construction personnel to obtain the posture deviation information of the shield segment in a timely manner, and quickly take corresponding measures to correct the deviation, thereby improving construction efficiency and quality control level. At the same time, the edge computing module also supports historical data backtracking and abnormality diagnosis functions in offline mode. In offline mode, construction personnel can re-analyze the measurement data over a period of time in the past, find possible abnormalities, summarize construction experience and rules, and provide reference and guidance for subsequent construction.

[0057] In summary, the present invention's total station-based shaped shield segment prism random two-point method posture measurement and decision-making method effectively solves the problems of large errors and low efficiency in existing shield segment posture measurement methods through a series of steps such as reasonable prism arrangement, precise coordinate measurement, scientific calculation of deviations, and intelligent decision-making and correction. This method not only improves measurement accuracy and efficiency, but also realizes real-time monitoring and intelligent control of shield segment posture, providing a strong guarantee for tunnel construction quality and safety. In practical applications, by continuously optimizing parameter settings, improving algorithm performance, and strengthening linkage with shield control systems, the method of the present invention will be able to better meet the needs of tunnel engineering construction and promote the development and progress of shield construction technology.

[0058] 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 principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for measuring the attitude of a prism of a formed shield segment using a random two-point method based on a total station, characterized in that: The following steps are involved: S1. Deploy the total station to the designated measuring station; S2. After the total station is deployed, prisms are placed on the annular seams of the shield segments, with the center points of the prisms being the measuring points A and B. S3, using the total station to measure the three-dimensional coordinates of the measuring points A and B are (X A Y A Z A ) and (X B Y B Z B ); S4. Calculate the measured coordinates of the center O of the shield segment by the three-dimensional coordinates of the measuring points A and B as (X O Y O Z O ); S5. Obtain the design coordinates of the relevant ring segment (X O 'Y O 'Z O '); S6. Compare the measured coordinates of the center O of the shield segment (X O Y O Z O ) and design coordinates (X O 'Y O 'Z O '), and analyze the posture deviation of the formed shield segment based on the comparison results.

2. The method for measuring the posture of a prism of a formed shield segment using a random two-point method based on a total station according to claim 1 is characterized in that: In step S2, the prisms can be arranged at any two points on the annular seam, which is an annular joint between two adjacent ring segments along the longitudinal direction of the tunnel, and the annular seam is perpendicular to the axial direction of the tunnel.

3. The method for measuring the posture of a prism of a formed shield segment using a random two-point method based on a total station according to claim 1 is characterized in that: In step S4, the measured coordinates are (X O Y O Z O ) is calculated as follows: S41, measure the coordinates of the prism center A and B using the total station, the coordinates are A(X A Y A Z A ), B(X B Y B Z B ); S42, based on the measured coordinates of points A and B, calculate the coordinates of point C in the middle of line AB (X C Y C Z C ): Calculate the azimuth of AB: exist ΔEAB In: f = Z B -Z A ; S43. Based on the calculated f and s, calculate ∠ABE=α=sin -1 (f / s); Calculated in ΔCAO: m = Rd; S44. In ΔEAB: In ΔCDO: S45, therefore Calculate S46, the coordinates of the center of the segment are: X O =X C +g·cosθ;Y O =Y C +g·sinθ;Z O =Z C +h; Among them, X A is the coordinate of point A on the X axis, Y A is the coordinate of point A on the Y axis, Z A is the coordinate of point A on the Z axis, X B is the coordinate of point B on the X axis, Y B is the coordinate of point B on the Y axis, Z B is the coordinate of point B on the Z axis, X C is the coordinate of the midpoint C on the X axis, Y C is the coordinate of the midpoint C on the Y axis, Z C is the coordinate of the midpoint C on the Z axis, X O is the coordinate of the center O on the X axis, Y O is the coordinate of the center O on the Y axis, Z O is the coordinate of the center O on the Z axis, X O' is the coordinate of the center O' on the X axis, Y O' is the coordinate of the center O' on the Y axis, Z O' is the coordinate of the design center O' on the Z axis, R is the radius of the shield segment, d is the radius of the prism, θ is the azimuth of the line segment AB, which is used to describe the direction of the line segment AB, β is the adjustment value of a certain angle or azimuth, AB is the line segment AB, AC is the line segment AC, BC is the line segment BC, ∠ACB is the angle between the line segment AC and the line segment CB, ∠ABC is the angle between the line segment AB and the line segment BC, a and b are the two thresholds set in the autonomous correction decision tree, which are used to judge the axis deviation of the shield segment, f is the observation distance from the total station to the center point A or B of the prism, s is the length of the line segment AB, g is the observation distance from the total station to the center point O of the segment, and v is the length of the line segment CD.

4. The method for measuring the posture of a prism of a formed shield segment using a random two-point method based on a total station according to claim 2 is characterized in that: Performing multi-redundant prism layout processing on the prism layout to obtain multi-redundant prism layout data.

5. The method for measuring the posture of a prism of a formed shield segment using a random two-point method based on a total station according to claim 4 is characterized in that: Performing AI visual recognition processing on the total station to obtain automatically scanned tunnel section data; The multi-redundant prism data is processed by convolutional neural network recognition to obtain prism position data, evaluate prism visibility and geometric distribution, and dynamically select two-point prism combination data.

6. The method for measuring the posture of a prism of a formed shield segment using a random two-point method based on a total station according to claim 5 is characterized in that: The robust estimation algorithm is used to process multiple sets of two-point prism combination data, and the obtained measurement results are weighted fused to automatically eliminate outliers.

7. The method for measuring the posture of a prism of a formed shield segment using a random two-point method based on a total station according to claim 6 is characterized in that: In step S1, an edge computing module is deployed on the total station to implement measurement data cleaning, fitting calculation and deviation analysis.

8. The method for measuring the posture of a prism of a formed shield segment using a random two-point method based on a total station according to claim 7 is characterized in that: Based on the magnitude and trend of the deviation, a three-level response mechanism is triggered using a total station, including the following steps: Set threshold a and threshold b, where a <b; If the deviation is less than the threshold a, only the log is recorded; If the deviation is between threshold a and threshold b, the linked shield control system fine-tunes the propulsion parameters; If the deviation is greater than the threshold b, an emergency stop is performed and a correction plan is generated.

9. The method for measuring the posture of a prism of a formed shield segment using a random two-point method based on a total station according to claim 8, characterized in that: The correction scheme includes grouting points and jack pressure ratios.

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