CN103712616B - Automatic total instruments and gyroscope combined guided shield attitude method for automatic measurement and device - Google Patents
Automatic total instruments and gyroscope combined guided shield attitude method for automatic measurement and device Download PDFInfo
- Publication number
- CN103712616B CN103712616B CN201210380747.5A CN201210380747A CN103712616B CN 103712616 B CN103712616 B CN 103712616B CN 201210380747 A CN201210380747 A CN 201210380747A CN 103712616 B CN103712616 B CN 103712616B
- Authority
- CN
- China
- Prior art keywords
- computer
- gyro sensor
- attitude
- shield
- automatic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The present invention relates to a kind of automatic total instruments and gyroscope combined guided shield attitude method for automatic measurement and device, described method includes: computer controls automatic total instruments and certainly with the measurement interval set three target prisms measured and preserved, read attitude angle degrees of data up-to-date in gyro sensor simultaneously, shield machine head and the tail three-dimensional coordinate and attitude misalignment is calculated then in conjunction with the coordinate data of three target prisms and the attitude angle degrees of data of gyro sensor, and show, for controlling the direction of propulsion of shield machine；Described device includes automatic total instruments, radio set, computer and the gyro sensor being arranged on shield machine and target prism, described radio set connects automatic total instruments and computer by RS232 serial port communication line respectively, and described gyro sensor is connected by private cable and computer.Compared with prior art, the present invention has control and rectifying effect is good, precision is high, low cost and other advantages.
Description
Technical field
The present invention relates to measuring method and the device of a kind of attitude of shield machine, especially relate to a kind of automatic total instruments
Shield attitude method for automatic measurement combined guided with gyroscope and device.
Background technology
For alleviating the serious congestion state of urban ground traffic, the large size city of many countries and regions is in the world
Or building underground railway, more river or Yue Hai tunnel.Beginning from the eighties in last century, the track traffic in Shanghai is built
If having obtained huge development, construction scale is increasing.Shanghai rail transit road network in planning has 22
Line, total operation mileage is up to 880 kilometers, and wherein the basic road network in urban area is constituted by underground line.
At present, number line of Shanghai rail transit to ride on Bus No. 11 line (north section) puts into the most in succession formally to be runed, 11 (south sections),
12,13, ten No. six lines are built；Shanghai builds 424 kilometers of track traffic basic networks now.Connect
, Shanghai also will have a plurality of subway line to put into build, thus form that an international style metropolis had convenient
Public transport links.For the whole country, Metro Construction is in the ascendant, currently builds subway engineering
City have Beijing, Tianjin, Guangzhou, Shenzhen, Nanjing, Wuxi, Wuhan, Chongqing, Shenyang, Suzhou, Hangzhou,
Qingdao, Chengdu, Xi'an, Ningbo etc., and plan and have the city of System in Rail Transit Construction Project project to reach 26
More than, and mostly use shield method running tunnel construction method.According to incompletely statistics, China is in 20 years from now on,
The total amount of the required all kinds of shield machines put in all kinds of tunnels is up to 2000 more than.
Many developed countries in the world, as more American-European, national and Japanese, applies earlier in construction of underground tunnel
Shield excavation machine, has the most also driven scientific research personnel to carry out deep to the various problems caused in shield construction
Research, has promoted improving and development of shield method significantly.Along with the extensive application automatically controlled, some scholars are to shield
Automatically controlling of structure driving is studied.Along with the development of shield machine technology, by manual operations to being aided with computer
Monitoring, mechanized construction is constantly developed and perfect, and shield technique also reaches its maturity.In recent years, for reality
Efficient and the safety of existing Urban underground Tunnel construction, the automatic technology of shield excavation machine is developed.Automatically
One of change technology purpose being applied to shield construction makes shield machine automatically push away along design route exactly exactly as far as possible
Enter, it is ensured that the fewest environmental disruption, thus ensure construction quality and safety, accelerating construction progress, saving manpower,
Material resources.Automatic survey not only has that human input is few, it is high to measure frequency, little to tunnel piercing interference, measure speed
Degree is fast and data process the advantages such as timely, but also can displaying data in real-time and analog image, be in this way
Shield tunnel measures the developing direction of technology.A lot of countries have the most all put into substantial amounts of manpower and materials and in research and have improved
The method.
The method guided for solving shield the most both at home and abroad is roughly divided into three kinds: ruler method, line-of-sight course and gyroscope
Method.
Ruler method is more common in domestic shield and is guided in solution, belongs to manual measurement, and labor intensity is big, precision
Difference, it is impossible to measure continuously, operation complexity, the most no longer use；
Line-of-sight course is three the prism coordinates using observation to be placed in shield machine afterbody in advance, is calculated by Coordinate Conversion
Going out shield head shield tail coordinate, the method coordinates automatic total instruments can alleviate many labour forces, but due to shield every time
The appearance of determining of machine needs to observe 3 targets, needs preferable sighting condition, and this is for the component of shield machine afterbody complexity
Often cannot accomplish for structure, be difficult to especially reach especially for small-bore shield machine, the most difficult
To realize continuous measurement truly；
Gyroscope rule is by obtaining three attitude angle that gyroscope is measured, azimuth, the angle of pitch and rolling in real time
Angle directly determines the deviation of attitude of shield machine and design, but the precision of gyroscope poor (± 0.05 °), right
Shield driving can only play limited auxiliary reference effect, and requires higher, for a long time for external environment
In operation, gyro is always affected by various interference factors, as uneven in rotor quality, the frictional force of a support component,
The change of Gyro Assembly size that variations in temperature causes, the elastic disturbance torque of conductive filament, the interference of external magnetic field
Moment etc., these factors all can cause the drift of gyroaxis.Individually by gyroscope at complicated unstable shield machine
Measure in trailing space and be also unable to reach satisfied effect.
Due to the external starting of research in this respect relatively early, also work out some products (being currently in the monopolization stage),
But domestic project seldom uses external automatic system, traces it to its cause: one is the most expensive (a single set of shield of expense
Attitude guide system will 1,400,000, and can only use the measuring instrument specified and on the shield machine specified with)；
Two is that user competency profiling is higher, and those of ordinary skill is difficult to grasp；Three be the operation and maintenance of some system relatively
Manual method is complicated, wants other method auxiliary to ensure on precision reliability；Therefore, the most mostly
Number tunneling shield construction still uses manual measurement method.
There is too much anthropic factor due to manual measurement method and working strength is big, this just has in the urgent need to exploitation
The automatic measurement system of independent intellectual property right, breaks external monopolization in this respect, and combines line-of-sight course and gyro
The respective advantage of instrument method, works out a set of algorithm stable, efficient and practicable.Therefore, this subject study is multiple
Under the conditions of miscellaneous, engineering survey and location informationization technology, measure integration of equipments to complexity, develop and automatically measure and measure
Visual Data Management System, by the knot mutually of measurement data library management system with complex condition automatic measurement technology
Close, solve the technical barriers such as the measuring speed in subway work, precision, it is achieved to engineering construction progress, quality,
The effective monitoring of safety.
In a word, underground engineering investment is big, construction is complicated, notable to surrounding environment influence, to national economy and masses
Life has material impact, has important society, economy and strategic importance.In China, underground engineering construction side
Xing Weiai, especially subway construction carry out in many cities of China at present, and underground engineering construction will be more and more.
Due to the particularity of underground construction, the most relatively ground such as its execution conditions difficulty, and through and guiding are had the highest
Requirement, it guides the automatization level of system directly to constrain precision and the progress of construction.
The most external product having shield driving automatic measurement system, but the sufficiently expensive unit price of price needs 1,400,000,
Also have a lot of restriction, it is necessary to use the measuring instrument specified, can only use on the shield machine specified, add many
Function is not suitable for the national conditions of China, and cannot be used for solving the automatic guide of hinged shield；Suitable in the urgent need to research and development
Automatic measurement system that close China's national situation, that have independent intellectual property right.
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and provide a kind of and control and correction
Effective, precision is high, the automatic total instruments of low cost and gyroscope combined guided shield attitude method for automatic measurement and
Device.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of automatic total instruments and gyroscope combined guided shield attitude method for automatic measurement, the method includes:
1) configuration parameter of automatic total instruments and gyro sensor is set；
2) computer sends link order by radio set to automatic total instruments, and judges to connect the most successfully,
The most then perform step 3), if it is not, then to step 1) after the automatic total instruments configuration parameter that arranges checks
Return to step 1)；
3) computer sends link order to gyro sensor, and judges to connect the most successfully, the most then hold
Row step 4), if it is not, then to step 1) the gyro sensor configuration parameter that arranges returns to after checking
Step 1)；
4) automatic total instruments is set bit manipulation of standing firm；
5) automatic total instruments measures three target prisms successively, records the dimensional orientation angle information of each target prism
And preserve to computer；
6) three target prisms are automatically measured by automatic total instruments with the measurement interval set, and pass through RS232
The coordinate data that measurement is obtained by serial port communication line and radio set is transferred to computer；
7) computer judges that three target prisms are the most all measured and arrives, the most then perform step 8), if it is not,
Then return step 6)；
8) computer reads up-to-date attitude angle degrees of data from gyro sensor；
9) computer calculates according to the coordinate data of three target prisms and the attitude angle degrees of data of gyro sensor
Go out shield machine head and the tail three-dimensional coordinate and attitude misalignment, and show；
10) computer is by the coordinate of three target prisms and the attitude angle degrees of data of gyro sensor, shield prow
Tail three-dimensional coordinate preserves with attitude misalignment, returns and automatically measures, and performs step 6).
Described automatic total instruments and the configuration parameter of gyro sensor are arranged according to actual shield project file, institute
The configuration parameter stated includes Connecting quantity and measures parameter.
Described attitude angle degrees of data includes bearing data, pitch angle data and torsion angle data.
Described step 9) in calculate shield machine head and the tail three-dimensional coordinate and attitude misalignment specifically include:
901) three-dimensional rectangular coordinate conversion parameter is initialized；
902) coordinate data of two or three the target prisms measured according to automatic total instruments, sits three-dimensional right angle
Mark conversion formula carries out linearisation, it is thus achieved that the error equation of coordinate；
903) according to bearing data, pitch angle data and the torsion angle data read from gyro sensor, knot
Conjunction three-dimensional rectangular coordinate is changed, it is thus achieved that the error equation of angle；
904) carry out determining power to above-mentioned error equation, calculate parameter according to criterion of least squares simultaneous adjustment and change
Positive number；
905) judge whether parameter correction is less than setting value, the most then iterative computation convergence, enter step 906),
If it is not, then return step 902), proceed iterative computation；
906) coordinate transformation parameter drawn according to iterative computation, calculates shield machine head and the tail coordinate and attitude misalignment,
And show, for controlling the tunneling direction of shield machine.
A kind of automatic total instruments and gyroscope combined guided shield attitude self-operated measuring unit, this device is used for measuring shield
Coordinate in structure machine tunneling process and attitude data, this device include the gyro sensor that is arranged on shield machine and
Target prism, this device also includes that automatic total instruments, radio set and computer, described radio set connect respectively
Connecing automatic total instruments and computer, described gyro sensor is connected by private cable and computer.
This device also includes RS232 serial port communication line, and described radio set is respectively by RS232 serial communication
Line is connected with automatic total instruments and computer.
Described target prism is provided with three, and three target prisms are uniformly fixed on shield machine.
Described gyro sensor is arranged on the afterbody of shield machine tunneling direction.
Compared with prior art, the invention have the advantages that
1) the present invention is directed to the shortcoming of the line-of-sight course higher sighting condition of needs and single gyro instrument method precision is low and requirement
The shortcoming that environmental condition is high, the attitude data proposing to obtain based on automatic total instruments (robot measurement), with top
The attitude data that spiral shell instrument is measured is auxiliary, i.e. compensates gyro data with total station data.The present invention can be in conjunction with automatically
Total powerstation long-distance control precision is high but sight line is easily blocked, and gyroscope short distance is the most quickly measured but grow away from
From the features that precision is low, give full play to respective advantage, i.e. when there being target to be blocked, so that it may play gyro
The advantage that instrument short distance is measured, when not having shelter, so that it may starts the advantage that total station accuracy is high.The two is permissible
Mutually switching combining, to reach to control and the effect of correction.
2) present invention has function and the simultaneous adjustment algorithm of Fusion of intelligence switching, is suitable for
In difference attitude algorithm in particular cases, algorithmic stability and precision are high, and in computer with independent development
Software can eliminate the reliance on expensive external guiding measuring system, has very important Practical significance.
Accompanying drawing explanation
Fig. 1 is the structural representation of apparatus of the present invention；
Fig. 2 is the schematic flow sheet of the inventive method；
Fig. 3 is computer-solution process schematic of the present invention.
Detailed description of the invention
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
The present embodiment use automatic total instruments as data sampling sensor, before shield starting or excavate new
Before one ring, it is also possible to construction a certain intermittent time in, profit computerized control total powerstation go measure shield machine
The coordinate of upper characteristic point, then computer utilizes coordinate the linear number of basis input system of these characteristic points
According to automatically calculating position and the attitude of shield with calibrating parameters etc., and using it as the actual position of shield and appearance
State, say, that the attitude misalignment of shield is as the criterion with the measured value of total powerstation, in order to instruct shield driving.
Then computer is connected gyro sensor, and first reads the primary data of a gyro sensor.As
Previously described, attitude angle that gyro sensor obtains and the attitude angle that automatic total instruments obtains are likely to be different
's.If deviation ratio is bigger, it is necessary to correction (attitude angle that in the present embodiment, gyro sensor obtained and from
The difference of the attitude angle that dynamic total powerstation obtains is defined as the angle that makes corrections).Correction angle can according to the selection of user at every ring or
Calculate after person's every several rings driving.And do not update correction angle interval in, computer automatically use before consolidate
Surely the gyroscope sensor data read at regular intervals is revised at correction angle.Therefore, shield is relying on gyroscope
Sensor instructs when advancing, and is that the direction after the attitude angle measured according to gyro sensor deducts correction angle is carried out
Driving.So, after revising, the drift of gyro sensor can be compensated, and calculates current shield
Position and attitude.
Owing to compensate for the drift error of gyro sensor, so having only to the precision considering it shadow to deviation
Ring.It addition, after automatic total instruments is measured, correct position can be adapted to again in time, thus
Eliminate the accumulation of error, reach the effect controlled.And in the interval not updating correction angle, gyro can be passed through
Instrument sensor obtains attitude data fast, easily；When automatic total instruments sight line is temporarily blocked or observed in tunnel
Condition is the best and can also obtain the attitude of shield when cannot measure, it is to avoid may when being used alone automatic total instruments
Affect the phenomenon of attitude measurement.Repeating said process, it is main that automatic total instruments measures obserred coordinate value, and gyroscope passes
It is auxiliary that sensor measures attitude angle of rotation, and two kinds of data fusion resolve, differential weights simultaneous adjustment, essence that just can be higher
Degree continuously obtains the deviation of shield head and the tail and design.Finally shield attitude deviation is refreshed display at computer
On interface, complete automatic construction surveying.
As it is shown in figure 1, the present embodiment automatic total instruments and gyroscope combined guided shield attitude self-operated measuring unit bag
Include automatic total instruments 2, radio set 4, computer 1, gyro sensor 3, target prism 5 and RS232
Serial port communication line, described radio set 4 connects automatic total instruments 2 He by RS232 serial port communication line respectively
Computer 1, described gyro sensor 3 is connected by private cable and computer 1, and described gyroscope passes
Sensor 3 and target prism 5 are arranged on shield machine.Described target prism 5 is provided with three, three target prisms
Uniformly it is fixed on shield machine.Described gyro sensor 3 is arranged on the afterbody of shield machine tunneling direction.This reality
Execute the timing of example device automatically to measure, complete shield machine is advanced the control of attitude.
As in figure 2 it is shown, the present embodiment automatic total instruments and gyroscope combined guided shield attitude method for automatic measurement,
Comprise the steps:
In step 401, a newly-built database file, the inside includes various tables of data and field, then performs
Step 402；
In step 402, configuration data are inputted existing database file, including three targets initially set
Prism, shield tail and the coordinate data at hinged center, then perform step 403；
In step 403, the Connecting quantity arranging automatic total instruments 2 and gyro sensor 3 sets with measuring parameter
Put, then perform step 404；
In step 404, computer 1 sends link order by radio set 4 to automatic total instruments 2, and sentences
Connection breaking is the most successful, the most then perform step 405, if it is not, the automatic total instruments then step 403 arranged
Configuration parameter returns to step 403 after checking；
Whether in step 405, computer 1 sends link order to gyro sensor 3, and judge to connect and become
Merit, the most then perform step 406, if it is not, the gyro sensor configuration parameter then arranged step 403 enters
Row returns to step 403 after checking；
In a step 406, total powerstation is set position of standing firm, subsequently into step 407；
In step 407, automatic total instruments 2 measures three target prisms 5 successively, records the sky of each target prism
Between orientation angles information preserving to computer 1, then perform step 408；
In a step 408, three target prisms are automatically measured by automatic total instruments 2 with the measurement interval set,
And coordinate data measurement obtained by RS232 serial port communication line and radio set 4 is transferred to computer 5, so
Rear execution step 409；
In step 409, computer 1 judges that three target prisms the most all measure, the most then perform step
410, if it is not, then return step 408；
In step 410, computer 1 reads up-to-date angle-data from gyro sensor 3, including azimuth
Data, pitch angle data and torsion angle data, then perform step 411；
In step 411, computer 1 utilizes the coordinate of three target prisms and the angle-data of gyro sensor
Calculating three-dimensional coordinate and the attitude misalignment of shield machine head and the tail, display, on the interface of computer, performs step 412；
In step 412, computer 1 by the attitude angle data of the coordinate of three target prisms and gyro sensor,
Shield head and the tail coordinate preserves with attitude misalignment；Return and automatically measure, perform step 408.
Specifically include as it is shown on figure 3, above-mentioned steps 411 calculates shield machine three-dimensional coordinate and attitude misalignment from beginning to end:
In step 501, initialize seven parameters of three-dimensional rectangular coordinate conversion, then perform step 502；
In step 502, two or three the target prisms measured according to automatic total instruments 2, three-dimensional right angle is sat
Mark conversion formula carries out linearisation, lists the error equation of coordinate, then performs step 503；
In step 503, by the azimuth read from gyro sensor 2, the angle of pitch and torsion angle, in conjunction with three
Dimension rectangular coordinate conversion, lists the error equation of angle, then performs step 504；
In step 504, carry out determining power to above-mentioned error equation, resolve according to criterion of least squares simultaneous adjustment
Go out parameter correction, then perform step 505；
In step 505, it is judged that whether parameter correction is less than setting value, the most then iterative computation convergence, enters
Enter step 506, if it is not, then return step 502, proceed iterative computation；
In step 506, according to the coordinate transformation parameter calculated, calculate shield machine head and the tail coordinate inclined with attitude
Difference, and show, for controlling the tunneling direction of shield machine.
The tight calculation method of associating based on automatic total instruments and gyro data in the present embodiment, its core be based on
Three-dimensional rectangular coordinate is changed, the coordinate data of three the target prisms measured by total powerstation and initial alignment coordinate system
Data carry out Coordinate Conversion, list error function formula after linearisation；The most Promethean by the angle-data of gyroscope
Converting with Coordinate Conversion, the discrepancy in elevation of 2, shield head shield tail is the product that this oblique distance of 2 is sinusoidal with the angle of pitch,
And this oblique distance of 2 is fixed value, do not change with Coordinate Conversion；Permissible by shield head shield tail plane coordinates difference
Calculate the azimuth of now shield machine shield head shield tail place axis, the azimuth read with the gyroscope corrected
Contrast；Target prism is at shield machine head and the tail axis existence anduniquess subpoint, and this subpoint is oblique with target prism
Away from being all fixed value, this discrepancy in elevation of 2 is the oblique distance of 2 and the product reversing cosine of an angle.Thus can list bag
Error equation containing three restrictive conditions.According to the stated accuracy of gyroscope, by restrictive condition equation according to necessarily
Weight and three-dimensional rectangular coordinate conversion associating rigorous adjustment, solve shield from beginning to end coordinate and attitude data.
Claims (6)
1. an automatic total instruments and gyroscope combined guided shield attitude method for automatic measurement, it is characterised in that
The method includes:
1) configuration parameter of automatic total instruments and gyro sensor is set；
2) computer sends link order by radio set to automatic total instruments, and judges to connect the most successfully,
The most then perform step 3), if it is not, then to step 1) after the automatic total instruments configuration parameter that arranges checks
Return to step 1)；
3) computer sends link order to gyro sensor, and judges to connect the most successfully, the most then hold
Row step 4), if it is not, then to step 1) the gyro sensor configuration parameter that arranges returns to after checking
Step 1)；
4) automatic total instruments is set bit manipulation of standing firm；
5) automatic total instruments measures three target prisms successively, records the dimensional orientation angle information of each target prism
And preserve to computer；
6) three target prisms are automatically measured by automatic total instruments with the measurement interval set, and pass through RS232
The coordinate data that measurement is obtained by serial port communication line and radio set is transferred to computer；
7) computer judges that three target prisms are the most all measured and arrives, the most then perform step 8), if it is not,
Then return step 6)；
8) computer reads up-to-date attitude angle degrees of data from gyro sensor；
9) computer calculates according to the coordinate data of three target prisms and the attitude angle degrees of data of gyro sensor
Go out shield machine head and the tail three-dimensional coordinate and attitude misalignment, and show, wherein, calculate the three-dimensional seat of shield machine head and the tail
Mark and attitude misalignment specifically include:
901) three-dimensional rectangular coordinate conversion parameter is initialized；
902) coordinate data of two or three the target prisms measured according to automatic total instruments, sits three-dimensional right angle
Mark conversion formula carries out linearisation, it is thus achieved that the error equation of coordinate；
903) according to bearing data, pitch angle data and the torsion angle data read from gyro sensor, knot
Conjunction three-dimensional rectangular coordinate is changed, it is thus achieved that the error equation of angle；
904) carry out determining power to above-mentioned error equation, calculate parameter according to criterion of least squares simultaneous adjustment and change
Positive number；
905) judge whether parameter correction is less than setting value, the most then iterative computation convergence, enter step 906),
If it is not, then return step 902), proceed iterative computation；
906) coordinate transformation parameter drawn according to iterative computation, calculates shield machine head and the tail coordinate and attitude misalignment,
And show, for controlling the tunneling direction of shield machine；
10) computer is by the coordinate of three target prisms and the attitude angle degrees of data of gyro sensor, shield prow
Tail three-dimensional coordinate preserves with attitude misalignment, returns and automatically measures, and performs step 6).
A kind of automatic total instruments the most according to claim 1 and the combined guided shield attitude of gyroscope are surveyed automatically
Metering method, it is characterised in that described automatic total instruments and the configuration parameter of gyro sensor are according to actual shield
Project file is arranged, and described configuration parameter includes Connecting quantity and measures parameter.
3. one kind realizes automatic total instruments as claimed in claim 1 and the combined guided shield attitude of gyroscope is automatic
The measurement apparatus of measuring method, this device is used for measuring the coordinate in shield machine tunneling process and attitude data, this dress
Put the gyro sensor including being arranged on shield machine and target prism, it is characterised in that this device also includes certainly
Dynamic total powerstation, radio set and computer, described radio set connects automatic total instruments and computer, institute respectively
The gyro sensor stated is connected by private cable and computer.
Measurement apparatus the most according to claim 3, it is characterised in that this device also includes RS232 serial ports
Connection, described radio set is connected with automatic total instruments and computer by RS232 serial port communication line respectively.
Measurement apparatus the most according to claim 3, it is characterised in that described target prism is provided with three,
Three target prisms are uniformly fixed on shield machine.
Measurement apparatus the most according to claim 3, it is characterised in that described gyro sensor is arranged
Afterbody at shield machine tunneling direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210380747.5A CN103712616B (en) | 2012-10-09 | 2012-10-09 | Automatic total instruments and gyroscope combined guided shield attitude method for automatic measurement and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210380747.5A CN103712616B (en) | 2012-10-09 | 2012-10-09 | Automatic total instruments and gyroscope combined guided shield attitude method for automatic measurement and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103712616A CN103712616A (en) | 2014-04-09 |
| CN103712616B true CN103712616B (en) | 2016-08-24 |
Family
ID=50405778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210380747.5A Expired - Fee Related CN103712616B (en) | 2012-10-09 | 2012-10-09 | Automatic total instruments and gyroscope combined guided shield attitude method for automatic measurement and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103712616B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109323652B (en) * | 2018-10-08 | 2020-12-29 | 中国铁建重工集团股份有限公司 | Engineering machinery positioning system |
| CN109443326B (en) * | 2018-10-08 | 2021-01-22 | 中国铁建重工集团股份有限公司 | Engineering machinery positioning method and system |
| CN111044042B (en) * | 2020-01-03 | 2022-09-13 | 中国船舶重工集团公司第七0七研究所 | Heading machine positioning navigation system and method based on gyroscopic total station and inertial navigation equipment |
| CN111521139B (en) * | 2020-05-19 | 2021-10-22 | 中铁隧道局集团有限公司 | High-precision measurement method for shield initial state |
| CN112781590A (en) * | 2020-12-17 | 2021-05-11 | 上海隧道工程有限公司 | Heading machine guiding system and method based on optical fiber gyroscope |
| CN113063403A (en) * | 2021-03-12 | 2021-07-02 | 中国煤炭科工集团太原研究院有限公司 | Total station remote control method for closed long and narrow environment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101078624A (en) * | 2007-06-28 | 2007-11-28 | 北京航空航天大学 | Shield machine automatic guiding system based on optical fiber gyro and PSD laser target |
| CN101685010A (en) * | 2008-09-27 | 2010-03-31 | 上海市机械施工有限公司 | Measuring method of ultra long haul shield tunnel |
| CN102677707A (en) * | 2011-03-09 | 2012-09-19 | 同济大学 | Method and device for automatically measuring box culvert jacking replacement pipe curtain pushing process |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0875463A (en) * | 1994-09-07 | 1996-03-22 | Fujita Corp | Excavation confirming and measuring method for shield machine |
| JP3045458B2 (en) * | 1995-02-15 | 2000-05-29 | 鹿島建設株式会社 | Automatic surveying method of shield machine |
-
2012
- 2012-10-09 CN CN201210380747.5A patent/CN103712616B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101078624A (en) * | 2007-06-28 | 2007-11-28 | 北京航空航天大学 | Shield machine automatic guiding system based on optical fiber gyro and PSD laser target |
| CN101685010A (en) * | 2008-09-27 | 2010-03-31 | 上海市机械施工有限公司 | Measuring method of ultra long haul shield tunnel |
| CN102677707A (en) * | 2011-03-09 | 2012-09-19 | 同济大学 | Method and device for automatically measuring box culvert jacking replacement pipe curtain pushing process |
Non-Patent Citations (1)
| Title |
|---|
| 地铁盾构智能导向系统研究;徐然;《中国优秀硕士学位论文全文数据库信息科技辑》;20080815(第8期);正文第3-5页,第9-10页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103712616A (en) | 2014-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103712616B (en) | Automatic total instruments and gyroscope combined guided shield attitude method for automatic measurement and device | |
| CN101975068B (en) | Construction method for tunnelling small-radius curve segment of tunnel through shield method | |
| CN104764434B (en) | A kind of quick resolving system of shield attitude and method | |
| CN110375711B (en) | Subway tunnel inner ring network trackless measurement construction method | |
| CN102692210B (en) | Fixed-point scanning type rapid tunnel section clearance measurement and convergence measurement method | |
| CN101614127B (en) | Method for surveying river-crossing leveling during shield breakthrough construction | |
| CN102095401B (en) | Long-distance shield tunnel breakthrough survey method | |
| CN103196425B (en) | The estimating and measuring method of super long tunnel lateral breakthrough error | |
| CN107525497A (en) | Automatic measurement guidance system and method for slurry balance shield machine | |
| CN106382121A (en) | Measuring method for subway tunnel shield excavation | |
| CN105674967B (en) | A kind of method of rail traffic shaft connection survey | |
| CN113884077B (en) | Operation period common speed railway control network and test method thereof | |
| CN109900208A (en) | A kind of Tunneling by mining method excavation and first branch quality determining method | |
| CN103541738A (en) | Method for building extra-long tunnel independent construction control network | |
| CN107269276A (en) | A kind of driving alignment system and method constructed for bend | |
| CN107700280A (en) | Existing double railway lines line position reconstructing method | |
| CN107449407A (en) | Automatic measurement guidance system and method for balancing earth-pressure shielding machine | |
| CN103017742B (en) | Combined precise resolution and attitude determination information processing method based on total station and clinometer | |
| CN101685010A (en) | Measuring method of ultra long haul shield tunnel | |
| CN106840066A (en) | A kind of long distance tunnel internal precision horizontal control network net type | |
| CN102679974B (en) | Location exempts to change standing posture shield excavation attitude method for real-time measurement and system at a high speed | |
| CN109238137A (en) | Gantry positioning system and method based on constructing tunnel arch fitting machine | |
| CN110108262A (en) | Holing through of mine combines mapping method | |
| CN102033235B (en) | GPS/SINS (Global Positioning System/Strapdown Inertial Navigation System) based town cadastre map control point rapid measuring and off line data processing method | |
| CN102809374B (en) | Automatic guiding measurement method for hinge connection shield machine, and apparatus thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 Termination date: 20191009 |