CN112781590A - Heading machine guiding system and method based on optical fiber gyroscope - Google Patents
Heading machine guiding system and method based on optical fiber gyroscope Download PDFInfo
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- CN112781590A CN112781590A CN202011495358.8A CN202011495358A CN112781590A CN 112781590 A CN112781590 A CN 112781590A CN 202011495358 A CN202011495358 A CN 202011495358A CN 112781590 A CN112781590 A CN 112781590A
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- 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
- G01C21/16—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 by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- 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
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention relates to a heading machine guiding method and system based on an optical fiber gyroscope, wherein the method comprises the following steps: providing an optical fiber gyroscope, and installing the optical fiber gyroscope on the tunneling machine; providing a static level, and mounting the static level on the development machine close to the optical fiber gyroscope; in the tunneling process of the tunneling machine, acquiring real-time attitude data of the tunneling machine through an optical fiber gyroscope, and acquiring horizontal fall data of the tunneling machine through a static leveling instrument; and calculating to obtain an actual tunneling path of the tunneling machine according to the acquired real-time attitude data and the acquired horizontal drop data, calculating to obtain a propelling route of the tunneling machine through the actual tunneling path and a design path of the tunneling machine, and controlling the tunneling machine to tunnel forwards by using the propelling route so as to realize the guidance of the tunneling machine. The space attitude of the heading machine is directly acquired by the arranged optical fiber gyroscope, and the arrangement of a prism is avoided, so that a measuring channel does not need to be reserved, and the influence of the measuring channel on the design of the heading machine can be avoided.
Description
Technical Field
The invention relates to the technical field of heading machine guiding, in particular to a heading machine guiding system and method based on an optical fiber gyroscope.
Background
From the market, China is becoming the country with the largest quantity of development machines in the world, technically, the shield development machine represents the development direction of tunnel development equipment, and the contradiction between the huge market demand and the relatively lagging shield development machine technology in China is already obvious. Meanwhile, the construction of the shield machine is a high-risk industry, and the smooth and efficient completion of the engineering can be ensured only by ensuring the stability and the high reliability of the product quality. How to improve the construction efficiency and the equipment reliability of the shield machine has important guiding significance for underground construction, and the existing guide system of the shield machine is based on the guide system of an optical total station and uses the total station and a prism for measurement. In the measuring mode, a measuring channel is required to be reserved when the heading machine is designed, the design of the heading machine is influenced to a certain extent, a plurality of prisms on the space are required to be scanned one by one during measurement, the period of outputting a measuring result is more than 1 minute, and the frequency is low. In some sharp curve, small diameter projects, the installation of the measurement prism, and the moving of the rear view prism have certain difficulties.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a heading machine guiding system and a heading machine guiding method based on an optical fiber gyroscope, and solves the problems that the design of a heading machine is affected due to the fact that a measuring channel needs to be reserved in the existing total station and prism guiding system, the frequency of measuring results is low, and the installation of a measuring prism and the moving of a rearview prism in a sharp curve and small diameter project are difficult.
The technical scheme for realizing the purpose is as follows:
the invention provides a heading machine guiding method based on an optical fiber gyroscope, which comprises the following steps:
providing a fiber optic gyroscope, and mounting the fiber optic gyroscope on the heading machine;
providing an accelerometer, and mounting the accelerometer on the heading machine close to the optical fiber gyroscope;
providing a static level gauge, and mounting the static level gauge on the heading machine close to the optical fiber gyroscope;
in the tunneling process of the tunneling machine, acquiring real-time attitude data of the tunneling machine through the optical fiber gyroscope, acquiring horizontal fall data of the tunneling machine through the static level gauge, and acquiring speed data of the tunneling machine through the accelerometer; and
and calculating to obtain an actual tunneling path of the tunneling machine according to the acquired real-time attitude data, the speed data and the horizontal drop data, calculating to obtain a propelling route of the tunneling machine through the actual tunneling path and a design path of the tunneling machine, and controlling the tunneling machine to tunnel forwards by using the propelling route so as to realize the guidance of the tunneling machine.
The space attitude of the heading machine is directly acquired by the arranged optical fiber gyroscope, and the arrangement of a prism is avoided, so that a measuring channel does not need to be reserved, and the influence of the measuring channel on the design of the heading machine can be avoided. The output frequency of the optical fiber gyroscope can reach 1 second, and the heading machine can be guided in time. And the position of the optical fiber gyroscope does not need to be changed after the optical fiber gyroscope is installed and fixed, so that the problem that a rearview prism in a prism guide system is difficult to move is solved. The optical fiber gyroscope can acquire the rotation angular velocity of the tunneling machine in real time, and the static level gauge is matched to acquire the displacement of the tunneling machine in the vertical direction in real time, so that the real-time posture and the actual tunneling path of the tunneling machine can be obtained, and the propelling route of the tunneling machine can be obtained by combining the design path of the tunneling machine, so that the guidance of the tunneling machine is realized, and the tunneling machine can accord with the design path as much as possible.
The heading machine guiding method based on the optical fiber gyroscope is further improved in that the number of the provided optical fiber gyroscopes, the number of the accelerometers and the number of the static leveling instruments are three, and the three optical fiber gyroscopes, the three accelerometers and the three static leveling instruments are arranged on the heading machine at intervals.
The heading machine guiding method based on the optical fiber gyroscope is further improved in that the output frequency of the provided optical fiber gyroscope is 1-3 seconds.
The invention further improves a heading machine guiding method based on an optical fiber gyroscope, and the method comprises the following steps of calculating a propelling route of the heading machine through the actual heading route and the design route of the heading machine, wherein the propelling route comprises the following steps:
converting the designed path into a coordinate system of the heading machine, and obtaining a deviation direction of the actual heading path and the designed path in the coordinate system of the heading machine so as to obtain a deviation correcting direction;
calculating a deviation value of the actual tunneling path and the designed path to be used as deviation rectifying displacement;
and converting the deviation rectifying direction and the deviation rectifying displacement into propelling stroke control data of the heading machine to be used as a propelling route of the heading machine.
The invention also provides a heading machine guiding system based on the optical fiber gyroscope, which comprises:
the optical fiber gyroscope is arranged on the tunneling machine and used for acquiring real-time attitude data of the tunneling machine in the tunneling process;
the accelerometer is arranged on the heading machine and close to the optical fiber gyroscope and is used for acquiring speed data of the heading machine in a heading process;
the static level gauge is arranged on the tunneling machine and close to the optical fiber gyroscope and used for acquiring horizontal fall data of the tunneling machine; and
the processing unit is connected with the optical fiber gyroscope, the accelerometer and the static level and used for receiving real-time attitude data acquired by the optical fiber gyroscope, speed data acquired by the accelerometer and horizontal drop data acquired by the static level, the processing unit is further connected with the heading machine and used for calculating an actual heading path of the heading machine according to the real-time attitude data, the speed data and the horizontal drop data, calculating a propulsion route of the heading machine through the actual heading path and a design path of the heading machine, and controlling the heading machine to heading forwards by utilizing the propulsion route to realize the guiding of the heading machine.
The heading machine guide system based on the optical fiber gyroscope is further improved in that the number of the optical fiber gyroscopes, the accelerometers and the static leveling instruments is three, and the optical fiber gyroscopes, the accelerometers and the static leveling instruments are arranged on the heading machine at intervals.
The development of the heading machine guide system based on the optical fiber gyroscope is further improved in that the output frequency of the optical fiber gyroscope is 1 to 3 seconds.
The heading machine guide system based on the optical fiber gyroscope is further improved in that the processing unit is used for converting the design path into a coordinate system of the heading machine, obtaining a deviation direction of the actual heading path and the design path and a deviation value of the actual heading path and the design path by comparing the actual heading path and the design path, and converting the deviation direction and the deviation value into propelling stroke control data of the heading machine to serve as a propelling route of the heading machine.
Drawings
Fig. 1 is a flow chart of the heading machine guiding method based on the optical fiber gyroscope.
Fig. 2 is a system diagram of the heading machine guiding system based on the optical fiber gyroscope.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1, the invention provides a heading machine guiding system and method based on an optical fiber gyroscope, which are used for solving the following problems of the existing guiding system: the total station and the prism are used for measurement, and a measurement channel is required to be reserved in the design of the heading machine in such a measurement mode, so that the design of the heading machine is influenced to a certain extent; during measurement, a plurality of prisms in space must be scanned one by one, the output period of the measurement result is more than 1 minute, and the frequency is low; in some sharp curve, small diameter projects, the installation of the measurement prism, and the moving of the rear view prism have certain difficulties. According to the heading machine guiding system and method based on the optical fiber gyroscope, the optical fiber gyroscope is used for collecting the real-time posture of the heading machine, a measuring channel does not need to be reserved, the output frequency of a measuring result can reach 1 second, a rearview prism does not need to be frequently moved, and the problems of the existing total station and prism measurement can be effectively solved. The invention relates to a heading machine guiding system and a heading machine guiding method based on an optical fiber gyroscope, which are described in the following by combining with the accompanying drawings.
Referring to fig. 2, a system diagram of the heading machine guiding system based on the optical fiber gyroscope of the invention is shown. The heading machine guiding system based on the optical fiber gyroscope of the invention is described below with reference to fig. 2.
As shown in fig. 2, the heading machine guiding system based on the optical fiber gyroscope of the present invention includes an optical fiber gyroscope 21, a static level 22, an accelerometer 24 and a processing unit 23, wherein the optical fiber gyroscope 21 is installed on the heading machine, and the optical fiber gyroscope 21 is used for acquiring real-time attitude data of the heading machine during a heading process; the accelerometer 24 is arranged on the heading machine and close to the optical fiber gyroscope 21 and is used for acquiring speed data of the heading machine in a heading process; the static level 22 is arranged on the heading machine and is close to the optical fiber gyroscope 21, and the static level 22 is used for acquiring horizontal fall data of the heading machine; the processing unit 23 is connected with the optical fiber gyroscope 21 and the static level 22, the processing unit 23 is used for receiving real-time attitude data acquired by the optical fiber gyroscope 21 and horizontal drop data acquired by the static level 22, the processing unit 23 is further connected with the heading machine, preferably, the processing unit 23 is connected with the heading machine PLC30 in a control mode, the processing unit 23 is used for calculating an actual heading path of the heading machine according to the real-time attitude data, the speed data and the horizontal drop data, calculating a propelling route of the heading machine according to the actual heading path and a design path of the heading machine, and controlling the heading machine to advance by utilizing the propelling route so as to achieve guiding of the heading machine.
Preferably, the processing unit 23 is further configured to obtain the propelling stroke change data of the heading machine PLC30, and calculate the actual heading path of the heading machine by combining the propelling stroke change data, the real-time attitude data and the horizontal drop data. The propulsion stroke variation data is preferably calculated as movement distance information of the heading machine during the scanning period.
The fiber optic gyroscope enables the precise determination of the orientation of a moving object, which is based primarily on the seegmire theory, when the light beam travels in a circular path, which, if it has a rotational speed, requires more time for the light to travel in the direction of the path rotation than in the opposite direction of the path rotation. That is, when the optical loop rotates, the optical path of the optical loop does not change in a different traveling direction from the optical path of the loop when the loop is stationary, and by detecting a phase difference between the two optical paths or a change in interference fringes due to the change in the optical paths, the angular velocity of the rotation of the optical paths can be measured, and the attitude of the optical fiber gyro in space can be fed back.
The accelerometer is arranged on the heading machine, can acquire the acceleration change of the heading machine, and can obtain the movement speed of the heading machine as speed data by integrating the acceleration change.
The hydrostatic level is a precision instrument for measuring the relative settlement of each measuring point of a foundation and a building, in a system of the hydrostatic level, the vertical displacement of each measuring point is changed relative to one point (also called a reference point) of the static level, and the vertical displacement of the point is relatively constant or can be accurately determined in other modes so as to accurately calculate the settlement change quantity of each measuring point of a manager level system.
The working principle of the heading machine guide system based on the optical fiber gyroscope is as follows: the optical fiber gyroscope collects the real-time attitude of the heading machine, the stroke data of the built-in stroke sensor of the thrust cylinder and the displacement of the heading machine in the vertical direction collected by the static level gauge are combined with the speed data measured by the accelerometer, the actual heading path of the shield machine can be calculated in each calculated scanning period, and then compared with the designed path of the heading machine, the heading path of the shield machine can be obtained, the heading machine is controlled to heading forwards by directly utilizing the heading path, and the guiding of the heading machine can be realized.
Preferably, the heading machine of the present invention is a shield machine.
In one embodiment of the invention, the number of the optical fibre gyroscopes 21, the accelerometers 24 and the static levels 22 is three, and the three are mounted on the heading machine at intervals. Preferably, three optical fibre gyroscopes 21, accelerometers 24 and hydrostatic levels 22 are mounted at the front, middle and rear of the heading machine respectively. When the heading machine is a shield tunneling machine, the three optical fiber gyroscopes 21, the accelerometers 24 and the three static level gauges 22 are matched and mounted at the front part, the middle part and the rear part of the shield tunneling machine, the shield tunneling machine comprises a front shield and a rear shield which are hinged, and a group of optical fiber gyroscopes 21, the accelerometers 24 and the static level gauges 22 are mounted at the center of the front end of the front shield and used for collecting attitude data of the cut center of the shield tunneling machine. And the other group of the optical fiber gyroscopes 21, the accelerometers 24 and the hydrostatic level 22 are arranged at the central position of the hinged part of the front shield and the rear shield and are used for acquiring the attitude data of the center of the middle part of the shield tunneling machine. And the last group of the optical fiber gyroscopes 21, the accelerometers 24 and the static level 22 are arranged at the center of the rear end of the rear shield and are used for acquiring attitude data of the center of the shield tail of the shield tunneling machine. The real-time attitude information of the shield tunneling machine can be obtained through attitude data obtained by the three groups of optical fiber gyroscopes 21, the accelerometers 24 and the hydrostatic level 22. The hydrostatic level 22 has a water box which is partially mounted on the rear assembled tube sheet when the hydrostatic level 22 is mounted.
In one embodiment of the present invention, the output frequency of the optical fiber gyro is 1 to 3 seconds. Preferably, the output frequency of the optical fiber gyro is 1 second. The calculation scanning period is set to be 10 times to 20 times of the output frequency of the optical fiber gyroscope, and the actual tunneling path of the shield tunneling machine can be calculated once every 10 seconds to 20 seconds.
The optical fiber gyroscope acquires the real-time postures of the shield machine, all the real-time postures in the operation scanning period are associated according to propulsion to form a travelling path, the travelling path is integrated to obtain the travelling track of the shield machine, the horizontal fall data is combined to the travelling track to obtain the actual tunneling path of the shield machine, and the actual tunneling path is under the coordinate system of the shield machine.
In an embodiment of the present invention, the processing unit 23 is configured to convert the designed path into a coordinate system of the heading machine, and compare the actual heading path with the designed path to obtain a deviation direction between the actual heading path and the designed path and a deviation value between the actual heading path and the designed path, and further convert the deviation direction and the deviation value into propulsion stroke control data of the heading machine as a propulsion route of the heading machine. Specifically, the design path is established based on a geodetic coordinate system, the design path is converted into a coordinate system of the heading machine, the design path can be visually compared with an actual heading path, if the heading process of the heading machine is not deviated, the design heading path and the design path are in a superposition state, when the design path is compared, if the actual heading path and the design path are not superposed, the heading of the heading machine is deviated, a deviation direction can be obtained through the deviation direction of the actual heading path from the design path, a deviation value can be obtained according to the deviation distance between the actual path and the design path, the heading machine can be adjusted to correct the deviation towards the design path according to the deviation direction and the deviation value, for the implementation of the heading machine, the deviation direction and the deviation value are converted into the propelling stroke control data of the heading machine, and the propelling stroke control data are directly sent to the heading machine PLC30 by the processing unit 23, the heading machine PLC30 is capable of executing propulsion stroke control data to achieve heading during heading of the heading machine.
The processing unit 23 of the present invention may be directly integrated into the roadheader PLC30 or may be mounted on an upper computer.
The invention also provides a heading machine guiding method based on the optical fiber gyroscope, and the guiding method is explained below.
As shown in fig. 1, the heading machine guiding method based on the optical fiber gyroscope of the present invention includes the following steps:
executing step S11, providing an optical fiber gyroscope, and installing the optical fiber gyroscope on the heading machine; then, step S12 is executed;
executing step S12, providing an accelerometer, and mounting the accelerometer on the heading machine close to the optical fiber gyroscope; then, step S13 is executed;
step S13 is executed, a static level is provided, and the static level is close to the optical fiber gyroscope and is installed on the heading machine; then, step S1,4 is executed;
step S14 is executed, in the tunneling process of the tunneling machine, real-time attitude data of the tunneling machine are obtained through the optical fiber gyroscope, horizontal fall data of the tunneling machine are obtained through the static level gauge, and speed data of the tunneling machine are obtained through the accelerometer; then, step S15 is executed;
and S15, calculating to obtain an actual tunneling path of the heading machine according to the acquired real-time attitude data and the acquired horizontal drop data, calculating to obtain a propelling route of the heading machine through the actual tunneling path and a design path of the heading machine, and controlling the heading machine to drive forwards by using the propelling route to realize the guiding of the heading machine.
In one embodiment of the invention, the number of the optical fiber gyroscopes, the accelerometers and the static levels is three, and the three optical fiber gyroscopes, the three accelerometers and the three static levels are arranged on the heading machine at intervals. Preferably, three fiber optic gyroscopes, three accelerometers and three hydrostatic levels are mounted at the front, middle and rear of the heading machine. Preferably, when the heading machine is a shield tunneling machine, the three optical fiber gyroscopes 21 and the three static level gauges 22 are mounted at the front, middle and rear of the shield tunneling machine in a matching manner, the shield tunneling machine comprises a front shield and a rear shield, the front shield and the rear shield are connected in a hinged manner, and the group of optical fiber gyroscopes 21 and the group of static level gauges 22 are mounted at the center of the front end of the front shield and used for collecting attitude data of the notch center of the shield tunneling machine. And the other group of optical fiber gyroscopes 21 and the static level gauges 22 are arranged at the central position of the hinged part of the front shield and the rear shield and are used for acquiring the attitude data of the center of the middle part of the shield tunneling machine. And the last group of optical fiber gyroscopes 21 and the static level 22 are arranged at the center of the rear end of the rear shield and are used for acquiring attitude data of the center of the shield tail of the shield tunneling machine. The real-time attitude information of the shield tunneling machine can be obtained through attitude data obtained by the three groups of optical fiber gyroscopes 21 and the static level 22.
In one embodiment of the present invention, the output frequency of the optical fiber gyro is provided to be 1 to 3 seconds. Preferably, the output frequency of the optical fiber gyro is 1 second. The calculation scanning period is set to be 10 times to 20 times of the output frequency of the optical fiber gyroscope, and the actual tunneling path of the shield tunneling machine can be calculated once every 10 seconds to 20 seconds.
In one embodiment of the present invention, the step of calculating the propulsion route of the heading machine from the actual heading route and the design route of the heading machine includes:
converting the designed path into a coordinate system of the heading machine, and obtaining the deviation direction of the actual heading path and the designed path in the coordinate system of the heading machine so as to obtain the deviation correcting direction;
calculating a deviation value between the actual tunneling path and the designed path as deviation-correcting displacement;
and converting the deviation correcting direction and the deviation correcting displacement into the propelling stroke control data of the heading machine as the propelling route of the heading machine.
The method comprises the steps that the optical fiber gyroscope gives a real-time attitude of the heading machine, the attitude is combined with propulsion to form, a travelling path can be calculated in each operation scanning period, the paths can be connected into a travelling track of the heading machine through integration, during calculation, the static leveling instrument is used for compensating vertical displacement generated by external force acting on the heading machine, during operation, attitude data of the optical fiber gyroscope, horizontal fall data of the static leveling instrument and variation data of a propulsion stroke in the heading machine PLC are collected, and a propulsion route of the heading machine is obtained through calculation.
While the present invention has been described in detail and with reference to the embodiments thereof as illustrated in the accompanying drawings, it will be apparent to one skilled in the art that various changes and modifications can be made therein. Therefore, certain details of the embodiments are not to be interpreted as limiting, and the scope of the invention is to be determined by the appended claims.
Claims (8)
1. A heading machine guiding method based on an optical fiber gyroscope is characterized by comprising the following steps:
providing a fiber optic gyroscope, and mounting the fiber optic gyroscope on the heading machine;
providing an accelerometer, and mounting the accelerometer on the heading machine close to the optical fiber gyroscope;
providing a static level gauge, and mounting the static level gauge on the heading machine close to the optical fiber gyroscope;
in the tunneling process of the tunneling machine, acquiring real-time attitude data of the tunneling machine through the optical fiber gyroscope, acquiring horizontal fall data of the tunneling machine through the static level gauge, and acquiring speed data of the tunneling machine through the accelerometer; and
and calculating to obtain an actual tunneling path of the tunneling machine according to the acquired real-time attitude data, the speed data and the horizontal drop data, calculating to obtain a propelling route of the tunneling machine through the actual tunneling path and a design path of the tunneling machine, and controlling the tunneling machine to tunnel forwards by using the propelling route so as to realize the guidance of the tunneling machine.
2. A method of guiding a fibre-optic gyroscope based heading machine according to claim 1 wherein three fibre-optic gyroscopes, three accelerometers and three hydrostatic levels are provided, the three fibre-optic gyroscopes, three accelerometers and three hydrostatic levels being mounted on the heading machine at intervals.
3. The fiber optic gyroscope-based heading machine guidance method of claim 1 wherein the fiber optic gyroscope is provided with an output frequency of 1 to 3 seconds.
4. The optical fiber gyro-based heading machine guidance method according to claim 1, wherein the step of calculating a heading machine propulsion route from the actual heading path and a design path of the heading machine comprises:
converting the designed path into a coordinate system of the heading machine, and obtaining a deviation direction of the actual heading path and the designed path in the coordinate system of the heading machine so as to obtain a deviation correcting direction;
calculating a deviation value of the actual tunneling path and the designed path to be used as deviation rectifying displacement;
and converting the deviation rectifying direction and the deviation rectifying displacement into propelling stroke control data of the heading machine to be used as a propelling route of the heading machine.
5. The utility model provides a entry driving machine guide system based on fiber gyroscope which characterized in that includes:
the optical fiber gyroscope is arranged on the tunneling machine and used for acquiring real-time attitude data of the tunneling machine in the tunneling process;
the accelerometer is arranged on the heading machine and close to the optical fiber gyroscope and is used for acquiring speed data of the heading machine in a heading process;
the static level gauge is arranged on the tunneling machine and close to the optical fiber gyroscope and used for acquiring horizontal fall data of the tunneling machine; and
the processing unit is connected with the optical fiber gyroscope, the accelerometer and the static level and used for receiving real-time attitude data acquired by the optical fiber gyroscope, speed data acquired by the accelerometer and horizontal drop data acquired by the static level, the processing unit is further connected with the heading machine and used for calculating an actual heading path of the heading machine according to the real-time attitude data, the speed data and the horizontal drop data, calculating a propulsion route of the heading machine through the actual heading path and a design path of the heading machine, and controlling the heading machine to heading forwards by utilizing the propulsion route to realize the guiding of the heading machine.
6. A heading machine guide system according to claim 5 wherein the number of fibre optic gyroscopes, accelerometers and hydrostatic levels is three, mounted on the heading machine at intervals.
7. A heading machine guide system according to claim 5 wherein the output frequency of the optical fibre gyro is 1 to 3 seconds.
8. The system of claim 5, wherein the processing unit is configured to convert the design path into a coordinate system of the heading machine, and compare the actual heading path with the design path to obtain a deviation direction of the actual heading path from the design path and a deviation value of the actual heading path from the design path, and further convert the deviation direction and the deviation value into the propulsion stroke control data of the heading machine as the propulsion route of the heading machine.
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