CN114279405B - Oil cylinder root angle measurement device and dual-shield heading machine attitude measurement system - Google Patents
Oil cylinder root angle measurement device and dual-shield heading machine attitude measurement system Download PDFInfo
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Abstract
The invention relates to an oil cylinder root angle measuring device and a double-shield tunneling machine attitude measuring system. Wherein, hydro-cylinder root angle measuring device includes: the device comprises a first inclinometer fixed on a measured oil cylinder and a rotation transmission device fixed at the root of the measured oil cylinder, wherein a second inclinometer is arranged on the rotation transmission device; the first inclinometer and the second inclinometer are connected with a computer, the computer obtains the rolling angle and the pitch angle of the measured oil cylinder according to the data detected by the first inclinometer, and obtains the azimuth angle of the measured oil cylinder according to the data detected by the second inclinometer. The invention can accurately measure the pitch angle, the rolling angle and the azimuth angle of the root of the oil cylinder in the working process of the measured oil cylinder.
Description
Technical Field
The invention relates to the technical field of engineering construction, in particular to an oil cylinder root angle measuring device and a double-shield heading machine attitude measuring system.
Background
The spherical hinge is widely applied to the small turning radius heading machine, has the advantages of flexible rotation, large rotation range and the like, but the spherical hinge device is often large in movement range and narrow in control for installing the measuring device when working, and seriously affects the position measurement work of the spherical hinge.
Currently there is a lack of effective measuring devices, since the installation of spherically articulated equipment usually does not allow personnel to bypass during operation for safety reasons; because the spherical hinge has a large movable range and flexible movement, the conventional measuring equipment is difficult to measure the rotation angles of three dimensions of rolling, pitching and azimuth simultaneously; and the installation space around the spherical hinge is usually not large, which also presents considerable difficulties for the installation and operation of the measuring device.
In view of the above, the real-time accurate measurement device with high automation degree and large measurement range, which can simultaneously measure the rotation angles of three dimensions of rolling, pitching and azimuth, and has small requirements on installation and working space, is provided for spherical hinging in reasonable cost, helps the normal operation of a guiding system, helps a small turning radius heading machine to obtain pose data in real time, and is a problem to be solved by the industry.
Disclosure of Invention
The invention aims to solve the technical problem of providing an oil cylinder root angle measuring device and a double-shield tunneling machine attitude measuring system, which can accurately measure the pitch angle, the roll angle and the azimuth angle of the oil cylinder root in the working process of a measured oil cylinder.
The technical scheme adopted for solving the technical problems is as follows: provided is an oil cylinder root angle measuring device, comprising: the device comprises a first inclinometer fixed on a measured oil cylinder and a rotation transmission device fixed at the root of the measured oil cylinder, wherein a second inclinometer is arranged on the rotation transmission device; the first inclinometer and the second inclinometer are connected with a computer, the computer obtains the rolling angle and the pitch angle of the measured oil cylinder according to the data detected by the first inclinometer, and obtains the azimuth angle of the measured oil cylinder according to the data detected by the second inclinometer.
The rotation transmission device comprises a portal and a connecting rod, the portal is arranged at the root position of the tested oil cylinder, one end of the connecting rod is connected with the middle part of a horizontal rod of the portal, and the other end of the connecting rod is connected with the second inclinometer; when the measured oil cylinder changes in angle, the connecting rod and the second inclinometer can rotate around a rotating shaft parallel to the axis direction of the measured oil cylinder, and a return spring used for ensuring the joint of the connecting rod and the portal frame is arranged on the rotating shaft.
The computer includes: the first receiving unit is used for receiving the angle observation value of the measured oil cylinder relative to the X-axis direction of the coordinate system and the angle observation value of the measured oil cylinder relative to the Y-axis direction of the coordinate system, which are detected by the first inclinometer, wherein the coordinate system is established by taking the rotation center of the measured oil cylinder as an origin, the axis direction of the measured oil cylinder as an X axis, the horizontal normal direction of the axis of the measured oil cylinder as a Y axis and the vertical normal direction of the axis of the measured oil cylinder as a Z axis; the second receiving unit is used for receiving the data detected by the second inclinometer; the first calculation unit is used for taking the angle observation value of the measured oil cylinder detected by the first inclinometer in the X-axis direction of the coordinate system as the pitch angle of the measured oil cylinder, and calculating the angle observation value of the measured oil cylinder detected by the first inclinometer in the X-axis direction of the coordinate system and the angle observation value of the measured oil cylinder in the Y-axis direction of the coordinate system to obtain the rolling angle of the measured oil cylinder; and the second calculation unit is used for calculating according to the data detected by the second inclinometer to obtain the azimuth angle of the measured oil cylinder.
The second calculation unit is based onWherein a is the height from the portal frame to the surface of the cylinder to be measured, alpha is the data detected by the second inclinometer, h represents the horizontal displacement amount generated by the portal frame when the azimuth angle of the cylinder to be measured changes, l represents the distance from the portal frame mounting position of the cylinder to be measured to the rotation center, and azimuth represents the azimuth angle of the cylinder to be measured.
The technical scheme adopted for solving the technical problems is as follows: the system is characterized by comprising the oil cylinder root angle measuring device, an inclination angle detecting device, a laser target, an industrial computer, a total station and a rearview prism, wherein the oil cylinder root angle measuring device is arranged at the joint of a supporting shield and a main pushing oil cylinder base, the inclination angle detecting device is arranged on a front shield, the laser target is arranged on the supporting shield, and the total station and the rearview prism are arranged on a hole wall;
the oil cylinder root angle measuring device is used for measuring a pitch angle, a rolling angle and an azimuth angle of the main pushing oil cylinder; the inclination angle detection device is used for measuring the pitch angle and the rolling angle of the front shield;
the total station positions the total station by measuring the rearview prism, and the industrial computer calculates the posture of the supporting shield according to the total station measuring the laser target;
the industrial computer also calculates the gesture of the connecting end of the main pushing oil cylinder and the supporting shield according to the calculated gesture of the supporting shield;
the industrial computer also calculates the gesture of the connecting end of the main pushing oil cylinder and the front shield according to the calculated gesture of the connecting end of the main pushing oil cylinder and the supporting shield, the pitch angle, the rolling angle and the azimuth angle of the main pushing oil cylinder measured by the oil cylinder root angle measuring device, and the stroke of the main pushing oil cylinder, and calculates the gesture of the front shield according to the calculated gesture of the connecting end of the main pushing oil cylinder and the front shield, and the pitch angle and the rolling angle of the front shield measured by the inclination angle detecting device.
One end of the main pushing oil cylinder is provided with a front spherical center, the other end of the main pushing oil cylinder is provided with a rear spherical center, the main pushing oil cylinder is connected with the front shield through the front spherical center, and the main pushing oil cylinder is connected with the support shield through the rear spherical center.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: according to the invention, the angle measurement of the root of the oil cylinder is realized in the working process of the oil cylinder through the two inclinometers, so that the problem that manual measurement cannot be realized due to the fact that a person cannot bypass the station in the working process is solved; the measuring device can measure in a spherical hinge working range, and solves the problem that the rotation angles of three dimensions of rolling, pitching and azimuth cannot be measured simultaneously in the prior art; the measuring device is simple and convenient to install, has small working space requirement, and solves the problem that spherical hinge working space installation equipment is difficult; the invention can effectively and accurately measure the rotation angles of the three dimensions of rolling, pitching and azimuth of the tested oil cylinder in the running process, provides accurate angle data for the operation of the oil cylinder guiding system, and ensures the continuity and real-time performance of the guiding system data.
Drawings
Fig. 1 is a front view of a first embodiment of the present invention;
FIG. 2 is a side view of a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a first embodiment of the invention when measuring azimuth;
fig. 4 is a schematic structural view of a second embodiment of the present invention.
Detailed Description
The invention will be further illustrated with reference to specific examples. It is to be understood that these examples are illustrative of the present invention and are not intended to limit the scope of the present invention. Further, it is understood that various changes and modifications may be made by those skilled in the art after reading the teachings of the present invention, and such equivalents are intended to fall within the scope of the claims appended hereto.
A first embodiment of the present invention relates to an oil cylinder root angle measurement apparatus, as shown in fig. 1 and 2, including: the device comprises a first inclinometer 2 fixed on a measured oil cylinder 1 and a rotation transmission device 3 fixed on the root of the measured oil cylinder 1, wherein a second inclinometer 4 is arranged on the rotation transmission device 3; the first inclinometer 1 and the second inclinometer 4 are both connected with a computer, the computer obtains the rolling angle and the pitch angle of the tested oil cylinder 1 according to the data detected by the first inclinometer 2, and obtains the azimuth angle of the tested oil cylinder 1 according to the data detected by the second inclinometer 4.
The rotation transmission device 3 in the embodiment comprises a portal 31 and a connecting rod 32, wherein the portal 31 is arranged at the root position of the tested oil cylinder 1, one end of the connecting rod 32 is connected with the middle part of a horizontal rod of the portal 31, and the other end of the connecting rod is connected with the second inclinometer 4; when the measured oil cylinder 1 changes in angle, the connecting rod 32 and the second inclinometer 4 can rotate around a rotating shaft 5 parallel to the axis direction of the measured oil cylinder 1, and a return spring for ensuring the connecting rod 32 to be attached to the door frame 31 is arranged on the rotating shaft 5.
The computer includes: the first receiving unit is used for receiving an angle observation value of the measured oil cylinder 1 in the X-axis direction of a relative coordinate system and an angle observation value of the measured oil cylinder in the Y-axis direction of the relative coordinate system, which are detected by the first inclinometer 2, wherein the coordinate system is established by taking the rotation center of the measured oil cylinder as an origin, the axis direction of the measured oil cylinder as an X axis, the horizontal normal direction of the axis of the measured oil cylinder as a Y axis and the vertical normal direction of the axis of the measured oil cylinder as a Z axis; the second receiving unit is used for receiving the data detected by the second inclinometer 4; a first calculation unit, configured to take an angle observation value of the measured oil cylinder 1 detected by the first inclinometer 2 in a direction of an X axis of a coordinate system as a pitch angle of the measured oil cylinder 1, and take an angle observation value of the measured oil cylinder 1 detected by the first inclinometer 2 in a direction of a Y axis of the coordinate system as a roll angle of the measured oil cylinder 1; the second calculating unit is configured to calculate, according to the data detected by the second inclinometer 4, an azimuth angle of the measured cylinder.
The second calculation unit is based onWherein a is the height from the portal frame to the surface of the cylinder to be measured, alpha is the data detected by the second inclinometer, h represents the horizontal displacement amount generated by the portal frame when the azimuth angle of the cylinder to be measured changes, l represents the distance from the portal frame mounting position of the cylinder to be measured to the rotation center, and azimuth represents the azimuth angle of the cylinder to be measured.
According to the oil cylinder root angle measuring device, the measured oil cylinder can be measured with the rotation angle parameter of the fixed position according to different measuring requirements in actual engineering measurement.
When the oil cylinder root angle measuring device needs to measure the rotation angle of the oil cylinder 1 and the fixed position 7, the measuring process is specifically as follows:
step (1): establishing a relative coordinate system with the spherical center of the spherical hinge 6 as an origin O, the horizontal extension axis direction of the measured oil cylinder 1 as an X axis, the horizontal normal direction of the X axis as a Y axis and the vertical direction of the X axis as a Z axis;
step (2): after the installation is finished, the spherical hinge 6 is received into an original position, and initial readings of the first inclinometer and the second inclinometer are read;
step (3): when the spherical hinge 6 starts to work, the numerical values of the first inclinometer and the second inclinometer are read, and the initial readings of the first inclinometer and the second inclinometer are subtracted to obtain observed values;
step (4): the angle observation value B of the oil cylinder of the first inclinometer 2 relative to the X-axis direction of the coordinate system is the pitch angle of the oil cylinder;
step (5): the angle observation value A of the oil cylinder of the first inclinometer 2 relative to the Y-axis direction of the coordinate system is the roll angle roll of the oil cylinder;
step (6): as shown in fig. 3, the point O is the center point of sphere of the spherical hinge 6, that is, the origin of the coordinate system, the point B is the center point of the rotation axis of the second inclinometer 4, OC is the axial length l of the measured cylinder 1 in the original state, point C is the vertical foot from point B to OC, BC is the height a of the gantry to the measured cylinder 1, a is the auxiliary point, OABC forms a rectangle, ab=oc, ao=bc and is known, when the spherical hinge starts to rotate, the axial line of the measured cylinder 1 moves to the OD position, the reading of the second inclinometer 4 is +_cbd=α, the length of CD can be obtained by the formula bc×tan (+_cbd), and the azimuth angle of the cylinder can be calculated by the formula +_cod=arctan (CD/OC).
The second embodiment of the invention relates to a dual-shield tunneling machine attitude measurement system, which comprises an oil cylinder root angle measurement device 10, an inclination angle detection device 11, a laser target 12, an industrial computer 13, a total station 14 and a rearview prism 15 according to the first embodiment, wherein the oil cylinder root angle measurement device 10 is arranged at the joint of a support shield 16 and a base of a main pushing oil cylinder 17, the inclination angle detection device 11 is arranged on a front shield 18, the laser target 12 is arranged on the support shield 16, and the total station 14 and the rearview prism 15 are arranged on a tunnel wall. One end of the main pushing cylinder 17 is provided with a front spherical center, the other end of the main pushing cylinder is provided with a rear spherical center, the main pushing cylinder 17 is connected with the front shield 18 through the front spherical center, and the main pushing cylinder 17 is connected with the support shield 16 through the rear spherical center.
The oil cylinder root angle measuring device 10 is used for measuring a pitch angle, a roll angle and an azimuth angle of the main pushing oil cylinder 17; the inclination angle detection device 11 is used for measuring the pitch angle and the roll angle of the front shield 18;
the total station 14 positions itself by measuring the rearview prism 15, and the industrial computer 13 calculates the posture of the supporting shield 16 according to the total station 14 measuring the laser target 12;
the industrial computer 14 also calculates the attitude of the connecting end of the main pushing cylinder 17 and the supporting shield 16 according to the calculated attitude of the supporting shield 16;
the industrial computer 14 also calculates the attitude of the connection end of the main pushing cylinder 17 and the front shield 18 according to the calculated attitude of the connection end of the main pushing cylinder 17 and the support shield 16, the pitch angle, the roll angle and the azimuth angle of the main pushing cylinder 17 measured by the cylinder root angle measuring device 10, and the stroke of the main pushing cylinder 17, and calculates the attitude of the front shield 18 according to the calculated attitude of the connection end of the main pushing cylinder 17 and the front shield 18, and the pitch angle and the roll angle of the front shield 18 measured by the inclination angle detecting device 11.
When the dual-shield tunneling machine attitude measurement system is used for measurement, the method specifically comprises the following steps:
step (1): before tunneling in the construction of a tunneling machine, initial measurement data are obtained under the same coordinate system, wherein the initial measurement data comprise: measuring initial three-dimensional coordinates of an axis end point of the support shield 16, an axis end point of the front shield 18, a front spherical center and a rear spherical center of the main push cylinder 16, an initial pitch angle and a rolling angle of the front shield 18, and an initial pitch angle and a rolling angle of the support shield 16;
the industrial computer 14 calculates an initial position relationship between the laser target 4 and the support shield 16 according to the initial measurement data, calculates an initial position relationship between the oil cylinder root angle measurement device 10 and the main push oil cylinder 17 according to the initial measurement data, calculates an initial position relationship between the front spherical center of the main push oil cylinder 17 and the front shield 18 according to the initial measurement data, calculates an initial position relationship between the rear spherical center of the main push oil cylinder 17 and the support shield 16 according to the initial measurement data, and calculates an initial position relationship between the inclination angle detection device 11 and the front shield 18 according to the initial measurement data.
Step (2): in the construction process of the heading machine, the total station 14 arranged on the wall of the tunnel determines the real-time position information of the supporting shield 16 by measuring the laser target 12 in real time, and the industrial computer 14 calculates the real-time three-dimensional coordinate of the rear spherical center of the main pushing cylinder 17 according to the real-time position information of the supporting shield 16 because the position relation between the rear spherical center of the main pushing cylinder 17 and the supporting shield 16 is relatively fixed.
Step (3): according to the calculated real-time three-dimensional coordinates of the rear sphere center of the main pushing cylinder 17, the rolling angle, the pitch angle and the azimuth angle changes of the main pushing cylinder 17 relative to the support shield 16, which are measured by the cylinder root angle measuring device 10, and the stroke of the main pushing cylinder, the real-time three-dimensional coordinates of the front sphere center of the main pushing cylinder 17 are obtained through coordinate positive calculation; because the position relationship between the front spherical center of the main pushing cylinder 17 and the front shield 18 is relatively fixed, the industrial computer 14 calculates the real-time position information of the front shield 18 by adopting a seven-parameter model according to the calculated real-time three-dimensional coordinates of the front spherical center of the main pushing cylinder 17 and the rolling angle and the pitch angle of the front shield 18 measured by the inclination angle detection device 11, compares the calculated real-time position information of the front shield 18 with the designed position posture, and finally displays the comparison result to a driver in real time.
The coordinate forward calculation formula is as follows:
X＝X 1 +L*cos(azimuth′)
Y＝Y 1 +L*sin(azimuth′)
Z＝Z 1 +L*tan(pitch′)
wherein X, Y and Z are three-dimensional coordinates of the front sphere center of the main pushing cylinder 17, X 1 ,Y 1 ,Z 1 For the three-dimensional coordinates of the rear center of the main push cylinder 17, l=l1+l2, L1 is the distance between the front center of the main push cylinder 17 and the rear center of the main push cylinder 17 at the initial calibrationL2 is the current stroke of the master cylinder, azimuth' =azimuth0+β, azimuth0 is the current azimuth of the support shield 16, β=j 2 -J 1 ，J 1 For current azimuth data detected by the angle measuring device 10, J 2 For the initial azimuth data detected by the angle measurement device 10, pitch' is pitch data detected by the angle measurement device 10.
It is easy to find that the invention realizes the angle measurement of the root of the oil cylinder in the working process of the oil cylinder through the two inclinometers, and solves the problem that the manual measurement cannot be performed because the personnel cannot bypass the station in the working process; the measuring device can measure in a spherical hinge working range, and solves the problem that the rotation angles of three dimensions of rolling, pitching and azimuth cannot be measured simultaneously in the prior art; the measuring device is simple and convenient to install, has small working space requirement, and solves the problem that spherical hinge working space installation equipment is difficult; the invention can effectively and accurately measure the rotation angles of the three dimensions of rolling, pitching and azimuth of the tested oil cylinder in the running process, provides accurate angle data for the operation of the oil cylinder guiding system, and ensures the continuity and real-time performance of the guiding system data.
Claims (5)
1. The utility model provides an hydro-cylinder root angle measurement device which characterized in that includes: the device comprises a first inclinometer fixed on a measured oil cylinder and a rotation transmission device fixed at the root of the measured oil cylinder, wherein a second inclinometer is arranged on the rotation transmission device; the first inclinometer and the second inclinometer are connected with a computer, the computer obtains the rolling angle and the pitch angle of the tested oil cylinder according to the data detected by the first inclinometer, and obtains the azimuth angle of the tested oil cylinder according to the data detected by the second inclinometer; the rotation transmission device comprises a portal and a connecting rod, the portal is arranged at the root position of the tested oil cylinder, one end of the connecting rod is connected with the middle part of a horizontal rod of the portal, and the other end of the connecting rod is connected with the second inclinometer; when the measured oil cylinder changes in angle, the connecting rod and the second inclinometer can rotate around a rotating shaft parallel to the axis direction of the measured oil cylinder, and a return spring used for ensuring the joint of the connecting rod and the portal frame is arranged on the rotating shaft.
2. The cylinder root angle measurement device according to claim 1, wherein the computer includes: the first receiving unit is used for receiving the angle observation value of the measured oil cylinder relative to the X-axis direction of the coordinate system and the angle observation value of the measured oil cylinder relative to the Y-axis direction of the coordinate system, which are detected by the first inclinometer, wherein the coordinate system is established by taking the rotation center of the measured oil cylinder as an origin, the axis direction of the measured oil cylinder as an X axis, the horizontal normal direction of the axis of the measured oil cylinder as a Y axis and the vertical normal direction of the axis of the measured oil cylinder as a Z axis; the second receiving unit is used for receiving the data detected by the second inclinometer; the first calculation unit is used for taking the angle observed value of the measured oil cylinder detected by the first inclinometer in the X-axis direction of the coordinate system as a pitch angle of the measured oil cylinder and taking the angle observed value of the measured oil cylinder detected by the first inclinometer in the Y-axis direction of the coordinate system as a rolling angle of the measured oil cylinder; and the second calculation unit is used for calculating according to the data detected by the second inclinometer to obtain the azimuth angle of the measured oil cylinder.
3. The cylinder root angle measurement apparatus according to claim 2, wherein the second calculation unit is configured toWherein a is the height from the portal frame to the surface of the cylinder to be measured, alpha is the data detected by the second inclinometer, h represents the horizontal displacement amount generated by the portal frame when the azimuth angle of the cylinder to be measured changes, l represents the distance from the portal frame mounting position of the cylinder to be measured to the rotation center, and azimuth represents the azimuth angle of the cylinder to be measured.
4. The attitude measurement system of the double-shield heading machine is characterized by comprising the oil cylinder root angle measurement device, an inclination angle detection device, a laser target, an industrial computer, a total station and a rearview prism, wherein the oil cylinder root angle measurement device is arranged at the joint of a supporting shield and a main pushing oil cylinder base, the inclination angle detection device is arranged on a front shield, the laser target is arranged on the supporting shield, and the total station and the rearview prism are arranged on a hole wall; the oil cylinder root angle measuring device is used for measuring a pitch angle, a rolling angle and an azimuth angle of the main pushing oil cylinder; the inclination angle detection device is used for measuring the pitch angle and the rolling angle of the front shield;
the total station positions the total station by measuring the rearview prism, and the industrial computer calculates the posture of the supporting shield according to the total station measuring the laser target;
the industrial computer also calculates the gesture of the connecting end of the main pushing oil cylinder and the supporting shield according to the calculated gesture of the supporting shield;
the industrial computer also calculates the gesture of the connecting end of the main pushing oil cylinder and the front shield according to the calculated gesture of the connecting end of the main pushing oil cylinder and the supporting shield, the pitch angle, the rolling angle and the azimuth angle of the main pushing oil cylinder measured by the oil cylinder root angle measuring device, and the stroke of the main pushing oil cylinder, and calculates the gesture of the front shield according to the calculated gesture of the connecting end of the main pushing oil cylinder and the front shield, and the pitch angle and the rolling angle of the front shield measured by the inclination angle detecting device.
5. The dual shield tunneling machine attitude measurement system according to claim 4, wherein one end of said main push cylinder is provided with a front center of sphere and the other end is provided with a rear center of sphere, said main push cylinder is connected to said front shield through said front center of sphere, and said main push cylinder is connected to said support shield through said rear center of sphere.
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| JPH09280860A (en) * | 1996-04-10 | 1997-10-31 | Tokimec Inc | Inclination angle measurement device |
| JP2005061969A (en) * | 2003-08-11 | 2005-03-10 | Asahi Kasei Electronics Co Ltd | Azimuthal angle measuring instrument and azimuthal angle measuring method |
| KR101906326B1 (en) * | 2018-04-05 | 2018-10-11 | 박창민 | Computer hydraulic synchronization system having leveler-mounted hydraulic jack and 3-axis clinometer for restoring and lifting structure, and method for the same |
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| CN111485879A (en) * | 2020-06-28 | 2020-08-04 | 中国铁建重工集团股份有限公司 | Heading machine vehicle body and positioning method and positioning system of cutting drum of heading machine vehicle body |
| CN111811461A (en) * | 2020-07-17 | 2020-10-23 | 黄淮学院 | Impression system and method for simultaneously measuring drilling tendency, inclination angle and perforation crack surface appearance |
| CN113566798A (en) * | 2021-07-20 | 2021-10-29 | 上海米度测量技术有限公司 | Attitude measurement system and method for double-shield tunneling machine |
-
2021
- 2021-11-30 CN CN202111440045.7A patent/CN114279405B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09280860A (en) * | 1996-04-10 | 1997-10-31 | Tokimec Inc | Inclination angle measurement device |
| JP2005061969A (en) * | 2003-08-11 | 2005-03-10 | Asahi Kasei Electronics Co Ltd | Azimuthal angle measuring instrument and azimuthal angle measuring method |
| KR101906326B1 (en) * | 2018-04-05 | 2018-10-11 | 박창민 | Computer hydraulic synchronization system having leveler-mounted hydraulic jack and 3-axis clinometer for restoring and lifting structure, and method for the same |
| CN109356608A (en) * | 2018-11-22 | 2019-02-19 | 山东新矿信息技术有限公司 | A kind of development machine, system and method |
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| CN111811461A (en) * | 2020-07-17 | 2020-10-23 | 黄淮学院 | Impression system and method for simultaneously measuring drilling tendency, inclination angle and perforation crack surface appearance |
| CN113566798A (en) * | 2021-07-20 | 2021-10-29 | 上海米度测量技术有限公司 | Attitude measurement system and method for double-shield tunneling machine |
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