基于测量机器人的盾构导向系统及应用  

Applications of shield navigation system compared based on georobot

作　　者：王涵[1,2] 姚连璧[2] 高俊强[3] 徐岩军[4] 

机构地区：[1]徐州市市政设计院有限公司,徐州221002 [2]现代工程测量国家测绘局重点实验室,上海200092 [3]南京工业大学,南京210009 [4]中铁一局,西安714000

出　　处：《工程勘察》2011年第10期56-60,共5页Geotechnical Investigation & Surveying

基　　金：江苏省建筑业科研项目-隧道盾构导向系统自动化研究(JGJH2008-07)

摘　　要：盾构法施工过程中,在保证精度的前提下高效地引导盾构机的挖掘方向具有十分重要的意义。本文基于测量机器人研制的盾构导向系统SNS综合了多个国外导向系统的特点,提供了3种计算模型并根据现场观测的结果进行自动的切换,可以适应更多的工作环境。为了验证系统的计算模型和测试运行情况,在苏州地铁I-TS-14标段进行了工程试验并与日本小松盾构机的ROBOTEC测量系统的结果进行了比对,结果说明SNS系统数学模型准确可靠,系统运行稳定,可以满足实际生产需要。It is very important to give a right guild efficiently when the TBM is digging the tunnel.The SNS（shield navigation system） is a new guild system for TBM,it contains several features of existing foreign shield guild systems,it provides 3 computing models and the system can automatically select the suitable model according to the monitoring data,so it can apply to more work environments.In order to check the computing models and running state of the system,the SNS is tested in the I-TS-14 project which is part of Suzhou metro.In the experiments,the SNS is compared with the ROBOTEC system,which is a Japanese TBM guild system by Xiaosong TBM.The result shows that the computing models are accurate and reliable,and the system runs stable and can meet the actual requirements.

关 键 词：测量机器人 盾构导向系统SNS 姿态测量 计算模型 

分 类 号：U452.17[建筑科学—桥梁与隧道工程]