Research on Real-time Attitude Detection Method of Shield Machine

In the construction of subway tunnels, the attitude detection of the shield machine is the most critical step in shield construction, which directly affects the tunnel penetration accuracy. In view of the limitations of the previous shield machine attitude detection methods such as complicated operation and low degree of automation, a method is proposed. Automatic detection method of shield machine attitude. First place the scanner on the shield machine control surface (ELS), calibrate the scanner to calculate the conversion parameters, and then convert the scanned point cloud coordinates into shield machine coordinates; then convert the converted shield machine coordinates and foundation The point cloud registration obtains the conversion parameters. The conversion parameters can be used to obtain the coordinates of the shield head and tail of the shield machine under the basic point cloud, so as to obtain the real-time axis of the shield machine, and compare it with the designed axis to judge the attitude of the shield machine is it right or not. Combined with simulation experiments in a tunnel, the feasibility of this method is verified.