Abstract
In order to solve automatic guidance problem of long-distance curved pipe jacking, an automatic guidance system for pipe jacking based on single-prism is presented in this paper. The single-prism system can automatically acquire 3D coordinates of the center of tunnel-boring-machine (TBM) tail, and can acquire horizontal and level deviations of the center of TBM tail with respect to the designed tunnel axis. The single-prism system has been successfully applied in practical pipe jacking projects. In order to obtain 3D orientations of TBM, an automatic guidance system for pipe jacking based on multivariate-data fusion is further proposed on the basis of the single-prism system. Mathematical models of the multivariate-data system have been tested in the ground testing site, and results showed that those models are feasible.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Bickel JO, Kuesel TR, King EH (1996) Tunnel engineering handbook. Springer, Boston, MA, USA, 13–45
Grafarend EW, Awange JL (2012) Applications of linear and nonlinear models. Springer-Verlag, Berlin, Germany, 283–301
Gratton DA (2013) The handbook of personal area networking technologies and protocols. Cambridge University Press, Cambridge, MA, USA, 100–145
Hanke M, März R, Tischendorf C (2017) Least-squares collocation for higher-index linear differential-algebraic equations. Journal of Computational and Applied Mathematics 17:403–431, DOI: https://doi.org/10.1016/j.cam.2016.12.017
Jardón A, Martínez S, Victores JG, Balaguer C (2014) Extended range guidance system for the teleoperation of microtunnelling machines. Proceedings of the 31st international symposium on automation and robotics in construction and mining, July 9–11, Sydney, Australia, DOI: https://doi.org/10.22260/ISARC2014/0113
Kavanagh BF, Slattery DK (2015) Surveying with construction application — global edition. Pearson, New York, NY, USA, 187–216
Maidl B, Herrenknecht M, Maidl U, Wehrmeyer G (2012) Mechanised shield tunnelling, 2nd edition. Ernst & Sohn, Berlin, Germany, 337–358
Mao S, Shen XS, Lu M (2015) Virtual laser target board for alignment control and machine guidance in tunnel-boring operations. Journal of Intelligent & Robotic Systems 79:385–400, DOI: https://doi.org/10.1007/s10846-014-0113-y
Pan GR, Li HF, Wang SH (2013) A new method of shield attitude automatic measurement and multi-source data processing. Journal of Tongji University: Natural Science 41(4):619–623, DOI: https://doi.org/10.3969/j.issn.0253-374x.2013.04.023 (in Chinese)
Pan GR, Wang SH, Chen CL, Zhang DH (2010) Development and application of automatic surveying system in shield tunneling. Journal of Tongji University: Natural Science 38(3):459–463 (in Chinese)
Pan MH, Wen XW, Zhu GL (2011) Design of combination measurement system for pitching angles. Optics and Precision Engineering 19(3): 598–604, DOI: https://doi.org/10.3788/OPE.20111903.0598 (in Chinese)
Shen XS, Lu M (2012) Development of virtual laser target board to tunnel boring machine guidance control. Proceedings of the 2012 ASCE international conference on computing in civil engineering, June 17–20, Clearwater Beach, FL, USA
Shen XS, Lu M, Chen W (2011) Tunnel-boring machine positioning during microtunneling operations through integrating automated data collection with real-time computing. Journal of Construction Engineering and Management 137(1):72–85, DOI: https://doi.org/10.1061/(ASCE)CO.1943-7862.0000250
tacs GmbH (2018) Pipe jacking — Microtunneling. Retrieved November 1, 2018, https://tacsgmbh.de/en/products/microtunneling/
VMT GmbH (2018) Microtunnelling. Retrieved November 1, 2018, http://vmt-gmbh.de/en/products/navigate-tunnelling/large-diameter-tunneling/
Wan J, Wang DX, Xu XH (2010) Design of wireless sensor network management system based on zigbee technology. 2010 2nd international workshop on intelligent systems and applications, May 22–23, Wuhan, China, DOI: https://doi.org/10.1109/IWISA.2010.5473344
Wang JF, Wang K, Zhang T, Wang S (2018) Key aspects of a DN4000 steel pipe jacking project in China: A case study of a water pipeline in the Shanghai Huangpu River. Tunnelling and Underground Space Technology 72:323–332, DOI: https://doi.org/10.1016/j.tust.2017.12.012
Xiao T (2013) Research on pose measurement system of shield using the combination of inclinometer and gyroscope. MSc Thesis, Huazhong University of Science & Technology, Wuhan, China (in Chinese)
Yang Y, Song L, Xu T (2002) Robust estimation for correlated observations based on bifactor equivalent weights. Journal of Geodesy 76:353–358, DOI: https://doi.org/10.1007/s00190-002-0256-7
ZED Tunnel Guidance Ltd. (2018) Global co-ordinate system. Retrieved November 1, 2018, http://www.zed-tg.co.uk/products/minimised-system.html
Zhang P, Ma BS, Zeng C, Xie HM, Li X, Wang DW (2016) Key techniques for the largest curved pipe jacking roof to date: A case study of Gongbei tunnel. Tunnelling and Underground Space Technology 59:134–145, DOI: https://doi.org/10.1016/j.tust.2016.07.001
Acknowledgements
This project is supported by Fundamental Research Funds for Central Universities of China. Anonymous reviewers are appreciated for their critical and very detailed comments, which led to significant improvements to the manuscripts.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Pan, G., Fan, W. Automatic Guidance System for Long-Distance Curved Pipe-Jacking. KSCE J Civ Eng 24, 2505–2518 (2020). https://doi.org/10.1007/s12205-020-1489-9
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12205-020-1489-9