Development and application of several georobots in automatic monitoring
1. College of Surveying and Geo-Informatics, Tongji University, Shanghai 200092, China; 2.Chengdu Institute of Survey and Investigation, Chengdu, Sichuan 610084, China
Abstract：Because of the long and narrow metro tunnel, the single georobot is difficult to complete the monitoring task. Based on the advantage of georobots in automatic deformation monitoring, the automatic deformation monitoring system was developed for subway. According to the characteristics of subway tunnel, the free stationing was used by several georobots to construct monitoring network. The adjoining georobots were contacted by measuring common points, and the datum points at both ends of the tunnel on the platform and raw observations were used to conduct integral adjustment on the transformation parameters. The monitoring points altitude errors caused by curvature and refraction were corrected to realize high precision of automatic monitoring data processing of subway. The hardware system and monitoring program were given, and the experiments were completed on corridor of Survey Building of Tongji University and Longbai Xincun tunnel of metro line 10. The results show that the monitoring system can realize automatic monitoring data collecting, data communication between computer and georobots, automatic storage and processing of data. The proposed system can get real-time and accurate monitoring results and accomplish unattended automatic deformation monitoring tasks independently. The experiment results show that the accuracy of the system reaches the sub millimeter level in general observation environment with millimeter level even in tunnel system.
潘国荣1, 李伟2. 多台测量机器人在自动化监测中的开发应用[J]. 江苏大学学报（自然科学版）, 2016, 37(6): 684-690.
PAN Guo-Rong-1, LI Wei-2. Development and application of several georobots in automatic monitoring[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2016, 37(6): 684-690.
2016, Vol. 37 
