Automatic subway tunnel displacement monitoring using robotic total station

•Robotic total stations (RTSs) are applied to subway tunnel displacement monitoring.•An automatic subway tunnel displacement monitoring system is developed.•The mathematical models for both short and long monitoring zone are derived and tested. Real-time displacement monitoring is important for ensuring the safety of subway tunnel structures when construction activities are carried out near them. Owing to the special environmental characteristics of tunnels, many displacement monitoring techniques are either inapplicable to subway tunnel structures or have limitations in terms of the accuracy and automation of monitoring. Therefore, this article focuses on the automatic monitoring of subway tunnel displacement using robotic total stations. Using prisms as reflectors, the robotic total stations can perform highly accurate displacement monitoring by measuring angles and distances in a non-contact manner. A mathematical model for displacement monitoring with one total station in a short monitoring zone is developed, and a model for monitoring a long tunnel zone with multiple total stations is derived to guarantee the accuracy of monitoring. An automatic displacement monitoring system with robotic total stations is built, where the data acquisition and data management of the system are detailed through its hardware composition and software functions, respectively. An experiment on a tunnel showed the available monitoring range of a single robotic total station, and the accuracy of monitoring the long zone with multiple robotic total stations was verified. The application of the monitoring system to the Guangzhou Metro Line 2 confirmed its robustness.