关键词: 测量机器人, 陀螺全站仪 , 联系测量, 高程传递 , 定向

Abstract:  Connecting survey is an important work in control survey of coal mining. Traditional connecting survey is achieved by the two ways of transferring mining direction and elevation.However it has the drawback of higher surveying condition and wider measuring error.As the automation and intelligence of the surveying instrument become much stronger，it′s necessary to carry out the research of more automated and higher efficiency method of connecting survey.The connecting survey method of combing the surveying robot and gyroscopic station is proposed.The elevation transmission by applying survey robot to measure the trigonometric levelling in substitution of water level as well as traverse survey by robot and directional accuracy by using gyroscopic total station is discussed.A special tool was developed to overcome the problem of robot being difficult to find the surface prism during the connecting survey between the surface and underground.Based on the above discussion results，the feasibility of the proposed method is validated in combination with practical engineering.The study results show that the propsoed method can meet the requirement of accuracy in the connecting survey of coal mining，has the feature of technical feasibility，reliable accuracy，simple and convenience，besides that，its application value is ideal.

Key words: Measuring robot, Gyroscopic total station, Connecting survey, Elevation transmission, Orienteering