Conveying manipulator for machining precision parts

A method for real-time monitoring of tunnel deformation, comprising following steps:

• S1, respectively erecting a plurality of structured light sources in an unstable area to be monitored of a tunnel structure and a stable secondary lining area of the tunnel structure, and erecting a monitoring terminal in the secondary lining area, wherein the monitoring terminal communicates with the plurality of structured light sources;
• S2, acquiring images of all structured lights projected in the unstable area and the secondary lining area of the tunnel structure and obtaining curves corresponding to stripes of the structured light sources from the acquired images in real time through the monitoring terminal;
• S3, judging whether the monitoring terminal has settled or converged by the monitoring terminal according to displacement changes of the structured lights projected in the secondary lining area;
• and
• analyzing imaging changes of the structured lights in the unstable area of the tunnel structure,
• correcting displacements of the structured light curves of the unstable area of the tunnel structure according to the displacement changes of the structured lights in the secondary lining area,
• detecting deformation degrees and offset distances of a tunnel in real time, and
• monitoring diseases of settlement, convergence of a single-section and integral settlement of a multi-section of the tunnel through a data processing unit.