CN101629807A - Position and attitude parameter measurement system of machine body of boring machine and method thereof - Google Patents
Position and attitude parameter measurement system of machine body of boring machine and method thereof Download PDFInfo
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- CN101629807A CN101629807A CN200910091050A CN200910091050A CN101629807A CN 101629807 A CN101629807 A CN 101629807A CN 200910091050 A CN200910091050 A CN 200910091050A CN 200910091050 A CN200910091050 A CN 200910091050A CN 101629807 A CN101629807 A CN 101629807A
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Abstract
The invention relates to a position and attitude parameter measurement system of a machine body of a boring machine and a method thereof, and the position and attitude parameter measurement system consists of a line laser transmitter, a rack of the line laser transmitter, laser targets, a programmable computer controller, an A/D conversion module and two inclination sensors. The line laser transmitter is positioned by a laser direction indicator and the rack of the line laser, emits a fan-shaped laser beam and forms linear spots on the machine body of the boring machine. An photosensitive element in one position on one of the two laser targets consisting of the photosensitive elements senses the laser beam and generates a current signal at any time, and the current signals are processed and calculated by an internal circuit of the laser targets and the programmable computer controller, thereby determining the positions of the laser beam on the laser targets; furthermore, the mounting positions of the laser targets on the boring machine are known, thereby obtaining a deflection angle and deflection displacement of the boring machine. Two inclination sensors measure a pitch angle and a roll angle of the boring machine, thereby completing the measurement of position and attitude parameters of the machine body of the boring machine. The system has the advantages of low cost, high precision, good real-time property and convenient operation.
Description
Technical field
The present invention relates to the development machine of the coal mine operation in a kind of development machine field, particularly relate to a kind of machine body of boring machine pose parameter measurement system and method thereof.
Background technology
Roadheader is a kind ofly can realize cut, loads transportation, reprints coal petrography and can transfer walking, and the associating unit of spray for dust suppression, cantilevered roadheader are used widely at home and abroad the coal petrography development machine at present.
Yet the driving driver mainly carries out manual operation by handle to development machine on the basis of following the certain cut technological process of coal road, and randomness is bigger.Though in cut, have the mining explosion-proof type laser orientation instrument that tunneling direction is played directive function, help the raising of construction quality.But (gas density height, dust are big, dark etc.), security are low because work under bad environment; Condition of work restriction development machine seat is lower and far away from cutting head, cause the limited concrete cut situation in the place ahead that do not see in the driver visual field in the cut process, when appearring in development machine, the operation position and attitude error can not timely and effectively adjust, occur easily backbreaking, owe to dig phenomenon, in real work, also be equipped with corresponding personnel that the place ahead cut situation is fed back for this reason, but poor effect, section cut irregularity.And lane space is narrow, and is rather dark, and the base plate float coal is piled up, and the soft fluctuating in ground has a large amount of other electromechanical equipments again around the fuselage.In this operating mode, manual adjustment fuselage pose is also by no means easy.Under the situation that lacks automatic adjustment means, manual adjustment not only process is loaded down with trivial details, and the pose accuracy after can't guaranteeing to transfer, and causes drift section cut error further to strengthen the most at last.
The use of roadheader has closely bound up with inseparable relation for people, in order to improve the shortcoming of above-mentioned roadheader, some methods of measuring the development machine pose are suggested successively:
Notification number is CN201013380Y, January 30 2008 Granted publication day, the name of utility model is called " full automatic tunneling machine ", the design of this patent case has proposed a kind of Long-distance Control mode, it is by adopting the aerospace navigation orientator, detect the absolute location coordinates of development machine in real time, development machine and cutting head are controlled in real time, comprise the detection of cutting head locus at inertial space.Though this patent possible in theory owing to the accuracy of space flight instrument, is subject to the influence of coal road down-hole rugged surroundings, specifically implements certain difficulty, practicality is implemented not have in the down-hole.
Notification number is CN101266134A, September 17 2008 Granted publication day, patent name is " measuring system and the method thereof of cantilever head pose ", and the design of this patent case has proposed a kind of cantilever head pose measurement system, and it is by adopting the motor-driven total station survey development machine of laser pose.This patent is launched laser to development machine by the motor-driven total powerstation of laser, through prismatic reflection, again the laser signal that fires back is received, will could arrive the computing machine in the development machine then, measure whole pose parameters of development machine once by the transmission of wireless signal.And the present invention is reception and the transmission of carrying out signal on development machine, and each pose parameter is measured respectively.Though this patent possible in theory, have regulate difficulty big, to the staff have relatively high expectations, the more high shortcoming of cost, and also do not have ripe anti-explosion product so far, be difficult in the colliery and apply.
Many disadvantages in view of above invention, in order to realize the automatic cut and the driving of development machine, alleviate coal miner labour intensity, and the driving quality of assurance driving coal road, the inventor is through constantly research, design, and after studying sample and improvement repeatedly, create the present invention who has practical value finally.
Summary of the invention
Fundamental purpose of the present invention is, overcome the defective that existing machine body of boring machine pose parameter measurement system exists, and a kind of machine body of boring machine pose parameter measurement system and method thereof are proposed, finish the measurement of (comprising deflection displacement, angle of deviation, the angle of pitch and roll angle) of machine body of boring machine pose parameter, thoroughly solve the problem of the special measurement mechanism of coal road driving shortage machine body of boring machine pose parameter for a long time.Because this device can tunnel existing laser orientation instrument with coal road and establish direct links, make the parameter measurement of machine body of boring machine pose have clear and definite absolute measurement benchmark, therefore the pose parameter that obtains can be determined position and the attitude of development machine in the space absolute coordinate system fully without conversion, compares with the coal road design parameter and can directly determine machine body of boring machine pose parameter error.Continuous correction can obtain to meet the high-quality tunnel of coal road design parameter to these position and attitude error in the coal road tunneling process.
Fundamental purpose of the present invention also is, a kind of machine body of boring machine pose parameter measurement system and method thereof are provided, owing to can carry out the real-time measurement of machine body of boring machine pose, thereby be the basis that development machine tunnels cut, development machine ground Long-distance Control automatically, finally reach the purpose of manless working face.
The object of the invention to solve the technical problems realizes by the following technical solutions.Machine body of boring machine pose parameter measurement system and method thereof according to the present invention proposes comprise laser orientation instrument, line laser transmitter, line laser transmitter frame, laser target, programmable computer controller A/D modular converter A and A/D modular converter B, obliquity sensor A and obliquity sensor B.Wherein, line laser transmitter positions according to the sensing of laser orientation instrument, and its particular location is regulated by the laser line generator frame and determined, sends fan-shaped laser beam, to form line spot on machine body of boring machine.Two laser targets being made up of light activated element are installed in parallel on the machine body of boring machine known location, at any time, the light activated element induction laser beam of a position is arranged respectively and produce current signal on two laser targets, current signal is handled through the laser target internal circuit, B imports programmable computer controller into by the A/D modular converter, through handling and calculating, can determine the position of laser beam on laser target, and the installation site of laser target on development machine is known, thereby obtains the angle of deviation and the deflection displacement of development machine.Obliquity sensor A and obliquity sensor B are installed in the development machine afer bay, measure the angle of pitch and the roll angle of development machine respectively.Like this, just finished the fuselage pose parameter measurement of development machine.
Aforesaid machine body of boring machine pose parameter measurement system and method thereof, wherein said programmable computer controller, A/D modular converter A and A/D modular converter B are installed in the development machine electric cabinet.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid machine body of boring machine pose parameter measurement system and method thereof, wherein said line laser transmitter are to be located by laser orientation instrument.Laser orientation instrument is to survey the position by ground, colliery to install, provides tunneling direction according to the tunnel designing requirement and points to, and be the unique directional reference of tunnelling.Line laser transmitter is utilized the laser orientation instrument emission laser beam, laser beam is passed completely through be arranged on two apertures on the line laser transmitter, thereby determines the position of self.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid machine body of boring machine pose parameter measurement system and method thereof, the wherein said laser orientation instrument that utilizes is located line laser transmitter, the line laser transmitter frame that this method is to be installed on the back at 3 to 4 meters, laser orientation instrument the place ahead of being equipped with in the coal road can be regulated the position of line laser transmitter, make its carry out neatly about, about, pitching and rotatablely moving, pass two apertures on the line laser transmitter easily to reach the laser beam that can make laser orientation instrument, thereby finish location line laser transmitter.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid machine body of boring machine pose parameter measurement system and method thereof, wherein said line laser transmitter can be launched fan-shaped laser beam, fan-shaped laser beam is perpendicular to the ground and parallel with the laser beam of laser orientation instrument, to form line spot on machine body of boring machine.Laser beam effective lighting distance is greater than 30 meters, and less than 130 meters, promptly the illumination dead angle is 30 meters.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid machine body of boring machine pose parameter measurement system and method thereof, wherein said laser target is arranged on the machine body of boring machine, and two laser targets are parallel to each other, and all perpendicular to the fuselage center line.At any time, the light activated element induction laser beam of a position is arranged respectively and produce current signal on two laser targets, current signal is handled through the laser target internal circuit, B imports programmable computer controller into by the A/D modular converter, through handling and calculating, can determine the position of laser beam on laser target, and the installation site of laser target on development machine is known, thereby obtains the angle of deviation and the deflection displacement of development machine.Native system is spent and 5 centimetres less than 0.1 respectively the resolution error of development machine angle of deviation and deflection displacement.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid machine body of boring machine pose parameter measurement system and method thereof, wherein said laser target has good recognition capability to laser beam, is not subjected to the influence of other light.Light activated element has the function of switch, and when light intensity was worth less than certain, light activated element was not responded to the generation electric current, is in closed condition this moment; When light intensity was worth greater than this, light activated element induction produced electric current, and along with the increase of light intensity, electric current increases, and will keep this value and no longer increase when electric current increases to certain value, and in this process, light activated element is an open mode.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid machine body of boring machine pose parameter measurement system and method thereof, the initial position of wherein said development machine is made as the mid point of two laser targets on the center line of tunnel, when the midline shift certain distance of the relative tunnel of line laser transmitter emitted laser bundle, then can be by revising the parameter in the programmable computer controller program, the distance of skew is reflected in the program, thereby does not influence the measurement that development machine is partial to displacement.
The object of the invention to solve the technical problems also can be applied to the following technical measures to achieve further.
Aforesaid machine body of boring machine pose parameter measurement system and method thereof, wherein said obliquity sensor A and obliquity sensor B are installed in the development machine afer bay, the data that they record are imported programmable computer controller into through A/D modular converter A, obtain the angle of pitch and the roll angle of development machine respectively.Wherein, the measurement of angle direction of obliquity sensor A should be set at fuselage in the direction of line parallel, this signal of sensor reflection fuselage plane and surface level absolute angle on the fuselage longitudinal direction; The measurement of angle direction setting of obliquity sensor B is the direction vertical with the fuselage center line, and this signal of sensor reflection fuselage plane and surface level are at fuselage absolute angle transversely.Vertical equity inclination angle value, the transverse horizontal inclination angle value that department can provide current roadway floor surveyed on ground, colliery.With the angular readings of obliquity sensor A, subtract each other with the vertical inclination angle of current roadway floor, can obtain fuselage plane and the current roadway floor plane angle value between vertically, this numerical value promptly is fuselage attitude; With the angular readings of obliquity sensor B, subtract each other with the cross dip of current roadway floor, can obtain the angle value between fuselage plane and the current roadway floor flat transverse, this numerical value promptly is the fuselage roll angle.The resolution error of fuselage attitude and roll angle is less than 0.1 degree.
Machine body of boring machine pose automatic measurement system of the present invention and method thereof compared with prior art have tangible advantage and beneficial effect.By technique scheme, machine body of boring machine pose parameter measurement system provided by the invention and method thereof can reach suitable technical progress and practicality, and have the extensive value on the industry, and it has following advantage at least:
(1) the present invention utilizes line laser transmitter, laser target, signal transmission line and programmable computer controller to substitute traditional artificial visually examine's mode, the measuring process automatization level obviously improves, and the fuselage pose parameter of detection development machine that can be real-time promptly has real-time.
(2) machine body of boring machine pose parameter measurement system of the present invention and method thereof, development machine tunnels the basis of cut, development machine ground Long-distance Control automatically and corrects the pose deviation automatically for development machine and then realize that the automatic control of development machine provides indispensable technical conditions, the location that solution development machine driver estimates the development machine pose is inaccurate, backbreak and to owe to dig phenomenon serious, the problem that control accuracy is low, reduced labour intensity, improved roadway forming quality and driving speed, guarantee is provided for the coal mine roadway construction is comfortable and safe.
(3) machine body of boring machine pose parameter measurement system of the present invention and method thereof, the laser target that utilization is made up of light activated element side by side, the signaling bearer that each light activated element spreads out of a coordinate points information, signal is drawn the fuselage posture information of development machine by Computer Processing.This method has advantage of high precision, and the branch error of development machine angle of deviation and deflection displacement is spent and 5 centimetres less than 0.1 respectively.
(4) machine body of boring machine pose parameter measurement system of the present invention and method thereof, line laser transmitter frame can make line laser transmitter carry out neatly about, about, pitching and rotatablely moving, install and regulate simple and quick.
(5) machine body of boring machine pose parameter measurement system of the present invention and method thereof, the relevant device equipment is simple and practical, makes that this system cost is lower.
In sum, the machine body of boring machine pose parameter measurement system of special construction of the present invention, purpose is to propose a kind of new machine body of boring machine pose measurement method of parameters and system thereof, thoroughly solve the machine body of boring machine pose parameter real-time problems of measurement of (comprising deflection displacement, angle of deviation, the angle of pitch and roll angle), establish development machine and tunnel the basis of cut, development machine ground Long-distance Control automatically, finally reach the purpose of manless working face.It is practical that this system is suitable for the coal road driving, and have the value on the industry.It has above-mentioned many advantages and practical value, its measuring principle and structural design are not seen and are published or use and really belong to innovation, on coal road driving measuring technique, have large improvement, and produced handy and practical effect, be very different on its measuring principle and structure with disclosed close patent, and have the multinomial effect of enhancement, thereby be suitable for practicality more, and have the extensive value of industry, really be a new and innovative, progressive, practical new design.
Above-mentioned explanation only is the general introduction of technical solution of the present invention, for can clearer understanding technological means of the present invention, and can be implemented according to the content of instructions, below with preferred embodiment of the present invention and conjunction with figs. describe in detail as after.
The specific embodiment of the present invention is provided in detail by following examples and accompanying drawing thereof.
Description of drawings
Fig. 1 is a system diagram of the present invention
Fig. 2 is that structure of the present invention is formed synoptic diagram
Fig. 3 is a laser target synoptic diagram of the present invention
Fig. 4 is that system architecture of the present invention is formed schematic top plan view
Fig. 5 is a mathematical model synoptic diagram of the present invention
Fig. 6 is relevant each the fuselage pose parameter synoptic diagram of development machine of the present invention
Among the figure:
1: laser orientation instrument 2: line laser transmitter
3: laser target 4: the line laser transmitter frame
5: programmable computer controller 6: development machine
7:A/D modular converter A 8: obliquity sensor A
9: obliquity sensor B 10:A/D modular converter B
11: electric cabinet 12: the development machine afer bay
Embodiment
Reach technological means and the effect that predetermined goal of the invention is taked for further setting forth the present invention, below in conjunction with accompanying drawing and preferred embodiment, the machine body of boring machine pose parameter measurement system that foundation the present invention is proposed and embodiment, structure, feature and the effect thereof of method thereof, describe in detail as after.
Relevant aforementioned and other technology contents, characteristics and effect of the present invention can be known to present in the following detailed description that cooperates with reference to graphic preferred embodiment.By the explanation of embodiment, when can being to reach technological means and the effect that predetermined purpose takes to be able to more deeply and concrete understanding to the present invention, yet appended graphic only provide with reference to the usefulness of explanation, be not to be used for the present invention is limited.
The machine body of boring machine pose parameter measurement system and the method thereof of preferred embodiment of the present invention, as Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, form by laser orientation instrument 1, line laser transmitter 2, laser target 3, A/D modular converter B 10, programmable computer controller 5, development machine 6, A/D modular converter A 7, obliquity sensor A 8, obliquity sensor B9, line laser transmitter frame 4, electric cabinet 11 and development machine afer bay 12.Wherein,
On the back at three to four meters, existing laser orientation instrument 1 the place ahead, hookup wire generating laser frame 4, line laser transmitter 2 are installed on the optical transmitting set frame 4, and two holes are arranged on the line laser transmitter 2 in coal road.
Two laser targets 3 are installed on the development machine 6 fuselage known location, and they are parallel to each other and all perpendicular to the fuselage center line.Laser target 3 is made up of row light activated element arranged side by side.
Programmable computer controller 5 and A/D modular converter A 7, A/D modular converter B10 module are installed in the development machine electric cabinet 12.
Obliquity sensor A 8 and obliquity sensor B 9 are installed in the development machine afer bay 12.
The initial position of described development machine 6 is made as the mid point of two laser targets 3 on the center line of tunnel, and the offset distance of slotted line generating laser 2 emitted laser bundles and tunnel center line is provided with the initial parameter in the executable computer program code.When the midline shift certain distance of the relative tunnel of line laser transmitter 2 emitted laser bundles, then can the distance of skew be reflected in the program, thereby not influence the measurement that development machine is partial to displacement by revising the parameter in the programmable computer controller program.
Described laser orientation instrument 1 is a position line generating laser 2.This laser orientation instrument 1 is to survey the position by ground, colliery to install, provides tunneling direction according to the tunnel designing requirement and points to, and be the unique directional reference of tunnelling, can be used as the benchmark of line laser transmitter 2.Direction indication according to existing laser orientation instrument 1 in the coal road, by manual adjustments line laser transmitter frame 4, line laser transmitter 2 about doing on the line laser transmitter frame 4, about, pitching and rotatablely moving, utilize laser orientation instrument 1 emission laser beam, allow this laser beam pass completely through to be arranged on two apertures on the line laser transmitter 2, finished location line laser transmitter 2.
Described line laser transmitter 2 emission fan-shaped laser beams, this fan-shaped lasing area perpendicular to the ground and with the laser parallel of laser orientation instrument 1, laser beam forms line spot on machine body of boring machine.This laser beam effective lighting distance is 100 meters (greater than 30 meters, less than 130 meters, promptly the illumination dead angle is 30 meters).
As shown in Figure 3, described two laser targets 3, at any time, the light activated element induction laser beam of a position is arranged respectively on these two laser targets 3 and produce current signal, this current signal is handled through laser target 3 internal circuits, B10 imports programmable computer controller 5 into by the A/D modular converter, through handling and calculating, can determine the position of laser beam on laser target 3, and the installation site of laser target 3 on development machine is known, thereby obtains the angle of deviation and the deflection displacement of development machine 6.Native system is spent and 5 centimetres less than 0.1 respectively the resolution error of development machine angle of deviation and deflection displacement.As shown in Figure 5, wherein:
O point---machine body of boring machine mid point;
O
1The mid point of point---first laser target;
O
2Point---the mid point of second laser target;
P
1The drop point of point---scanning laser beam on first laser target;
P
2The drop point of point---scanning laser beam on second laser target;
H point---fuselage mid point O is to pointing to the intersection point that lasing area draws vertical line;
OA---parallel with two laser targets, the A point is pointing on the lasing area;
The distance size (if line laser transmitter just in time is positioned at center, tunnel, L=0 so) of tunnel center line is departed from the installation site of L---line laser transmitter
Utilize Fig. 5 that angle of deviation, the deflection displacement of fuselage are calculated, can obtain following result:
(a)
Annotate: if result of calculation for just, shows: when overlooking, the deflection of fuselage counter clockwise direction.Otherwise, show the rotation of fuselage clockwise direction.
(b)
Annotate: if result of calculation is being for just, show: when overlooking, the fuselage central point is helped translation to a left side, tunnel.Otherwise, show translation to the right group in tunnel
Utilize the formula (a) and (b), can know fuselage angle of deviation α, two parameters of fuselage deflection displacement A.
Two obliquity sensors are installed in the afer bay 12 of development machine, the measurement of angle direction setting of obliquity sensor A8 be with fuselage in the direction of line parallel, this signal of sensor, reflection fuselage plane and the absolute angle of surface level on the fuselage longitudinal direction; The measurement of angle direction setting of obliquity sensor B9 is the direction vertical with the fuselage center line, and this signal of sensor reflection fuselage plane and surface level are at fuselage absolute angle transversely.
Shown in Fig. 6 a, 6b, 6c, 6d, vertical equity inclination angle value, the transverse horizontal inclination angle value that department can provide current roadway floor surveyed on ground, colliery.With the angular readings of obliquity sensor A, subtract each other with the vertical inclination angle of current roadway floor, can obtain fuselage plane and the current roadway floor plane angle value between vertically, this numerical value promptly is fuselage attitude; With the angular readings of obliquity sensor B, subtract each other with the cross dip of current roadway floor, can obtain the angle value between fuselage plane and the current roadway floor flat transverse, this numerical value promptly is the fuselage roll angle.
The data that two obliquity sensors record are imported programmable computer controller 5 into through the A/D modular converter A7 in the electric cabinet 11, obtain the angle of pitch and the roll angle of development machine 6.Like this, just finished the measurement of machine body of boring machine pose parameter.
3 pairs of laser beam of described laser target have good recognition capability, are not subjected to the influence of other light.This is that when light intensity was worth less than certain, light activated element was not responded to the generation electric current because the light activated element of laser target 3 has the function of switch, is in closed condition this moment; When light intensity was worth greater than this, light activated element induction produced electric current, and along with the increase of light intensity, electric current increases, and will keep this value and no longer increase when electric current increases to certain value, and in this process, light activated element is an open mode.
The implementation step of machine body of boring machine pose parameter measurement system and method thereof is:
(1) static line generating laser frame 4 is regulated frame laser orientation instrument 1 is swashed
Light beam is by two holes on the line laser transmitter 2.
(2) start line laser transmitter 2, on the laser target 3 of line laser transmitter 2 emission fan-shaped laser beams to the development machine 6.
(3) two light activated element induction laser on the laser target 3 produce current signal and import treatment circuit and A/D modular converter B10 in the laser target 3 into.
(4) two obliquity sensors installing in the development machine afer bay 12 are measured the machine body of boring machine angle of pitch and roll angle respectively.
(5) data and the A/D modular converter A7 data of A/D modular converter B10 send programmable computer controller 5 in the development machine electric cabinet 11.
(6) programmable computer controller 5 utilizes formula (a) and formula (b) to calculate the offset distance of development machine and is partial to angle, can obtain the fuselage pose parameter of development machine again according to the data of A/D modular converter A7.
The machine body of boring machine pose parameter measurement system of the present invention that above-mentioned structure like this constitutes and the technological innovation of method thereof all have many saving graces for technician of the same trade now, and the progressive that possesses skills really.
Be basic design of the present invention as mentioned above.But, in technical field of the present invention,, can improve other exercisable embodiment of the present invention as long as possess the most basic knowledge.In the present invention substantive technical scheme has been proposed the patent protection request, its protection domain should comprise all variation patterns with above-mentioned technical characterstic.
The above, it only is preferred embodiment of the present invention, be not that the present invention is done any pro forma restriction, though the present invention discloses as above with preferred embodiment, yet be not in order to limit the present invention, any those skilled in the art, in not breaking away from the technical solution of the present invention scope, when the technology contents that can utilize above-mentioned announcement is made a little change or is modified to the equivalent embodiment of equivalent variations, in every case be the content that does not break away from technical solution of the present invention, according to technical spirit of the present invention to any simple modification that above embodiment did, equivalent variations and modification all still belong in the scope of technical solution of the present invention.
Claims (7)
1, a kind of machine body of boring machine pose parameter measurement system, include the laser orientation instrument (1) that has been equipped with in development machine (6) and the coal road, it is characterized in that: also comprise: line laser transmitter (2), line laser transmitter frame (4), laser target (3), programmable computer controller (5), A/D modular converter A (7), A/D modular converter B (10), obliquity sensor A (8) and obliquity sensor B (9) form, wherein
---laser orientation instrument (1) is to survey the position by ground, colliery to install, provides tunneling direction according to the tunnel designing requirement and points to, and be the unique directional reference of tunnelling, in order to benchmark as line laser transmitter (2);
---line laser transmitter (2), be installed on the line laser transmitter frame (4), this line laser transmitter (2) is sent fan-shaped laser beam, on development machine (6) fuselage, to form line spot, its direction indication according to existing laser orientation instrument (1) in the coal road is gone up flexibly in line laser transmitter frame (4) and is moved, make laser orientation instrument (1) emitted laser bundle pass aperture on the line laser transmitter (2) to reach, thereby determine the position of self;
---line laser transmitter frame (4), be installed on the back at 3 to 4 meters, laser orientation instrument (1) the place ahead of being equipped with in the coal road, can make line laser transmitter (2) up and down, about, pitching and rotatablely moving, adjust the position of line laser transmitter (2), make the laser beam of laser orientation instrument (1) pass aperture on the line laser transmitter (2) at an easy rate, thereby finish location line laser transmitter (2);
---two laser targets (3), form by row light activated element arranged side by side, two laser targets (3) are installed on development machine (6) fuselage, they are parallel to each other and all perpendicular to the fuselage center line, at any time, there is the light activated element of a position to respond to laser beam and produce current signal on two laser targets (3) respectively;
---programmable computer controller (5), A/D modular converter A (7) and A/D modular converter B (10) are installed in the development machine electric cabinet (11), respond to laser beam and produce current signal by light activated element through the processing of laser target (3) internal circuit, import programmable computer controller (5) into by A/D modular converter B (10), through handling and calculating, know which light activated element sensed laser beam, can determine the position of laser beam on laser target (3), and the installation site of laser target (3) on development machine (6) is known, thereby obtains the angle of deviation and the deflection displacement of development machine (6);
---obliquity sensor A (8) and obliquity sensor B (9) are installed in the development machine afer bay (12), measure the angle of pitch and the roll angle of development machine (6) respectively, wherein, the measurement of angle direction of obliquity sensor A (8) should be set at the parallel direction with the fuselage center line, the output signal reflection fuselage plane of this obliquity sensor and surface level absolute angle on the fuselage longitudinal direction, the measurement of angle direction setting of obliquity sensor B (9) is and fuselage center line vertical direction, the output signal reflection fuselage plane of this obliquity sensor and surface level are at the transversely absolute angle of fuselage, like this, just finished the fuselage pose parameter measurement of development machine.
2, machine body of boring machine pose parameter measurement system according to claim 1, it is characterized in that wherein said line laser transmitter (2) send the fan-shaped lasing area of fan-shaped laser beam perpendicular to the ground and with the laser parallel of laser orientation instrument (1), on development machine (6) fuselage, to form line spot, laser beam effective lighting distance is greater than 30 meters, less than 130 meters, promptly the illumination dead angle is 30 meters.
3, machine body of boring machine pose parameter measurement system according to claim 1 is characterized in that described development machine (6) angle of deviation resolution error less than 0.1 degree, and the resolution error of deflection displacement is less than 5 centimetres.
4, machine body of boring machine pose parameter measurement system according to claim 1, it is characterized in that the data that described obliquity sensor A (8) and obliquity sensor B (9) record respectively import programmable computer controller (5) into through A/D modular converter A (7), obtain the angle of pitch and the roll angle of development machine (6) respectively, measuring error is less than 0.1 degree.
5, according to any described machine body of boring machine pose parameter measurement system among the claim 1-4, the initial position that it is characterized in that described development machine (6) is made as the mid point of two laser targets on the center line of tunnel, when the midline shift certain distance of the relative tunnel of line laser transmitter (2) emitted laser bundle, then can be by revising the parameter in the programmable computer controller program, the distance of skew is reflected in the program, thereby does not influence the measurement that development machine is partial to displacement.
6, machine body of boring machine pose parameter measurement system according to claim 5, the light activated element that it is characterized in that described laser target (3) has switching function, when light intensity was worth less than certain, light activated element was not responded to and is not produced electric current, is in closed condition this moment; When light intensity is worth greater than this, light activated element induction and generation electric current, increase along with light intensity, electric current increases, will keep this value and no longer increase when electric current increases to certain value, in this process, light activated element is an open mode, make laser target (3) good recognition capability be arranged, be not subjected to the influence of other light laser beam.
7, a kind of machine body of boring machine pose measurement method of parameters with the described machine body of boring machine pose of claim 1 parameter measurement system is characterized in that: comprising:
(1) static line generating laser frame (4) is regulated frame and is made laser orientation instrument (1) laser beam by last two holes of line laser transmitter (2);
(2) start line laser transmitter (2), on the laser target (3) of line laser transmitter (2) emission fan-shaped laser beam to the development machine (6);
(3) last two light activated elements induction of laser target (3) laser produces current signal and imports interior treatment circuit of laser target (3) and A/D modular converter B (10) into;
(4) two obliquity sensor A (8) and the obliquity sensor B (9) that installs in the development machine afer bay (12) measures the machine body of boring machine angle of pitch and roll angle respectively;
(5) data of development machine electric cabinet (11) interior A/D modular converter B (10) and A/D modular converter A (7) data send programmable computer controller (5) to, this programmable computer controller (5) calculates the offset distance and the deflection angle of development machine (6), can obtain the fuselage pose parameter of development machine again according to the data of A/D modular converter A (7).
Priority Applications (1)
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| CN 200910091050 CN101629807B (en) | 2009-08-20 | 2009-08-20 | Position and attitude parameter measurement system of machine body of boring machine and method thereof |
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| CN 200910091050 CN101629807B (en) | 2009-08-20 | 2009-08-20 | Position and attitude parameter measurement system of machine body of boring machine and method thereof |
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