CN102506770A - Detection device and method of deviation angle of development machine - Google Patents
Detection device and method of deviation angle of development machine Download PDFInfo
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- CN102506770A CN102506770A CN2011103642571A CN201110364257A CN102506770A CN 102506770 A CN102506770 A CN 102506770A CN 2011103642571 A CN2011103642571 A CN 2011103642571A CN 201110364257 A CN201110364257 A CN 201110364257A CN 102506770 A CN102506770 A CN 102506770A
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Abstract
The invention discloses a detection device of a deviation angle of a development machine. The detection device comprises a laser emitter, a laser receiving device, a control device and a transporting device for pushing the laser receiving device to move, wherein the transporting device is arranged on a rock wall of the top end under a well; the laser emitter is arranged on a development machine body; the laser receiving device is used for detecting a laser beam emitted from the laser emitter; and the control device is used for obtaining the deviation angle of the development machine according to an actual distance between the laser emitter and the laser receiving device and a movement distance of the laser receiving device. According to the movable laser detection device disclosed by the invention, a measuring range of the laser detection device is increased and the real-time locating requirement of the development machine in a coal mine well can be met; the laser detection device is arranged on the rock wall on the top end of a mine roadway and the laser emitter is arranged on the development machine body, thus the influence of strenuous vibration on the accuracy of the laser detection device when the development machine works is greatly avoided. The invention further discloses a detection method of the deviation angle of the development machine.
Description
Technical field
The present invention relates to development machine angle of deviation detection technique field, particularly a kind of development machine angle of deviation pick-up unit and detection method.
Background technology
Roadheader is that a kind of cut, loading transportation, reprinting coal petrography can realized also can be transferred walking, and the associating unit of spray for dust suppression is used widely in the present coal petrography development machine at home and abroad of cantilevered roadheader.
Yet the driving driver mainly carries out manual operation through handle to development machine on the basis of following the certain cut technological process of coal road, binary 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 because work under bad environment (gas density is high, dust is big, dark etc.), security is low; 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; Can not timely and effectively adjust when the operation position and attitude error appears in development machine, occur backbreaking, owe to dig phenomenon easily, 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 there are a large amount of other basic point equipment again in the soft fluctuating in ground 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 Chinese patent publication number is the patent of invention of CN101629807A; Disclose a kind of machine body of boring machine pose parameter measurement system, comprised line laser transmitter and two laser targets, line laser transmitter is sent fan-shaped laser beam; On machine body of boring machine, to form line spot; It is according to the direction indication of existing laser orientation instrument in the coal road, reaches to make laser orientation instrument emitted laser bundle pass the aperture on the generating laser, thereby confirms himself position.Laser target is made up of row light activated element arranged side by side; Two laser targets are installed on the machine body of boring machine; They are parallel to each other and perpendicular to the fuselage center line, at any time, are responded to laser beam and produced current signal by the light activated element of a position respectively on two laser targets.Controller knows that which light activated element sensed laser beam, can confirm 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 of development machine.
But above-mentioned machine body of boring machine pose parameter measurement system is when the angle of deviation of development machine is excessive; The scope that promptly surpasses laser target; Make and then can't realize the location of development machine when laser can't shine on laser target that promptly it can not satisfy under the coal mine requirement to the development machine real-time positioning.And the laser detector that is installed on the development machine receives the equipment vibration influence easily, and the angle of deviation signals collecting is easy to generate deviation.
Therefore, how to satisfy under the coal mine requirement, and improve the accuracy of angle of deviation signals collecting, become the important technological problems that those skilled in the art need to be resolved hurrily the development machine real-time positioning.
Summary of the invention
In view of this, the invention provides a kind of development machine angle of deviation pick-up unit and detection method, satisfy under the coal mine requirement, and improve the accuracy of angle of deviation signals collecting the development machine real-time positioning.
For realizing above-mentioned purpose, the present invention provides following technical scheme:
A kind of development machine angle of deviation pick-up unit comprises generating laser and laser receiver and control device, also comprises promoting the transfer device that said laser receiver moves, and said transfer device is arranged on the crag on top, down-hole;
Said generating laser is arranged on the machine body of boring machine, is used to give off laser beam;
Said laser receiver is used under the promotion of said transfer device, detecting the laser beam that said generating laser sends;
Said control device is used for according to the actual range between said generating laser and the said laser receiver, and the transfer device displacement that promotes said laser receiver calculates the angle of deviation of development machine.
Preferably; In above-mentioned development machine angle of deviation pick-up unit; When beginning to detect; On the direction of laser beam that the laser orientation instrument that said control device makes said laser receiver stop at the colliery to be provided sends place, and to set this position be initial position, and said laser orientation instrument is used to provide the tunneling direction of development machine;
The displacement that transfer device promotes said laser receiver is the initial position of said laser receiver and the distance between the residing position when detecting the laser beam that said generating laser sends.
Preferably, in above-mentioned development machine angle of deviation pick-up unit, the laser beam that said generating laser sends is the fan beam perpendicular to ground.
Preferably, in above-mentioned development machine angle of deviation pick-up unit, said generating laser is arranged on the said machine body of boring machine through pendulous device, so that it sends fan beam.
Preferably, in above-mentioned development machine angle of deviation pick-up unit, said transfer device specifically comprises:
Be arranged at the stepper motor on the crag on top, down-hole;
With the leading screw that the motor shaft of said stepper motor links to each other, said leading screw horizontal arrangement, said laser receiver cooperates with said threads of lead screw through screw.
Preferably, in above-mentioned development machine angle of deviation pick-up unit, comprise the sliding rail that is arranged in parallel in said leading screw both sides, said laser receiver and said sliding rail are slidingly matched.
A kind of development machine angle of deviation detection method comprises step:
1) on the laser beam place direction that the control device laser orientation instrument that makes said laser receiver stop at the colliery providing sends, and to set this position be initial position, and said laser orientation instrument is used to provide the tunneling direction of development machine;
2) the transfer device horizontal direction that promotes said laser receiver crag along the top, down-hole moves; Detect the light beam that the generating laser on the development machine sends; After when detecting light beam; According to the actual range between generating laser and the laser receiver, and the displacement of transfer device promotion laser receiver calculates the angle of deviation of development machine.
Can find out from above-mentioned technical scheme; Development machine angle of deviation pick-up unit provided by the invention; On the fuselage of development machine, place generating laser; On the crag on mine laneway top, place laser detector, the laser that generating laser sends on the development machine that collects according to laser detector is confirmed the angle of deviation of development machine.Laser detector can move under the promotion of transfer device, detects with the laser beam that generating laser is sent, till sensing laser beam.Therefore the present invention has improved the range of laser detector owing to adopt movably laser detector, therefore can satisfy under the coal mine requirement to the development machine real-time positioning.The utility model is arranged at generating laser on the fuselage of development machine through laser detector being arranged on the crag on mine laneway top, and the strenuous vibration when greatly having avoided development machine work is to the influence of laser detector precision.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
The structural representation of the development machine angle of deviation pick-up unit that Fig. 1 provides for the embodiment of the invention;
The detection schematic diagram of the development machine angle of deviation pick-up unit that Fig. 2 provides for the embodiment of the invention.
Embodiment
The invention discloses a kind of development machine angle of deviation pick-up unit and detection method, satisfying under the coal mine requirement, and improve the accuracy of angle of deviation signals collecting the development machine real-time positioning.
To combine the accompanying drawing in the embodiment of the invention below, the technical scheme in the embodiment of the invention is carried out clear, intactly description, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills are not making the every other embodiment that is obtained under the creative work prerequisite, all belong to the scope of the present invention's protection.
See also Fig. 1 and Fig. 2, the structural representation of the development machine angle of deviation pick-up unit that Fig. 1 provides for the embodiment of the invention; The detection schematic diagram of the development machine angle of deviation pick-up unit that Fig. 2 provides for the embodiment of the invention.
The development machine angle of deviation pick-up unit that the embodiment of the invention provides; Comprise generating laser 4 and laser receiver 3 and control device (not shown); Of the present invention focusing on comprises also promoting the transfer device that laser receiver 3 moves that transfer device is arranged on the crag on top, down-hole; Transfer device is used on the crag on top, down-hole, promoting laser receiver 3 and moves, to seek the laser beam that generating laser 4 sends.
Generating laser 4 is arranged on the machine body of boring machine, is used to give off laser beam.Existing laser orientation instrument is used to the tunneling direction of indicating development machine correct in the tunnel; Angle of deviation at development machine is 0 o'clock; The direction of the laser beam of generating laser 4 and the laser beam of laser orientation instrument parallels; Laser beam and the laser beam of laser orientation instrument that preferably can be 0 o'clock generating laser 4 with the angle of deviation of development machine are positioned at same plane, so that to the detection of angle of deviation.
As shown in Figure 2, control device is used for according to the actual range b between generating laser 4 and the laser receiver 3, and the displacement a of transfer device promotion laser receiver 3 calculates the angle of deviation α of development machine, angle of deviation α=arctana/b.
Development machine angle of deviation pick-up unit provided by the invention; On the fuselage of development machine, place generating laser 4; On the crag on mine laneway top, place laser detector 3; The laser that generating laser 4 sends on the development machine that collects according to laser detector 3 is confirmed the angle of deviation of development machine.Laser detector 3 can move under the promotion of transfer device, detects with the laser beam that generating laser 4 is sent, till sensing laser beam.Therefore the present invention has improved the range of laser detector 3 owing to adopt movably laser detector 3, therefore can satisfy under the coal mine requirement to the development machine real-time positioning.The utility model is arranged at generating laser 4 on the fuselage of development machine through laser detector 3 being arranged on the crag on mine laneway top, and the strenuous vibration when greatly having avoided development machine work is to the influence of laser detector precision.
In order further to optimize technique scheme; When beginning to detect; On the direction of laser beam that the laser orientation instrument that control device makes laser receiver 3 stop at the colliery to be provided sends place, and to set this position be initial position, and laser orientation instrument is used to provide the tunneling direction of development machine.The displacement that transfer device promotes laser receiver 3 is the initial position of laser receiver 3 and the distance between the residing position when detecting the laser beam that generating laser 4 sends.In the present embodiment promptly, before the detection, at first need define initial position, in the present embodiment, on the laser beam position that the laser orientation instrument that control device makes laser receiver 3 stop at the colliery to be provided sends.Angle between the laser beam of laser beam that laser orientation instrument sends and generating laser 4 is angle of deviation α.And the distance b of the initial position of generating laser 4 and laser receiver 3 is known or measurable; Laser receiver 3 is moving to can detect the laser beam that generating laser 4 sends the time; What it moved also can draw through the driving distance of transfer device apart from a, therefore draws according to α=arctana/b.
For the laser beam that prevents generating laser 4 and laser receiver 3 not in same plane, lost efficacy and cause detecting, in the present embodiment, the laser beam that generating laser 4 sends is the fan beam perpendicular to ground.For example; Can be with generating laser 4 through on pendulous device setting and the machine body of boring machine, so that it sends fan beam, the wobbling action of doing perpendicular to ground through pendulous device driving laser transmitter 4; Then make generating laser 4 send fan beam, to enlarge its radiation areas.
In the present invention's one specific embodiment, transfer device specifically comprises stepper motor 1 and leading screw 2.Wherein, stepper motor 1 is arranged on the crag on top, down-hole, and leading screw 2 links to each other with the motor shaft of stepper motor 1, leading screw 2 horizontal arrangement, and laser receiver 3 is through screw and leading screw 2 threaded engagement.The present invention drives leading screw 2 through drive stepping motor 1 and rotates, and in the leading screw rotation process, laser receiver 3 moves axially along leading screw 2, changes the moving direction of laser receiver 3 according to turning to of stepper motor 1.
For the stability that guarantees that laser receiver 3 moves, comprise the sliding rail that is arranged in parallel in leading screw 2 both sides, laser receiver 3 is slidingly matched with sliding rail.
The development machine angle of deviation detection method that the embodiment of the invention provides comprises:
Step 1): on the direction of laser beam that the laser orientation instrument that control device makes laser receiver 3 stop at the colliery to be provided sends place, and to set this position be initial position, and laser orientation instrument is used to provide the tunneling direction of development machine;
Step 2): the horizontal direction that transfer device promotes laser receiver 3 crag along the top, down-hole moves; Detect the light beam that the generating laser on the development machine sends; After when detecting light beam; According to the actual range between generating laser and the laser receiver, and the displacement of transfer device promotion laser receiver calculates the angle of deviation of development machine.
Each embodiment adopts the mode of going forward one by one to describe in this instructions, and what each embodiment stressed all is and the difference of other embodiment that identical similar part is mutually referring to getting final product between each embodiment.
To the above-mentioned explanation of the disclosed embodiments, make this area professional and technical personnel can realize or use the present invention.Multiple modification to these embodiment will be conspicuous concerning those skilled in the art, and defined General Principle can realize under the situation that does not break away from the spirit or scope of the present invention in other embodiments among this paper.Therefore, the present invention will can not be restricted to these embodiment shown in this paper, but will meet and principle disclosed herein and features of novelty the wideest corresponding to scope.
Claims (7)
1. development machine angle of deviation pick-up unit; Comprise generating laser (4) and laser receiver (3) and control device; It is characterized in that also comprise promoting the transfer device that said laser receiver (3) moves, said transfer device is arranged on the crag on top, down-hole;
Said generating laser (4) is arranged on the machine body of boring machine, is used to give off laser beam;
Said laser receiver (3) is used under the promotion of said transfer device, detects the laser beam that said generating laser (4) sends;
Said control device is used for according to the actual range between said generating laser (4) and the said laser receiver (3), and the transfer device displacement that promotes said laser receiver (3) calculates the angle of deviation of development machine.
2. development machine angle of deviation pick-up unit as claimed in claim 1; It is characterized in that; When beginning to detect; On the direction of laser beam that the laser orientation instrument that said control device makes said laser receiver (3) stop at the colliery to be provided sends place, and to set this position be initial position, and said laser orientation instrument is used to provide the tunneling direction of development machine;
The displacement that transfer device promotes said laser receiver (3) is the initial position of said laser receiver (3) and the distance between the residing position when detecting the laser beam that said generating laser (4) sends.
3. development machine angle of deviation pick-up unit as claimed in claim 1 is characterized in that, the laser beam that said generating laser (4) sends is the fan beam perpendicular to ground.
4. development machine angle of deviation pick-up unit as claimed in claim 3 is characterized in that said generating laser (4) is arranged on the said machine body of boring machine through pendulous device, so that it sends fan beam.
5. like each described development machine angle of deviation pick-up unit of claim 1-4, it is characterized in that said transfer device specifically comprises:
Be arranged at the stepper motor (1) on the crag on top, down-hole;
With the leading screw (2) that the motor shaft of said stepper motor (1) links to each other, said leading screw (2) horizontal arrangement, said laser receiver (3) is through screw and said leading screw (2) threaded engagement.
6. development machine angle of deviation pick-up unit as claimed in claim 5 is characterized in that, comprises the sliding rail that is arranged in parallel in said leading screw (2) both sides, and said laser receiver (3) is slidingly matched with said sliding rail.
7. a development machine angle of deviation detection method is characterized in that, comprises step:
1) on the laser beam place direction that the control device laser orientation instrument that makes said laser receiver (3) stop at the colliery providing sends, and to set this position be initial position, and said laser orientation instrument is used to provide the tunneling direction of development machine;
2) the transfer device horizontal direction that promotes said laser receiver (3) crag along the top, down-hole moves; Detect the light beam that the generating laser on the development machine sends; After when detecting light beam; According to the actual range between generating laser and the laser receiver, and the displacement of transfer device promotion laser receiver calculates the angle of deviation of development machine.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110364257.1A CN102506770B (en) | 2011-11-16 | 2011-11-16 | Detection device and method of deviation angle of development machine |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110364257.1A CN102506770B (en) | 2011-11-16 | 2011-11-16 | Detection device and method of deviation angle of development machine |
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| CN102506770A true CN102506770A (en) | 2012-06-20 |
| CN102506770B CN102506770B (en) | 2014-06-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106839990A (en) * | 2017-04-05 | 2017-06-13 | 中国矿业大学 | A kind of colliery laser facula coordinate detecting device and method |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1164519A (en) * | 1997-08-18 | 1999-03-05 | Kirin Brewery Co Ltd | Device and method for measuring sound absorbing surface |
| CN101629807A (en) * | 2009-08-20 | 2010-01-20 | 中国矿业大学(北京) | Position and attitude parameter measurement system of machine body of boring machine and method thereof |
| CN201826230U (en) * | 2010-09-08 | 2011-05-11 | 中国铁道科学研究院铁道建筑研究所 | Remote laser measuring device |
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2011
- 2011-11-16 CN CN201110364257.1A patent/CN102506770B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH1164519A (en) * | 1997-08-18 | 1999-03-05 | Kirin Brewery Co Ltd | Device and method for measuring sound absorbing surface |
| CN101629807A (en) * | 2009-08-20 | 2010-01-20 | 中国矿业大学(北京) | Position and attitude parameter measurement system of machine body of boring machine and method thereof |
| CN201826230U (en) * | 2010-09-08 | 2011-05-11 | 中国铁道科学研究院铁道建筑研究所 | Remote laser measuring device |
Non-Patent Citations (1)
| Title |
|---|
| 陈传灿: "《顶管掘进机激光导向控制系统设计与分析》", 《建筑机械》, no. 10, 31 October 2001 (2001-10-31), pages 26 - 28 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106839990A (en) * | 2017-04-05 | 2017-06-13 | 中国矿业大学 | A kind of colliery laser facula coordinate detecting device and method |
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