CN103510963B - Segment positioning control system of shield tunneling machine based on multi-sensor information fusion and control method - Google Patents
Segment positioning control system of shield tunneling machine based on multi-sensor information fusion and control method Download PDFInfo
- Publication number
- CN103510963B CN103510963B CN201310513094.8A CN201310513094A CN103510963B CN 103510963 B CN103510963 B CN 103510963B CN 201310513094 A CN201310513094 A CN 201310513094A CN 103510963 B CN103510963 B CN 103510963B
- Authority
- CN
- China
- Prior art keywords
- jurisdiction
- section
- module
- information fusion
- sensor information
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Lining And Supports For Tunnels (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a segment positioning control system of a shield tunneling machine based on multi-sensor information fusion and a control method of the segment positioning control system. The control system comprises a six-freedom-degree segment positioning installing module, a control module and a multi-sensor information fusion module. The segment positioning control system utilizes the multi-sensor information fusion technology to improve the positioning precision of the segment, and greatly promote assembly accuracy and quality. A vision sensing measurement technology is utilized to realize coarse positioning of the segment of the shield, so as to improve speed of the segment to a predetermined location and increase the segment assembly efficiency. A pre-tensioning pressure feedback technology is utilized to realize assembly of the segment with a pre-tension force through adjustable parameters, and greatly improve the assembly quality of the segment.
Description
Technical field
The invention belongs to tunneling shield technical field, be specifically related to a kind of shield machine segment positioning control system in conjunction with vision coarse positioning and force feedback fine positioning based on multi-sensor information fusion and method.
Background technology
Chinese patent 201020540755.8 discloses a kind of section of jurisdiction intelligent splicing system of shield excavation machine, its section of jurisdiction location recognition and analysis module include stereo visual system and nerve network control system, for detecting the relative position of section of jurisdiction to be installed and tubulature sheet, and then control each cylinder action, complete the location of section of jurisdiction to be installed.
But due to the limited precision of existing stereo visual system, and shield structure site environment is severe, prior art only can realize the coarse positioning to section of jurisdiction, this just will cause the decline of section of jurisdiction positioning precision, even occurs that section of jurisdiction loosens, will cause great cave-in accident time serious.
In addition, Japan Patent JP2004131979A discloses a kind of pinpoint method of shield duct piece, it utilizes the position, multiple displacement transducer Real-Time Monitoring section of jurisdiction being arranged in junction, section of jurisdiction, and utilize the difference of control device computation and measurement position and goal-selling position, realize the coarse positioning of section of jurisdiction, first order fine positioning and second level fine positioning.This technical scheme needs a large amount of sensors, and therefore cost is higher, and in addition because shield duct piece size is comparatively large and the dimensional accuracy at edge, section of jurisdiction is difficult to control, the positioning precision causing this employing alternate position spike to carry out the control method of location, section of jurisdiction cannot ensure.
Japan Patent JP2004044359A discloses a kind of pinpoint method in section of jurisdiction adopting ultrasonic distance sensor to carry out shield duct piece position measurement, although number of sensors reduces, it has the drawback of above-mentioned patent equally.
Summary of the invention
Object of the present invention provides a kind of shield machine segment positioning control system based on multi-sensor information fusion and method, it is high that it has section of jurisdiction positioning precision, the feature that splicing accuracy and quality significantly promote, can also, by adjustable parameter realization with the pipe sheet assembling of pretightning force, pipe sheet assembling quality significantly be promoted.
For solving the problems of the technologies described above, the present invention is achieved through the following technical solutions:
The shield machine segment positioning control system based on multi-sensor information fusion of the present invention is by six degree of freedom section of jurisdiction location and installation module, control module and multi-sensor information fusion module composition;
Described six degree of freedom section of jurisdiction location and installation module is made up of elevating ram, propelling cylinder, rotary motor, skew oil cylinder, pitching oil cylinder, rolling oil cylinder and section of jurisdiction connecting bolt automatic installation mechanism, described elevating ram and the radial parallel installation of shield tunnel, realize the radial feed of section of jurisdiction; Described propelling cylinder and the axis being parallel of shield tunnel are installed, and realize the axial feed of section of jurisdiction; The gyroaxis of described rotary motor and the dead in line of shield tunnel, realize the circle-feeding of section of jurisdiction; Described skew oil cylinder, pitching oil cylinder and rolling oil cylinder are installed in parallel, and realize three direction deflections of section of jurisdiction; Described section of jurisdiction connecting bolt automatic installation mechanism is used for that section of jurisdiction to be installed and tubulature sheet are carried out bolt and is connected;
Described multi-sensor information fusion module is made up of elevating ram pressure sensor, propelling cylinder pressure sensor, rotary motor torque sensor, video camera, sonac and A/D converter, and the measuring-signal of each sensor converts to after data signal through A/D converter and sends to control module to process;
Described control module presets input interface by pretightning force and fuzzy controller is formed, fuzzy controller obtains the pretightning force measured and obtain from multi-sensor information fusion module, comprise turning power, propulsive force and lifting force, and with preset the pretightning force preset value that input interface inputs by pretightning force and contrast, control six degree of freedom section of jurisdiction location and installation module according to comparing result and carry out corresponding actions.
The shield machine segment position control method based on multi-sensor information fusion of the present invention is as follows:
In described multi-sensor information fusion module, the video camera of visual sensing part and the detecting information of sonac merge, and carry out pose detection and coarse positioning to shield duct piece; The single image taken by video camera obtains section of jurisdiction circumferentially impact point ideal coordinates in the picture, try to achieve the direction of projection vector, then by the motion of each oil cylinder of duct piece assembling machine, the guiding sonac origin of coordinates overlaps with the initial point of mobile front camera coordinate system, and its Z-direction is identical with the projection vector direction of trying to achieve, the length of projection vector is measured again by sonac, thus determine the coordinate of impact point in camera coordinate system, and can be transformed in duct piece assembling machine basis coordinates system further; Operated the space coordinates of on section of jurisdiction 2 by measurement, just can determine section of jurisdiction spatial attitude, and then complete section of jurisdiction coarse positioning.The method is simple, and amount of calculation is little.
After section of jurisdiction realizes coarse positioning, six degree of freedom section of jurisdiction location and installation module action speed slows down, the thrust signal of elevating ram, propelling cylinder and rotary motor and torque signal in the elevating ram pressure sensor of preload pressure feedback fraction, propelling cylinder pressure sensor and rotary motor torque sensor Real-Time Monitoring six degree of freedom section of jurisdiction location and installation module in multi-sensor information fusion module, and be sent to control module; Meanwhile, control module collection carries the information such as prepackage section of jurisdiction angle, section of jurisdiction weight of test macro from shield excavation machine, and utilizes geometrical relationship the impact of these parameters on turning power, propulsive force and lifting force to be removed;
Fuzzy controller in control module is according to the above-mentioned turning power, propulsive force and the lifting force that remove interfere information, and with preset the pretightning force preset value that input interface inputs by pretightning force and contrast, carry out corresponding actions according to elevating ram, propelling cylinder and the rotary motor that comparing result controls in the location and installation module of six degree of freedom section of jurisdiction; When measuring-signal reaches pretightning force preset value, pressurize is carried out to each oil cylinder, carry out locked to motor; Now start section of jurisdiction connecting bolt automatic installation mechanism, final location and installation is carried out to section of jurisdiction.
Beneficial effect of the present invention:
1, utilize multi-sensor information fusion technology, improve section of jurisdiction positioning precision, significantly promote splicing accuracy and quality;
2, realized the coarse positioning of shield duct piece by visual sensing measuring technique, improve the speed in arrival precalculated position, section of jurisdiction, promote pipe sheet assembling efficiency;
3, utilize preload pressure feedback technique, can, by adjustable parameter realization with the pipe sheet assembling of pretightning force, pipe sheet assembling quality significantly be promoted.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the shield machine segment positioning control system based on multi-sensor information fusion of the present invention.
Fig. 2 is the structural representation of the shield machine segment positioning control system based on multi-sensor information fusion of the present invention.
Fig. 3 is the flow chart of the shield machine segment position control method based on multi-sensor information fusion of the present invention.
Wherein: 1-six degree of freedom section of jurisdiction location and installation module; 2-control module; 3-multi-sensor information fusion module; 11-elevating ram; 12-propelling cylinder; 13-rotary motor; 14-offsets oil cylinder; 15, pitching oil cylinder; 16-rolling oil cylinder; 17-section of jurisdiction connecting bolt automatic installation mechanism; 21-pretightning force presets input interface; 22-fuzzy controller; 221-turning power controls; 222-feeding force control; 223-lifting force controls; 31-elevating ram pressure sensor; 32-propelling cylinder pressure sensor; 33-rotary motor torque sensor; 34-video camera; 35-sonac; 36-A/D converter.
Detailed description of the invention
Refer to shown in Fig. 1 and Fig. 2, the shield machine segment positioning control system based on multi-sensor information fusion of the present invention is made up of six degree of freedom section of jurisdiction location and installation module 1, control module 2 and multi-sensor information fusion module 3;
Described six degree of freedom section of jurisdiction location and installation module 1 is made up of elevating ram 11, propelling cylinder 12, rotary motor 13, skew oil cylinder 14, pitching oil cylinder 15, rolling oil cylinder 16 and section of jurisdiction connecting bolt automatic installation mechanism 17, described elevating ram 11 and the radial parallel installation of shield tunnel, realize the radial feed of section of jurisdiction; Described propelling cylinder 12 is installed with the axis being parallel of shield tunnel, realizes the axial feed of section of jurisdiction; The described gyroaxis of rotary motor 13 and the dead in line of shield tunnel, realize the circle-feeding of section of jurisdiction; Described skew oil cylinder 14, pitching oil cylinder 15 and rolling oil cylinder 16 are installed in parallel, and realize three direction deflections of section of jurisdiction; Described section of jurisdiction connecting bolt automatic installation mechanism 17 is connected for section of jurisdiction to be installed and tubulature sheet are carried out bolt;
Described multi-sensor information fusion module 3 is made up of elevating ram pressure sensor 31, propelling cylinder pressure sensor 32, rotary motor torque sensor 33, video camera 34, sonac 35 and A/D converter 36, and the measuring-signal of each sensor converts to after data signal through A/D converter 36 and sends to control module 2 to process;
Described control module 2 presets input interface 21 by pretightning force and fuzzy controller 22 is formed, fuzzy controller 22 obtains the pretightning force measured and obtain from multi-sensor information fusion module 3, comprise turning power, propulsive force and lifting force, and with preset the pretightning force preset value that input interface 21 inputs by pretightning force and contrast, control six degree of freedom section of jurisdiction location and installation module 1 according to comparing result and carry out corresponding actions.
Described fuzzy controller 22 carries out turning power control 221, feeding force control 222 and lifting force and controls 223.
As shown in Figure 3, the shield machine segment position control method based on multi-sensor information fusion of the present invention comprises the following steps:
(I), assembled beginning, first carry out section of jurisdiction coarse positioning;
First six degree of freedom section of jurisdiction location and installation module 1 quick acting, and utilize visual sensing to carry out pose detection and coarse positioning, then judge whether the predeterminated position reaching coarse positioning, if do not reached, then six degree of freedom section of jurisdiction location and installation module 1 continues action; If reached, namely enter next (II) step;
The described step utilizing visual sensing to carry out pose detection and coarse positioning is: in multi-sensor information fusion module 3, the video camera 34 of visual sensing part and the detecting information of sonac 35 merge, and carry out pose detection and coarse positioning to shield duct piece; The single image taken by video camera 34 obtains section of jurisdiction circumferentially impact point ideal coordinates in the picture, try to achieve the direction of projection vector, then by the motion of each oil cylinder of duct piece assembling machine, guiding sonac 35 origin of coordinates overlaps with the initial point of mobile front video camera 34 coordinate system, and its Z-direction is identical with the projection vector direction of trying to achieve, the length of projection vector is measured again by sonac 35, thus determine the coordinate of impact point in video camera 34 coordinate system, and can be transformed in duct piece assembling machine basis coordinates system further; Operated the space coordinates of on section of jurisdiction 2 by measurement, just can determine section of jurisdiction spatial attitude, and then complete section of jurisdiction coarse positioning.
(II), section of jurisdiction fine positioning is carried out;
First preset by pretightning force the pretightning force preset value that input interface 21 inputs;
Simultaneously, six degree of freedom section of jurisdiction location and installation module 1 responsiveness slows down, the thrust signal of elevating ram 11, propelling cylinder 12 and rotary motor 13 and torque signal in the elevating ram pressure sensor 31 of preload pressure feedback fraction, propelling cylinder pressure sensor 32 and rotary motor torque sensor 33 Real-Time Monitoring six degree of freedom section of jurisdiction location and installation module 1 in multi-sensor information fusion module 3, and be sent to control module 2; Meanwhile, control module 2 gathers the information such as prepackage section of jurisdiction angle, section of jurisdiction weight carrying test macro from shield excavation machine, and utilizes geometrical relationship the impact of these parameters on turning power, propulsive force and lifting force to be removed;
Fuzzy controller 22 in control module 2 is according to the turning power transmitted, propulsive force and lifting force, and with preset the pretightning force preset value that input interface 21 inputs by pretightning force and contrast, carry out corresponding actions according to elevating ram 11, propelling cylinder 12 and the rotary motor 13 that comparing result controls in six degree of freedom section of jurisdiction location and installation module 1; When measuring-signal reaches pretightning force preset value, enter next (III) step;
(III), complete assembled:
Pressurize is carried out to each oil cylinder, carries out locked to motor;
Meanwhile, start section of jurisdiction connecting bolt automatic installation mechanism 17, final location and installation is carried out to section of jurisdiction, completes pipe sheet assembling.
Claims (3)
1. based on a shield machine segment positioning control system for multi-sensor information fusion, it is characterized in that: be made up of six degree of freedom section of jurisdiction location and installation module (1), control module (2) and multi-sensor information fusion module (3);
Described six degree of freedom section of jurisdiction location and installation module (1) is made up of elevating ram (11), propelling cylinder (12), rotary motor (13), skew oil cylinder (14), pitching oil cylinder (15), rolling oil cylinder (16) and section of jurisdiction connecting bolt automatic installation mechanism (17), described elevating ram (11) and the radial parallel installation of shield tunnel, realize the radial feed of section of jurisdiction; Described propelling cylinder (12) is installed with the axis being parallel of shield tunnel, realizes the axial feed of section of jurisdiction; The described gyroaxis of rotary motor (13) and the dead in line of shield tunnel, realize the circle-feeding of section of jurisdiction; Described skew oil cylinder (14), pitching oil cylinder (15) and rolling oil cylinder (16) are installed in parallel, and realize three direction deflections of section of jurisdiction; Described section of jurisdiction connecting bolt automatic installation mechanism (17) is connected for section of jurisdiction to be installed and tubulature sheet are carried out bolt;
Described multi-sensor information fusion module (3) is made up of elevating ram pressure sensor (31), propelling cylinder pressure sensor (32), rotary motor torque sensor (33), video camera (34), sonac (35) and A/D converter (36), and the measuring-signal of each sensor sends to control module (2) to process after A/D converter (36) converts data signal to;
Described control module (2) presets input interface (21) by pretightning force and fuzzy controller (22) is formed, fuzzy controller (22) obtains the pretightning force measured and obtain from multi-sensor information fusion module (3), and with preset the pretightning force preset value that input interface (21) inputs by pretightning force and contrast, control six degree of freedom section of jurisdiction location and installation module (1) according to comparing result and carry out corresponding actions; Fuzzy controller (22) carries out turning power control (221), feeding force control (222) and lifting force and controls (223).
2. a kind of shield machine segment positioning control system based on multi-sensor information fusion according to claim 1, is characterized in that: described pretightning force comprises turning power, propulsive force and lifting force.
3., based on a shield machine segment position control method for multi-sensor information fusion, the method comprises the following steps:
(I), assembled beginning, first carry out section of jurisdiction coarse positioning:
First six degree of freedom section of jurisdiction location and installation module (1) quick acting, and utilize visual sensing to carry out pose detection and coarse positioning, then judge whether the predeterminated position reaching coarse positioning, if do not reached, then six degree of freedom section of jurisdiction location and installation module (1) continues action; If reached, namely enter next (II) step;
The described step utilizing visual sensing to carry out pose detection and coarse positioning is: in multi-sensor information fusion module (3), the video camera (34) of visual sensing part and the detecting information of sonac (35) merge, and carry out pose detection and coarse positioning to shield duct piece; The single image taken by video camera (34) obtains section of jurisdiction circumferentially impact point ideal coordinates in the picture, try to achieve the direction of projection vector, then by the motion of each oil cylinder of duct piece assembling machine, guiding sonac (35) origin of coordinates overlaps with the initial point of mobile front video camera (34) coordinate system, and its Z-direction is identical with the projection vector direction of trying to achieve, the length of projection vector is measured again by sonac (35), thus determine the coordinate of impact point in video camera (34) coordinate system, and can be transformed in duct piece assembling machine basis coordinates system further; Operated the space coordinates of on section of jurisdiction 2 by measurement, just can determine section of jurisdiction spatial attitude, and then complete section of jurisdiction coarse positioning;
(II), section of jurisdiction fine positioning is carried out:
First preset by pretightning force the pretightning force preset value that input interface (21) inputs;
Simultaneously, six degree of freedom section of jurisdiction location and installation module (1) responsiveness slows down, the thrust signal of the elevating ram pressure sensor (31) of preload pressure feedback fraction in multi-sensor information fusion module (3), propelling cylinder pressure sensor (32) and rotary motor torque sensor (33) Real-Time Monitoring six degree of freedom section of jurisdiction location and installation module (1) middle elevating ram (11), propelling cylinder (12) and rotary motor (13) and torque signal, and be sent to control module (2); Meanwhile, control module (2) gathers the prepackage section of jurisdiction angle, the section of jurisdiction weight information that carry test macro from shield excavation machine, and utilizes geometrical relationship the impact of these parameters on turning power, propulsive force and lifting force to be removed;
Fuzzy controller (22) in control module (2) is according to the turning power, propulsive force and the lifting force that transmit, and with preset the pretightning force preset value that input interface (21) inputs by pretightning force and contrast, carry out corresponding actions according to elevating ram (11), propelling cylinder (12) and the rotary motor (13) that comparing result controls in six degree of freedom section of jurisdiction location and installation module (1); When measuring-signal reaches pretightning force preset value, enter next (III) step;
(III), complete assembled:
Pressurize is carried out to each oil cylinder, carries out locked to motor; Meanwhile, start section of jurisdiction connecting bolt automatic installation mechanism (17), final location and installation is carried out to section of jurisdiction, completes pipe sheet assembling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310513094.8A CN103510963B (en) | 2013-10-27 | 2013-10-27 | Segment positioning control system of shield tunneling machine based on multi-sensor information fusion and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310513094.8A CN103510963B (en) | 2013-10-27 | 2013-10-27 | Segment positioning control system of shield tunneling machine based on multi-sensor information fusion and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103510963A CN103510963A (en) | 2014-01-15 |
| CN103510963B true CN103510963B (en) | 2015-06-24 |
Family
ID=49894327
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310513094.8A Expired - Fee Related CN103510963B (en) | 2013-10-27 | 2013-10-27 | Segment positioning control system of shield tunneling machine based on multi-sensor information fusion and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103510963B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104018850B (en) * | 2014-06-09 | 2016-06-29 | 吉林大学 | Section of jurisdiction based on the duct piece assembling machine of binocular vision positions and grasping system |
| CN104406523A (en) * | 2014-09-29 | 2015-03-11 | 樊晓莉 | Shield tunnel segment shift detection method |
| CN106645397B (en) * | 2016-09-28 | 2019-05-21 | 中交第二公路勘察设计研究院有限公司 | A kind of compaction degree test method of shield machine air pushing tunnel duct piece |
| CN107083972A (en) * | 2017-06-19 | 2017-08-22 | 四川汇智众创科技有限公司 | Shield segment assembling auxiliary equipment |
| CN108756927B (en) * | 2018-07-05 | 2024-01-19 | 中国铁建重工集团股份有限公司 | Steel arch installing system of heading machine |
| CN111810181B (en) * | 2020-07-21 | 2021-10-15 | 平顶山天安煤业股份有限公司 | Heading machine roadway positioning and footage monitoring device and method based on data internet of things |
| CN112284360B (en) * | 2020-11-16 | 2022-05-13 | 江苏集萃智能光电系统研究所有限公司 | Double-shield six-degree-of-freedom measurement method and system based on binocular vision system |
| CN113250718B (en) * | 2021-06-08 | 2021-10-26 | 北京建工土木工程有限公司 | Segment intelligent assembling system based on automatic cruise and assembling method thereof |
| CN114810137B (en) * | 2022-05-08 | 2023-06-13 | 四川大学 | Shield tunnel mid-partition wall positioning and grabbing system and method based on multi-sensor information fusion |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201818317U (en) * | 2010-09-21 | 2011-05-04 | 吉林大学 | Duct piece intelligent assembling system of shield tunnelling machine |
| CN103032396A (en) * | 2013-01-06 | 2013-04-10 | 浙江大学 | Energy-saving shield segment assembling and positioning electro-hydraulic control system adopting load-sensitive technology |
| CN203515595U (en) * | 2013-10-27 | 2014-04-02 | 吉林大学 | Shield machine segment positioning control system based on multi-sensor information fusion |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3418236B2 (en) * | 1993-06-17 | 2003-06-16 | 株式会社小松製作所 | Segment assembly equipment |
| JP2720419B2 (en) * | 1994-02-14 | 1998-03-04 | 鹿島建設株式会社 | Assembling method of shield segment |
| JP2669341B2 (en) * | 1994-03-18 | 1997-10-27 | 日本鋼管株式会社 | Shield segment positioning method |
| JP3228075B2 (en) * | 1995-06-22 | 2001-11-12 | 日本鋼管株式会社 | Shield segment positioning method |
| JP2004044359A (en) * | 2002-05-21 | 2004-02-12 | Mitsubishi Heavy Ind Ltd | Erector controller and assembly method for lining member |
| JP2004131979A (en) * | 2002-10-09 | 2004-04-30 | Mitsubishi Heavy Ind Ltd | Assembly method for erector controller and lining work member |
-
2013
- 2013-10-27 CN CN201310513094.8A patent/CN103510963B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201818317U (en) * | 2010-09-21 | 2011-05-04 | 吉林大学 | Duct piece intelligent assembling system of shield tunnelling machine |
| CN103032396A (en) * | 2013-01-06 | 2013-04-10 | 浙江大学 | Energy-saving shield segment assembling and positioning electro-hydraulic control system adopting load-sensitive technology |
| CN203515595U (en) * | 2013-10-27 | 2014-04-02 | 吉林大学 | Shield machine segment positioning control system based on multi-sensor information fusion |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103510963A (en) | 2014-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103510963B (en) | Segment positioning control system of shield tunneling machine based on multi-sensor information fusion and control method | |
| CN110159869B (en) | Pipeline detection robot and multi-sensor fusion detection method thereof | |
| CN103063153A (en) | Shield tail clearance measurement method and device based on multiple-spot scanning distance detection technology | |
| CN103018255B (en) | Method for automatically collecting defect data of subway tunnel | |
| CN103825338A (en) | Device and method for controlling self-localization, butting and charging of high-voltage line inspection robot | |
| CN109268026B (en) | Push bench operating system and operating method | |
| CN102331296B (en) | Method, device and system for detecting vibration of arm support of engineering machinery and engineering machinery | |
| CN109931072A (en) | Tunneling machine cutting control device, method and cantilever excavator | |
| CN105403162B (en) | The automatic testing method of semitrailer outer profile size | |
| CN109249401B (en) | Cable trench inspection robot with high obstacle crossing capability and implementation method thereof | |
| CN206017053U (en) | A kind of hub bearing bolt automatic tightening control system of view-based access control model navigation | |
| CN203515595U (en) | Shield machine segment positioning control system based on multi-sensor information fusion | |
| CN112630594A (en) | A patrol and examine robot for cable detects | |
| CN112114327A (en) | Coal mine tunnel drilling and anchoring robot precise positioning method and system based on multi-sensor fusion | |
| CN101943576A (en) | Detection device of engineering machinery steering angle | |
| CN204301698U (en) | Motor vehicle contour dimension measuring system | |
| CN103940391A (en) | Carriage locating method and system based on automatic material collecting and transferring, and automatic material sampling system | |
| CN114440791A (en) | Subway clearance detection system and method | |
| CN113431579A (en) | Coal mining face alignment method and system | |
| CN102645187B (en) | Distributed ultrasonic underground space structure deformation monitoring system and area location method | |
| CN116852360A (en) | Motion control and detection method of man-machine cooperation floor paving robot | |
| CN114019950B (en) | Tunnel structure apparent disease intelligent inspection robot | |
| CN117027897A (en) | Hydraulic support side protection and adjacent support pose measurement control system based on point cloud | |
| CN101937237A (en) | Automatic positioning method for drill rod end straightening | |
| CN115163107A (en) | Cutting arm control method and device, heading machine and heading machine control system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150624 Termination date: 20151027 |
|
| EXPY | Termination of patent right or utility model |