CN104536008B - Drill jumbo blast hole laser ranging and positioning method - Google Patents

Abstract

The invention belongs to the field of laser measurement and relates to a drill jumbo blast hole laser ranging and positioning method. A device used in the drill jumbo blast hole laser ranging and positioning method comprises an industrial laser ranging sensor, a laser target, a high-precision omni-directional cloud deck and a touch screen and PLC all-in-one machine. The drill jumbo blast hole laser ranging and positioning method is applied to drill jumbo blast hole positioning in a mine drilling and blasting method. The drill jumbo blast hole laser ranging and positioning method has the advantages that the positioning process is not affected by the actual fracture surface condition of a roadway, the blast hole position is accurately positioned, operation is easy, and working efficiency is high.

Description

A kind of drill jumbo blasthole laser ranging localization method

Technical field

The invention belongs to laser measurement field, particularly to a kind of drill jumbo blasthole laser ranging localization method.

Background technology

Drilling and blasting method is a kind of conventional method in mining production, and blasthole positioning and probing are the method important procedures, at present Conventional blasthole probing mainly to be completed by drill jumbo.

Generally, according to blasthole project blue print, blasthole position is demarcated in drive by staff with red paint On section, then operation drill jumbo carries out blasthole probing.Because drive section is uneven, section configuration is sufficiently complex, shadow Banger hole site precision, and waste time and energy.

Cao Shijie document " SCM Based tunnel piercing laser orientation instru-ment [j]. administrator, 2010 (17) " in Propose a kind of laser positioning method.The method Laser Measurement generator first to positioning section distance, further according to actual apertures Position calculates the displacement of laser beam stent cover, single-chip microcomputer with corresponding hole site on laser beam support, passing ratio relation Laser beam support is controlled to be moved to the purpose positioning.However, actual location section is uneven, state is sufficiently complex, positioning Error is larger, directly affects blasthole positional precision.

Content of the invention

The present invention proposes a kind of drill jumbo blasthole laser ranging localization method, is applied to drilling staging in the drilling and blasting method of mine Car blasthole positions.

Technical scheme:

Device used by drill jumbo blasthole laser ranging localization method includes industrial laserses distance measuring sensor, laser target Mark, high accuracy all-directional tripod head and touch screen plc all-in-one.

Industrial laserses distance measuring sensor includes generating laser, laser pickoff and signal processing circuit, industrial laserses Distance measuring sensor specifies blasthole position by launching laser, and the laser signal receiving from the reflection of laser target realizes laser Range finding, industrial laserses distance measuring sensor is connected with touch screen plc all-in-one by data-interface, this industrial laserses distance measuring sensor It is installed on high accuracy all-directional tripod head, the horizontally and vertically direction realizing industrial laserses distance measuring sensor rotates；Laser target It is installed on the support of drill jumbo forward beam front end, for receiving laser signal and it being reflected；Comprehensive in high precision Head hangs and is fixed on immediately below the axis of drill jumbo operating room ceiling, has control horizontal direction and vertical direction inside it Two motors, high accuracy all-directional tripod head is connected with touch screen plc all-in-one, for receiving touch screen plc all-in-one Control signal, by controlling the horizontal direction of high accuracy all-directional tripod head and the rotation of two motors of vertical direction and then control Industrial laserses distance measuring sensor processed rotates；Touch screen plc all-in-one is installed on the dead ahead of drill jumbo operating room, according to blasthole Design drawing control high accuracy all-directional tripod head drive industrial laserses distance measuring sensor rotate, calculate and display ranging information in order to The drill boom of drill jumbo is adjusted；Blast-hole design figure is the blasthole location drawing according to tunnel trend and theory of blasting design.

(1), during drill jumbo Location vehicle, adjustment car body makes the axis of car body mutually overlapping with the ground survey line at mine working top Close；On mine working section, determine the blast-hole design initial point and laser deviation between drift section perpendicular projection point, to swash Optical transmitting set sets up laser coordinate system, each coordinate figure plus or minus above-mentioned deviation for initial point, so that the blasthole of design is transformed into In laser coordinate system.

(2) blasthole arbitrarily to be drilled is selected according to the blast-hole design figure on touch screen plc all-in-one, according to this blasthole central point Coordinate, laser target and drill jumbo drilling rod center offset or dish, calculate laser in the horizontal direction with vertical direction Deflection angle α and β, as shown in Fig. 2 computing formula is:

$\mathrm{\α}=\arctan \frac{x}{l}---\left(1\right)$

$\mathrm{\β}=\arcsin \frac{y}{\sqrt{x^2+y^2+l^2}}---\left(2\right)$

Wherein, x represents abscissa under laser coordinate system for the blasthole；Y represents vertical coordinate under laser coordinate system for the blasthole； L represents the vertical dimension between virtual locating surface for the generating laser；Virtual locating surface is to survey the flat of axis perpendicular to tunnel Face, positioned between drill jumbo car body and drift section.

The angle of deflection of horizontal direction and vertical direction is changed into pulse signal with β by touch screen plc all-in-one, by pulse Signal is transported to high accuracy all-directional tripod head, drives generating laser in the horizontal direction and vertically square by high accuracy all-directional tripod head To deflection respective angles.The drill boom controlling drill jumbo moves, and the laser target making drill jumbo forward beam front end is near laser The laser beam that emitter is launched, laser target tag splice is received and return laser light signal, measures after laser pickoff receipt signal Generating laser this distance is converted into laser target to the vertical dimension l ' of generating laser to laser target target apart from l, turns Changing formula is:

$l^{\′}=\frac{l\·\cos \mathrm{\α}}{\sqrt{1+{\tan }^2\mathrm{\β}}}---\left(3\right)$

(3) by the vertical dimension l ' of laser target to generating laser and set virtual locating surface to generating laser Vertical dimension be compared.The drill boom of adjustment drill jumbo, until laser target is overlapped with virtual locating surface, now drilling staging Wagon drill bar center is the physical location of blasthole to be drilled.

Present invention has an advantage that position fixing process is not affected by tunnel actual profile situation, it is accurately positioned blasthole position, behaviour Make simple, high working efficiency.

Brief description

Fig. 1 is blasthole positioning flow figure of the present invention.

Fig. 2 blasthole space schematic diagram.

In figure: 1 virtual locating surface；O generating laser initial point.

Specific embodiment

Further illustrate the specific embodiment of the present invention below in conjunction with technical scheme and accompanying drawing.

Location equipment used by the present invention includes industrial laserses distance measuring sensor, laser target, high accuracy all-directional tripod head With touch screen plc all-in-one.Drill jumbo is driving formula drill jumbo.

Industrial laserses distance measuring sensor is installed on high accuracy all-directional tripod head, and high accuracy all-directional tripod head hangs to be fixed Immediately below drill jumbo operating room ceiling axis, it is connected with touch screen plc all-in-one, industrial laserses distance measuring sensor passes through Data-interface is connected with touch screen plc all-in-one；Laser target is installed on the support of drill jumbo forward beam front end, laser target Mark center and drill jumbo drilling rod center are 10cm in the offset or dish of vertical direction.

Fig. 1 is blasthole positioning flow figure of the present invention.Carry out drill jumbo Location vehicle first, make the axle of drill jumbo car body Line is coincided with the ground survey line at tunnel top；Then, in drift section, determine blast-hole design initial point and laser in drift section Deviation between perpendicular projection point, sets up laser coordinate system with generating laser for initial point, and design blasthole is transformed into laser In coordinate system.Operator determine virtual locating surface according to drift section and drill jumbo position, such as accompanying drawing 2, are originally embodied as In example, generating laser is taken to arrive vertical dimension l=10m of virtual locating surface.

Operator select blasthole m to be drilled, and position in laser coordinate system for this blasthole is (2m, 1.5m, 10m), such as Shown in Fig. 2, it is calculated deflection angle α and β in horizontally and vertically direction for the generating laser, calculated according to formula (1), (2) : α=11.309 °, β=8.367 °.The angle of deflection in horizontally and vertically direction is changed into pulse with β by touch screen plc all-in-one Signal, exports to high accuracy all-directional tripod head, controls generating laser to deflect respective angles in horizontally and vertically direction, laser is sent out The laser beam that emitter sends points to blasthole to be drilled；Operator move drill jumbo drill boom, make drill jumbo forward beam front end Laser target near laser beam, laser target tag splice is received and return laser light signal, is found range after laser pickoff receipt signal, Obtain drill jumbo forward beam front end laser target to generating laser apart from l=10.2m, laser is calculated by formula (3) Target to the vertical dimension l '=0.970l=9.894m of generating laser, as shown in Figure 2.Drill jumbo drill boom is controlled to be adjusted Whole, until it is it may be determined that going out the position of blasthole to be drilled during l '=10m that laser target is overlapped with virtual locating surface.

Claims (1)

1. a kind of drill jumbo blasthole laser ranging localization method it is characterised in that

Device used by drill jumbo blasthole laser ranging localization method includes industrial laserses distance measuring sensor, laser target, complete Orientation head and touch screen plc all-in-one；

Industrial laserses distance measuring sensor includes generating laser, laser pickoff and signal processing circuit, and industrial laserses are found range Sensor specifies blasthole position by launching laser, and the laser signal receiving from the reflection of laser target realizes Laser Measuring Away from industrial laserses distance measuring sensor is connected with touch screen plc all-in-one by data-interface, and this industrial laserses distance measuring sensor is pacified It is loaded on all-directional tripod head, the horizontally and vertically direction realizing industrial laserses distance measuring sensor rotates；Laser target is installed on chisel On the support of rock bench car forward beam front end, for receiving laser signal and it being reflected；All-directional tripod head hangs and is fixed on Immediately below the axis of drill jumbo operating room ceiling, inside it, there are control horizontal direction and two motors of vertical direction, All-directional tripod head is connected with touch screen plc all-in-one, for receiving the control signal of touch screen plc all-in-one, complete by controlling The rotation of the horizontal direction of orientation head and two motors of vertical direction and then control industrial laserses distance measuring sensor rotation； Touch screen plc all-in-one is installed on the dead ahead of drill jumbo operating room, controls all-directional tripod head to drive according to blast-hole design figure Industrial laserses distance measuring sensor rotates, and calculates and display ranging information is in order to be adjusted to the drill boom of drill jumbo；Blasthole Design drawing is the blasthole location drawing according to tunnel trend and theory of blasting design；

Step is as follows:

(1), during drill jumbo Location vehicle, adjustment car body makes the axis of car body coincide with the ground survey line at mine working top；? On mine working section, determine the blast-hole design initial point and laser deviation between drift section perpendicular projection point, sent out with laser Emitter sets up laser coordinate system, each coordinate figure plus or minus above-mentioned deviation for initial point, makes the blasthole of design be transformed into laser In coordinate system；

(2) blasthole arbitrarily to be drilled is selected according to the blast-hole design figure on touch screen plc all-in-one, according to the seat of this blasthole central point The offset or dish at mark, laser target and drill jumbo drilling rod center, calculates the deflection in the horizontal direction with vertical direction for the laser Angle [alpha] and β, computing formula is:

$\mathrm{\α}=arctan\frac{x}{l}---\left(1\right)$

$\mathrm{\β}=arcsin\frac{y}{\sqrt{x^2+y^2+l^2}}---\left(2\right)$

Wherein, x represents abscissa under laser coordinate system for the blasthole；Y represents vertical coordinate under laser coordinate system for the blasthole；L generation The vertical dimension between virtual locating surface for the table generating laser；Virtual locating surface is to survey the plane of axis perpendicular to tunnel, Positioned between drill jumbo car body and drift section；

The angle of deflection of horizontal direction and vertical direction is changed into pulse signal with β by touch screen plc all-in-one, by pulse signal It is transported to all-directional tripod head, drive generating laser to deflect respective angles with vertical direction in the horizontal direction by all-directional tripod head； The drill boom controlling drill jumbo moves, and the laser target making drill jumbo forward beam front end is near swashing that laser transmitter projects go out Light beam, laser target tag splice is received and return laser light signal, carries out Laser Measurement emitter to laser after laser pickoff receipt signal Target apart from l, this distance is converted into laser target to the vertical dimension l ' of generating laser, conversion formula is:

$l^{\′}=\frac{l\·cos\mathrm{\α}}{\sqrt{1+{\tan }^2\mathrm{\β}}}---\left(3\right)$

(3) the hanging down to generating laser by the vertical dimension l ' of laser target to generating laser and set virtual locating surface Straight distance is compared；The drill boom of adjustment drill jumbo, until laser target is overlapped with virtual locating surface, now drilling staging wagon drill Bar center is the physical location of blasthole to be drilled.