CN105178967A - Autonomous positioning and directing system and method of excavator - Google Patents
Autonomous positioning and directing system and method of excavator Download PDFInfo
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- CN105178967A CN105178967A CN201510237270.9A CN201510237270A CN105178967A CN 105178967 A CN105178967 A CN 105178967A CN 201510237270 A CN201510237270 A CN 201510237270A CN 105178967 A CN105178967 A CN 105178967A
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Abstract
The invention discloses an autonomous positioning and directing system and method of an excavator and belongs to the field of autonomous cruising of the excavator. The system comprises a programmable computer controller, an autonomous walking positioning base station group, a gyro north finder, a tilt sensor, and excavator body positioning boxes, wherein the position of the positioning base station group is known with respect to a roadway coordinate system, three-dimensional coordinates of three excavator body positioning boxes with respect to the positioning base station group are detected in order by an ultra-wideband radio pulse ranging method when the excavator travels, and posture parameters of the excavators are calculated according to the three-dimensional coordinates; when the excavator stops, the posture parameters of the excavator are re-corrected through the gyro north finder and the tilt sensor; when the excavator travels out of an effective detection range of the system, four autonomous walking positioning base stations move forward in order according to an autonomous calibration strategy, and three-dimensional coordinates of the base stations are updated. Therefore, fully-automated positioning and directing of the excavator during roadway excavation is achieved.
Description
Technical field
The present invention relates to a kind of development machine of tunnelling field, particularly relate to the autonomous positioning and orientation system of a kind of development machine and method thereof.
Background technology
Development machine is the nucleus equipment realizing underground passage headwork.In traditional underground passage tunneling process.First the driving route of development machine is drawn by Di Ce department, is emitted to the position of the laser spot of front, tunnel crag, is controlled the tunneling direction of development machine by development machine driver according to the some laser orientation instrument being arranged on rear, tunnel.Due to mine laneway bad environments, this driving method not only efficiency is low, and limited precision.In addition, some laser orientation instrument is fixed on top board place, rear, tunnel, and installation, dismounting, demarcation extremely bother, and considerably increase working strength and the work risk of mine staff.
Along with the progress of society, the safety of mine staff receives increasing concern.In recent years, some institution of higher learning and other scientific research institutions have carried out certain research for tunnel unmanned driving problem.
Publication number is " CN101266134A " patent name is " cantilever excavator head pose measurement system and method thereof ", this patent attempts to utilize total station survey heading machine pose, then by cantilever tank sensor and obliquity sensor derivation cutterhead locus.
Publication number is " CN101392653A " patent name is " three-dimensional attitude measuring of set of tunneling construction guidance system ".This patent attempts total powerstation and CCD camera to be applied in attitude of shield machine measurement.
Publication number is " CN101975063A " patent name is " development machine laser aiming positioning and orienting device and method ".This original, patent utilization tunnel laser orientation instrument, development machine cantilever installs a laser pickoff, by the position of hot spot on laser pickoff that a laser orientation instrument is launched, judge the position of cantilever, then derive the posture information of development machine by cantilever tank and cantilever obliquity sensor.
Publication number is " CN102506770A " patent name is " a kind of deviation angle of development machine checkout gear and detection method ".Line laser transmitter is arranged on development machine center line by this patent, and install slide rail, stepper motor and laser pickoff at top board place, rear, tunnel, step motor control laser pickoff moves on slide rail, is intended to the line laser that seizure machine body of boring machine sends.Thus calculate the deviation angle of development machine relative to laneway midline.
Publication number is " CN102589514A " patent name is " heading machine pose parameter measuring device and side thereof ".This patent utilization point laser orientation instrument and two are arranged on two swingable rectangular light sensors on machine body of boring machine to extrapolate the pose parameter of development machine.
Above-mentioned several method has much in common, namely first roadway reference is fixed on rear, tunnel.Recycling point laser, line laser, infrared rays etc. are measured, and set up the geometrical relationship of development machine coordinate system and tunnel coordinate system, then are resolved by mathematics and obtain the position relationship of development machine relative to benchmark.But all there is a lot of limitation in these methods:
(1) subsurface environment is severe, and dust is very large, is unfavorable for the transmission of infrared rays, laser and visible ray, thus causes certainty of measurement low.
(2) above-mentioned several method all needs manually to set up benchmark at rear, tunnel, when driving distance exceedes system effective range, again needs to carry out moved by hand and demarcation to benchmark.These systems above-mentioned only reach semi-automatic level, and mine staff is still on the line, cannot fundamentally labour be freed from underground.
Publication number is " CN101169038A " patent name is " full automatic tunneling machine ", this patent attempts inertial navigation system to be applied in development machine positioning and directing, this patent reaches full-automatic excavation operation in theory, but this system cannot set up contacting of development machine and roadway reference, and the error of inertial navigation system increases rapidly with the increase of system operation time, thus cause thrashing, therefore, there is very large limitation in this system, does not possess practical value.
Publication number is " CN103123391A " patent name is " development machine wireless navigation navigation system and method ".The more above-mentioned several method of this patent has made again certain innovation.Two of rear, tunnel wireless node apparatus as benchmark, an anchor point are installed by development machine by this patent.To judge the deflection of development machine to the difference of the distance of anchor point by measuring two benchmark.When driving distance exceedes valid analysing range, throw in via node earthward by development machine, expand valid analysing range with this, but still there is many limitation in the method:
(1) this system can only detect on two dimensional surface whether development machine driving route is straight line, and when default driving route is camber line, then system precisely cannot determine the deviation of development machine development machine route and default development machine, i.e. thrashing.
(2) range finding within the system, between node and development machine anchor point utilizes frequency to get at the product of flight time between different radio module of the radio wave of below 1Ghz and the light velocity.And the clock between different modules also exists the nonsynchronous problem of clock.Because the magnitude of the light velocity is very large, therefore small time error all will have influence on the precision of range finding greatly.Therefore the precision of this system is difficult to meet national laneway molding standard.
(3) this system is in development machine tunneling process, will install node delivery device and need carry a large amount of via node on fuselage.On the one hand along with the growth along with roadway distance, system cost also increases thereupon greatly.On the other hand, along with throwing in increasing of number of nodes, complexity and the accumulated error of system is also considerably increased.
(4) due to tunnel bad environments, ground relief, development machine afterbody also will carry the drag conveyor moved ahead at random, and is often caving with coal petrography.Therefore, be easy to buried by the via node thrown in or damage, and any one via node is damaged all will cause the inefficacy of whole system, therefore the method does not have comparatively high practicability.
In view of the many disadvantages of above invention, in order to realize the completely autonomous excavation operation of development machine, mine staff is thoroughly saved out from the work of the heavy danger of underground passage, through constantly research and design, and through repetition test and after improving, finally create the present invention had practical value.
Summary of the invention
Technical problem: main purpose of the present invention is, for current mine laneway fully mechanized workface actual conditions and existing development machine location and the many disadvantages of directional technology.Propose the autonomous positioning and orientation system of a kind of development machine and method, mainly comprise the autonomous location technology of development machine three-dimensional coordinate, fuselage pose parameter autonomous heading technology, benchmark independently moves forward and Auto-calibration technology.Be intended to realize without the need to artificial participation in whole tunnelling process, development machine independently can position orientation.
Technical scheme: the object of the present invention is achieved like this: this navigation system comprises: programmable computer controller; North finder; Obliquity sensor; 4 self-travel type locating base station; 7 ultra-broadband radio modules carrying rubidium atomic clock, wherein 3 ultra-broadband radio modules are fixed in the casket of machine body of boring machine location, and all the other 4 are arranged in 4 self-travel type locating base station respectively.4 self-travel type locating base station are positioned at development machine rear, as the benchmark of development machine positioning and directing.Locating base station is known relative to the three-dimensional coordinate of tunnel starting point, measures before ground survey personnel are tunnelling.
The autonomous positioning and orientation system of described development machine, is characterized in that: described self-travel type locating base station is by running gear system; No. 5 infrared range-measurement systems; Single-chip microcomputer; Stepper motor; With the ultra-broadband radio module of high accuracy rubidium atomic clock; Intrinsic safe battery is formed.Each module to be connected with single-chip microcomputer by interface circuit and can to carry out real-time Communication for Power, is powered by intrinsic safe battery.
The autonomous positioning and orientation system of described development machine, is characterized in that: described ultra-broadband radio module is by impulse circuit; Telecommunication circuit; Antenna; High accuracy rubidium atomic clock is formed; Impulse circuit signal can launch the high radio frequency pulse of 3.4-10.6Ghz magnitude through antenna.Telecommunication circuit can carry out modulation /demodulation to radio signal, thus realizes the two-way communication between multiple radio module.High accuracy such as atomic clock can real time record impulse ejection moment and the time of reception.
The autonomous positioning and orientation system of described development machine, is characterized in that: programmable computer controller, gyroscope north searching instrument, 2 obliquity sensors are arranged in machine body of boring machine electric control box.Gyroscope north searching instrument and obliquity sensor are connected with programmable computer controller by interface circuit, and can realize real-time Communication for Power.
The autonomous positioning and orientation system of described development machine, is characterized in that: described machine body of boring machine location casket comprises ultra-broadband radio module 1; Hydraulic shock-absorption oil cylinder 3; Umbrella shape rubber protection helmet 1.Ultra-broadband radio module is fixed on machine body of boring machine surface, and three hydraulic shock-absorption oil cylinders are evenly distributed on ultra-broadband radio module, and damping oil cylinder one end is fixed on machine body of boring machine surface, and the other end connects umbrella shape rubber protection helmet.
The autonomous positioning and orientation system of described development machine, it is characterized in that: described machine body of boring machine location casket has 3, in each casket, a ultra-broadband radio module is installed, is connected with the programmable computer controller in electric control box by interface circuit, and realizes real-time Communication for Power.
The autonomous positioning and orienting method of development machine of the autonomous positioning and orientation system of described development machine is:
(1), before tunnelling machine starts, development machine and locating base station faciation are measured by Di Ce department for the coordinate relation of tunnel initial point position.After tunnelling starts, locating base station group keeps static, and meanwhile, development machine tunnels forward according to default development machine route.
(2) when development machine coordinate and posture information change, the ultra-broadband radio module being arranged on locating base station group is started.The ultra-broadband radio module be arranged in the casket of machine body of boring machine location is launched successively to the high-frequency super wideband wireless electric impulse signal of different arteries and veins position, the pulse signal of different arteries and veins position represents different locating base station.When the moment of impulse ejection, record x time by the high accuracy rubidium atomic clock in module.When fuselage radio module receives the pulse signal from locating base station, reflect one with self Pulse position information pulse signal to locating base station at once.When locating base station receives the moment of the pulse signal from fuselage radio module, record the time of reception by high accuracy rubidium atomic clock.And the time of the difference of the time of reception and x time and electromagnetic wave twice flight between two modules in rubidium atomic clock.
(3) through the single-chip microcomputer process that is arranged in locating base station, temporal information is scaled range information, then is transmitted in development machine electric control box in programmable computer controller through telecommunication circuit.According to the distance relation matched between two between different radio module, thus calculate development machine relative to the three-dimensional coordinate in tunnel and attitude information.Attitude information comprises the course angle of development machine, the angle of pitch and roll angle.
(4) when development machine completes a unit development machine length, need shut down and carry out supporting.Meanwhile, startup gyroscope north searching instrument and obliquity sensor are to development machine course angle, and the angle of pitch and roll angle are calibrated.
(5) when the distance between development machine and locating base station group exceedes system valid analysing range, start self-travel type locating base station group benchmark Auto-calibration program: first by the three-dimensional system of coordinate matching base station walking path of programmable computer controller according to each locating base station, transferred to respectively in corresponding locating base station by different routing informations by radio communication module.Each locating base station is according to respective routing information, and the stepper motor be linked by Single-chip Controlling and running gear, is moved to tunneling direction successively.After each self-travel type locating base station moves, match successively with other locating base station, resolve through programmable computer controller, upgrade locating base station group reference three-dimensional coordinate.
(6) self-travel type locating base station group is when mobile, and infrared distance measurement module starts, and when front runs into the coal petrography and other obstructions that are caving, carries out keeping away barrier mobile according to the information of No. five infrared range-measurement system detections.Keep away after barrier terminates, re-start path planning, until locating base station marches to the impact point of programmable computer controller planning.
(7) after locating base station group reference coordinate has upgraded, development machine again with locating base station group for benchmark development machine forward, thus realize in tunnelling work, the autonomous positioning and directing of whole process of development machine.
The autonomous positioning and orientation system of development machine of the present invention and method are compared with the prior art, and have obvious advantage and beneficial effect.By technique scheme, the autonomous positioning and orientation system of development machine provided by the invention and method can reach suitable technological progress and practicality, and have the extensive value in industry, and it at least has following advantages:
(1) the present invention utilizes ultra-broadband radio module, self-travel type locating base station group, gyroscope north searching instrument, obliquity sensor, programmable computer controller instead of Traditional Man range estimation tunneling method, solve the inaccurate of tradition driving, the problems such as out break is serious, improve quality and the efficiency of laneway molding.Achieve the full autonomy-oriented of development machine positioning and directing in tunneling process, labour is thoroughly freed from heavy, dangerous working environment.And this system can Real-Time Monitoring heading machine pose and attitude, simulates the driving course line of development machine.
(2) the autonomous positioning and orientation system of development machine of the present invention and method, utilize the ultra-broadband radio module of included rubidium atomic clock, adopt the two-way flight time telemetry of signal, substantially increase system accuracy, in detection range, within system position error can be controlled in 2cm.
(3) the autonomous positioning and orientation system of development machine of the present invention and method; high accuracy gyroscope north finder and obliquity sensor are arranged in electric control box; when supporting shut down by development machine; startup high accuracy gyroscope north finder and obliquity sensor are calibrated the autonomous positioning and orientation system of development machine, make system pose certainty of measurement can reach more than 0.1 °.
(4) the autonomous positioning and orientation system of development machine of the present invention and method, system locating base station, by running gear, keeps away barrier checkout gear, the module compositions such as communicator.When development machine driving distance exceedes the maximum effective detecting distance of locating base station, locating base station carries out the demarcation of autonomous formula, carries out coordinate and independently upgrade in calibration process.Thus realize independently moving forward accurately of locating base station.Thus realize detecting the autonomous coordinate setting of development machine continuous print and pose.
In sum; the autonomous positioning and orientation system of development machine of special construction of the present invention; object is to propose a kind of brand-new autonomous consecutive tracking of development machine three-dimensional coordinate and fuselage pose parameter continuous detecting system and method; and when supporting shut down by development machine; can system autonomous calibration be carried out by gyroscope north searching instrument and obliquity sensor, substantially increase systems axiol-ogy precision.Along with the increase of development machine driving distance, locating base station group independently can follow propelling forward, and Auto-calibration upgrades coordinate.The complete autonomy-oriented of tunneling process development machine positioning and directing can be realized, the road that the realization for development machine autonomous cruise is paved, thoroughly mine staff be freed from the danger of tunnelling work.This system is applicable to the driving fields, underground such as mine laneway driving, oil drilling exploration, subway tunnelling, not only has very high economic worth, and has good social value.It has above-mentioned many advantages and practical value, its autonomous positioning and directing principle and structure design have no to be published or practical and really belong to innovation, autonomous driving technology field, tunnel there is very big breakthrough, and create handy and practical effect, be really a new and innovative, progressive, practical new design.
The autonomous positioning and orientation system of development machine of the present invention of above-mentioned Structure composing like this and the technological innovation of method thereof, all have many saving graces for technician of the same trade now, and the progressive that really possesses skills.
Basic conception of the present invention as mentioned above.But, in technical field of the present invention, as long as possess the most basic knowledge, can improve other exercisable embodiments of the present invention.Propose patent protection request to Substantial technical scheme in the present invention, its protection domain should comprise all variation patterns with above-mentioned technical characterstic.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be the content not departing from technical solution of the present invention, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Accompanying drawing explanation
In figure:
Fig. 1 is present system figure
Fig. 2 is structure of the present invention composition schematic diagram
Fig. 3 is self-travel type locating base station system drawing of the present invention
Fig. 4 be machine body of boring machine location casket about two isogonism axonometric drawings
Fig. 5 is machine body of boring machine location casket elevation
Fig. 6 is Mathematical Modeling schematic diagram of the present invention
Fig. 7 is Auto-calibration method schematic diagram of the present invention
In figure:
1: development machine 2: autonomous formula locating base station group
3: autonomous formula locating base station 4: autonomous formula locating base station
5; Autonomous formula locating base station 6: autonomous formula locating base station
7: machine body of boring machine location casket 8: machine body of boring machine location casket
9: machine body of boring machine location casket 10: programmable computer controller
11: gyroscope north searching instrument 12: obliquity sensor
13: obliquity sensor 14: running gear system
15: infrared range-measurement system 16: stepper motor
17: single-chip microcomputer 18: intrinsic safe battery
19: base station ultra-broadband radio module 20: microprocessor
21: rubidium atomic clock 22: telecommunication circuit
23: impulse circuit 24: antenna
25: the radio transmissioning signal between locating base station
26: locating base station and machine body of boring machine locate the radio transmissioning signal between casket
27: border, tunnel 28: hydraulic shock-absorption oil cylinder
29: fuselage ultra-broadband radio module 30: rubber protection helmet
31: development machine electric control box
Detailed description of the invention
For further setting forth the present invention for the technological means reaching predetermined goal of the invention and take and effect, below in conjunction with accompanying drawing and preferred embodiment, the autonomous positioning and orientation system of development machine propose foundation the present invention and the detailed description of the invention of method, structure, feature and effect thereof, be described in detail as follows.
Aforementioned and other technology contents, Characteristic for the present invention, can know and present in the detailed description of following cooperation with reference to graphic preferred embodiment.By the explanation of detailed description of the invention, when can to the present invention for the technological means reaching predetermined object and take and effect be able to more deeply and concrete understanding, however institute's accompanying drawings be only to provide with reference to and the use of explanation, be not used for being limited the present invention.
The autonomous positioning and orientation system of development machine of present pre-ferred embodiments and method thereof, as shown in Figure 1, be made up of autonomous formula locating base station group 2, machine body of boring machine location casket (7,8,9), programmable computer controller 10, gyroscope north searching instrument 11, obliquity sensor 12, obliquity sensor 13.Machine body of boring machine location casket (7,8,9) is arranged on machine body of boring machine, and programmable computer controller 10, gyroscope north searching instrument 11, obliquity sensor 12, obliquity sensor 13 are arranged in machine body of boring machine electric control box.Wherein, autonomous formula locating base station group 2 and machine body of boring machine location casket (7,8,9) can carry out two-wire radio communication and range finding, and machine body of boring machine location casket (7,8,9), gyroscope north searching instrument 11, obliquity sensor 12, obliquity sensor 13 are connected and two-way communication with programmable computer controller 10 by the communications cable.
As shown in Figure 2, described autonomous formula base station group 2 is made up of self-travel type locating base station 3,4,5,6, can carry out two-way communication and bidirectional ranging between base station 3,4,5,6.Base station 6 is placed on origin coordinates roadway floor place, is positioned, thus set up the frame of reference by the bidirectional ranging between base station.When development machine tunnels forward, the ultra-broadband radio module of being located in casket by base station and development machine carries out radio distance-measuring, according to location algorithm, thus determines the coordinate of development machine relative to the frame of reference.And the calculating coordinate according to 3 machine body of boring machine location caskets goes out heading machine pose parameter.
As shown in Figure 3, each base station is made up of running gear system 14,5 infrared range-measurement systems 15, stepper motor 16, single-chip microcomputer 17, intrinsic safe battery 18, base station ultra-broadband radio module 19, and wherein base station ultra-broadband radio module 19 is made up of microprocessor 20, rubidium atomic clock 21, telecommunication circuit 22, impulse circuit 23, antenna 24.Wherein, running gear system 14 is made up of 4 small-sized cushion tyres, and wherein 2 are connected with 2 stepper motors 16, and all the other 2 is driven pulley.Stepper motor 16 is connected with single-chip microcomputer 17, and receives the stairstep signal that single-chip microcomputer 17 sends.5 infrared range-measurement systems 15 are connected with single-chip microcomputer 17 and can by the distance information transmission of different directions that records to single-chip microcomputers 17.Ultra-broadband radio module 19 is connected with single-chip microcomputer 17 and can carries out two-way communication.Single-chip microcomputer 17, stepper motor 16, to be provided by intrinsic safe battery 18 with the electric power support of ultra-broadband radio module 19.
In ultra-broadband radio module in 19, rubidium atomic clock 21, telecommunication circuit 22, impulse circuit 23 are connected with microprocessor 20 respectively and can carry out two-way communication.Telecommunication circuit 22, impulse circuit 23 carry out being connected with antenna 24 respectively and can carry out two-way communication.Wherein, telecommunication circuit 22 can realize the radio communication between radio module, impulse circuit 23 can launch and receive frequency at the super wideband wireless signal of telecommunication of 3.4-10.6Ghz magnitude.
As shown in Figure 4,5, machine body of boring machine ultra-broadband radio module 29 is arranged on development machine 1 fuselage, around distributing installation 3 hydraulic shock-absorption oil cylinders 28, and rubber protection helmet is arranged on hydraulic shock-absorption oil cylinder top.This mechanism can available protecting fuselage ultra-broadband radio module from from being caving coal petrography above tunnel.
As shown in Fig. 6 (a), if roadway reference coordinate is OXYZ, during system cloud gray model, start three locating base station and machine body of boring machine three location casket is found range successively.The distance utilizing radio wave measurement to obtain represents with R, and course angle α represents, roll angle β represents, angle of pitch θ represents.
As shown in Fig. 6 (b), be the top view XOY of navigation system geometrical model in figure, base station 4 (X
4, Y
4, Z
4), 5 (X
5, Y
5, Z
5), 6 (X
6, Y
6, Z
6) to 7 (X
7, Y
7, Z
7) the distance submeter put is expressed as R
47, R
57, R
67. in like manner each locating base station is to 9 point (X
9, Y
9, Z
9) distance submeter be expressed as R
49, R
59, R
69.Pass according to can be calculated parameter course angle α to be asked and initial range parameter is
When α value is timing, development machine deflection direction left.
When α value is for time negative, development machine deflection direction to the right.
Because casket position on development machine, fuselage location is known and be rigidly connected with development machine, so the coordinate of location casket is development machine coordinate, to locate casket 7:
As shown in Fig. 6 (c), be the elevation XOZ of navigation system geometrical model in figure, base station 4 (X
4, Y
4, Z
4), 5 (X
5, Y
5, Z
5), 6 (X
6, Y
6, Z
6) to 7 (X
7, Y
7, Z
7) the distance submeter put is expressed as R
47, R
57, R
67. in like manner each base station is to 8 point (X
8, Y
8, Z
8) distance submeter be expressed as R
48, R
58, R
68.Pass according to can be calculated parameter roll angle β to be asked and initial parameter is
When β value is timing, roll to left.
When β value is for time negative, roll to the right.
As shown in Fig. 6 (d), be the lateral view YOZ of navigation system geometrical model in figure, base station 4 (X
4, Y
4, Z
4), 5 (X
5, Y
5, Z
5), 6 (X
6, Y
6, Z
6) to 7 (X
7, Y
7, Z
7) the distance submeter put is expressed as R
47, R
57, R
67. in like manner each base station is to 9 point (X
9, Y
9, Z
9) distance submeter be expressed as R
49, R
59, R
69.Pass according to can be calculated parameter pitching angle theta to be asked and initial parameter is
When θ value is timing, bow to forward.
When θ value is for time negative, bow to backward.
The implementation step of the autonomous positioning and orientation system of development machine and method is:
(1) autonomous formula locating base station group 2 is placed on origin coordinates place, tunnel, tunnel origin coordinates and tunnelling route are provided by the ground personnel that survey, and input in the programmable computer controller 10 in development machine electric control box 31, start the autonomous positioning and directing program of development machine.
(2) programmable computer controller 10 is sent activation instruction to autonomous formula locating base station group 2 by the ultra-broadband radio module in the casket 7 of machine body of boring machine location base station group is started.
(3), in order to avoid the signal conflict between each module, in single ranging step, only have two ultra-broadband radio modules in running order, all the other modules are in resting state.
(4) autonomous formula locating base station 3 and fuselage ultra broadband location casket 7 is first activated.Pulse ranging instruction is sent to base station ultra-broadband radio module 19 (3) by the single-chip microcomputer 17 (3) of base station 3, process through microprocessor 20 (3), firing order is sent to impulse circuit 23 (3), meanwhile, riming instructions is launched to rubidium atomic clock 21 (3).Impulse circuit sends indifference super wideband wireless electric wave in space towards periphery by antenna 24 (3).
(5) when locating the antenna 24 (7) in the fuselage ultra-broadband radio module 29 (7) in casket 7 and receiving the ultra-wideband impulse signal sent from the antenna 24 (3) in autonomous formula locating base station 3, rubidium atomic clock 21 (7) in the casket 7 of location gets started timing, after microprocessor 20 (7) processes, by impulse circuit 23 (7) and antenna 24 (7), fuselage ultra-broadband radio module 29 (7) in the casket 7 of location sends an indifference super wideband wireless electric wave again towards periphery, incidentally locate in this electric wave casket 7 from received pulse to transmitted pulse again time bag, this time bag is provided by the rubidium atomic clock 21 (7) in the casket 7 of location.
(6) when locating base station 3 receive self aligning pocket 7 return the super wideband wireless pulse of transmitting time, by rubidium atomic clock 21 (3)
Record the time of reception, according to formula
wherein, R is air line distance between two modules, and t3 is the time of reception, and t1 is x time, and t2 is time bag, and c is propagation velocity of electromagnetic wave.Microprocessor is through resolving and can obtaining R
37.The range information R obtained is emitted to programmable computer controller 10 by telecommunication circuit 22 and antenna 24.
(7) in like manner, autonomous formula locating base station group 2 finds range between two to machine body of boring machine location casket 7,8,9 successively, and is sent to programmable computer controller 10 successively by processing the range information R obtained.
(8) programmable computer controller 10 can obtain machine body of boring machine coordinate and fuselage course angle α, roll angle β, pitching angle theta through resolving.
(9) when development machine driving distance exceedes system maximum detection range, when supporting shut down by development machine, autonomous formula locating base station group coordinate translation program is started.
(10) as shown in Fig. 7 (a), first programmable computer controller 10 plans each base station travel distance according to each base station location, is sent to respectively in each base station single-chip microcomputer 17.Then, base station 4,5,6 keeps inactive state, and base station 3, according to the travel distance planned, controls running gear system 14 by stepper motor 16 and moves forward.In traveling process, 5 road infrared distance measurement survey meters 15 keep operating condition, when front runs into obstructions such as being caving coal petrography, the range information recorded are fed back to single-chip microcomputer 17, control two, left and right stepper motor 16 carry out keeping away barrier walking by single-chip microcomputer 17.After terminating when advancing, finding range with base station 4,5,6 respectively in base station 3, by programmable computer controller, coordinate is settled accounts into distance relation new between other base stations in the base station 3 recorded, and is updated in programmable computer controller 10 database.
(11) in like manner, as shown in Fig. 7 (b) (c) (d), autonomous formula locating base station 4,5,6 moves forward according to path planning successively, and upgrades coordinate in the database of programmable computer controller 10.Complete the translation transformation of the frame of reference.
The autonomous positioning and orientation system of development machine of the present invention of above-mentioned Structure composing like this and the technological innovation of method, all have many saving graces for technician of the same trade now, and the progressive that really possesses skills.
Basic conception of the present invention as mentioned above.But, in technical field of the present invention, as long as possess the most basic knowledge, can improve other exercisable embodiments of the present invention.Propose patent protection request to Substantial technical scheme in the present invention, its protection domain should comprise all variation patterns with above-mentioned technical characterstic.
The above, it is only preferred embodiment of the present invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with preferred embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be the content not departing from technical solution of the present invention, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (7)
1. the autonomous positioning and orientation system of development machine, is characterized in that: this system comprises: programmable computer controller; Gyroscope north searching instrument; 2 obliquity sensors; 4 self-travel type locating base station; 7 ultra-broadband radio modules carrying rubidium atomic clock, wherein 3 ultra-broadband radio modules are fixed in the casket of machine body of boring machine location, and all the other 4 are arranged in 4 self-travel type locating base station respectively.4 self-travel type locating base station are positioned at development machine rear, as the benchmark of development machine positioning and directing.Locating base station is known relative to the three-dimensional coordinate of tunnel starting point, measures before ground survey personnel are tunnelling.
2. the autonomous positioning and orientation system of development machine according to claim 1, is characterized in that: described self-travel type locating base station is by running gear system; No. 5 infrared range-measurement systems; Single-chip microcomputer; Stepper motor; With the ultra-broadband radio module of high accuracy rubidium atomic clock; Intrinsic safe battery is formed.Each module to be connected with single-chip microcomputer by interface circuit and can to carry out real-time Communication for Power, is powered by intrinsic safe battery.
3. the autonomous positioning and orientation system of development machine according to claim 1, is characterized in that: described ultra-broadband radio module is by impulse circuit; Telecommunication circuit; Antenna; High accuracy rubidium atomic clock is formed; Impulse circuit signal can launch the high radio frequency pulse of 3.4-10.6Ghz magnitude through antenna.Telecommunication circuit can carry out modulation /demodulation to radio signal, thus realizes the two-way communication between multiple radio module.High accuracy such as atomic clock can real time record impulse ejection moment and the time of reception.
4. the autonomous positioning and orientation system of development machine according to claim 1, is characterized in that: programmable computer controller, gyroscope north searching instrument, 2 obliquity sensors are arranged in machine body of boring machine electric control box.Gyroscope north searching instrument and obliquity sensor are connected with programmable computer controller by interface circuit, and can realize real-time Communication for Power.
5. the autonomous positioning and orientation system of development machine according to claim 1, is characterized in that: described machine body of boring machine location casket comprises ultra-broadband radio module 1; Hydraulic shock-absorption oil cylinder 3; Umbrella shape rubber protection helmet 1.Ultra-broadband radio module is fixed on machine body of boring machine surface, and three hydraulic shock-absorption oil cylinders are evenly distributed on ultra-broadband radio module, and damping oil cylinder one end is fixed on machine body of boring machine surface, and the other end connects umbrella shape rubber protection helmet.
6. the autonomous positioning and orientation system of development machine according to claim 1, it is characterized in that: described machine body of boring machine location casket has 3, in each casket, a ultra-broadband radio module is installed, be connected with the programmable computer controller in electric control box by interface circuit, and realize real-time Communication for Power.
7., with the autonomous positioning and orienting method of development machine of the autonomous positioning and orientation system of development machine according to claim 1, it is characterized in that:
(1), before tunnelling machine starts, development machine and locating base station faciation are measured by Di Ce department for the coordinate relation of tunnel initial point position.After tunnelling starts, locating base station group keeps static, and meanwhile, development machine tunnels forward according to default development machine route.
(2) when development machine coordinate and posture information change, the ultra-broadband radio module being arranged on locating base station group is started.The ultra-broadband radio module be arranged in the casket of machine body of boring machine location is launched successively to the high-frequency super wideband wireless electric impulse signal of different arteries and veins position, the pulse signal of different arteries and veins position represents different locating base station.When the moment of impulse ejection, record x time by the high accuracy rubidium atomic clock in module.When fuselage radio module receives the pulse signal from locating base station, reflect one with self Pulse position information pulse signal to locating base station at once.When locating base station receives the moment of the pulse signal from fuselage radio module, record the time of reception by high accuracy rubidium atomic clock.And the time of the difference of the time of reception and x time and electromagnetic wave twice flight between two modules in rubidium atomic clock.
(3) through the single-chip microcomputer process that is arranged in locating base station, temporal information is scaled range information, then is transmitted in development machine electric control box in programmable computer controller through telecommunication circuit.According to the distance relation matched between two between different radio module, thus calculate development machine relative to the three-dimensional coordinate in tunnel and attitude information.Attitude information comprises the course angle of development machine, the angle of pitch and roll angle.
(4) when development machine completes a unit development machine length, need shut down and carry out supporting.Meanwhile, startup gyroscope north searching instrument and obliquity sensor are to development machine course angle, and the angle of pitch and roll angle are calibrated.
(5) when the distance between development machine and locating base station group exceedes system valid analysing range, start self-travel type locating base station group benchmark Auto-calibration program: first by the three-dimensional system of coordinate matching base station walking path of programmable computer controller according to each locating base station, transferred to respectively in corresponding locating base station by different routing informations by radio communication module.Each locating base station is according to respective routing information, and the stepper motor be linked by Single-chip Controlling and running gear, is moved to tunneling direction successively.After each self-travel type locating base station moves, match successively with other locating base station, resolve through programmable computer controller, upgrade locating base station group reference three-dimensional coordinate.
(6) self-travel type locating base station group is when mobile, and infrared distance measurement module starts, and when front runs into the coal petrography and other obstructions that are caving, carries out keeping away barrier mobile according to the information of No. five infrared range-measurement system detections.Keep away after barrier terminates, re-start path planning, until locating base station marches to the impact point of programmable computer controller planning.
(7) after locating base station group reference coordinate has upgraded, development machine again with locating base station group for benchmark development machine forward, thus realize in tunnelling work, the autonomous positioning and directing of whole process of development machine.
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