CN105178967B - Development machine autonomous positioning orientation system and method - Google Patents
Development machine autonomous positioning orientation system and method Download PDFInfo
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- CN105178967B CN105178967B CN201510237270.9A CN201510237270A CN105178967B CN 105178967 B CN105178967 B CN 105178967B CN 201510237270 A CN201510237270 A CN 201510237270A CN 105178967 B CN105178967 B CN 105178967B
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Abstract
The present invention discloses a kind of development machine autonomous positioning orientation system and method, belongs to development machine autonomous cruise field.The system includes programmable computer controller；Autonomous formula locating base station group；Gyroscope north searching instrument；Obliquity sensor；Machine body of boring machine positions casket.Wherein, locating base station faciation for tunnel co-ordinate system location, it is known that when development machine is advanced, use super wideband wireless pulse current ranging method, 3, detection fuselage positions three-dimensional coordinate of the caskets relative to locating base station group successively, and according to three-dimensional coordinate, resolves heading machine pose parameter.When development machine stops, heading machine pose parameter is corrected again by gyroscope north searching instrument and obliquity sensor.When development machine travel distance exceedes system valid analysing range.4 autonomous formula locating base stations are moved forward successively according to Auto-calibration strategy, while carrying out base station three-dimensional coordinate renewal.So as in tunnelling, realize the positioning and directing of development machine entirely autonomousization.
Description
Technical field
The present invention relates to a kind of development machine in tunnelling field, more particularly to a kind of development machine autonomous positioning orientations
System and its method.
Background technology
Development machine is the nucleus equipment for realizing underground passage headwork.In traditional underground passage tunneling process.Pick
The driving route for entering machine is drawn by Di Ce departments first, is launched to tunnel according to the dot laser director installed in tunnel rear
The position of the laser spot of Fang Yanbi, the tunneling direction of development machine is controlled by development machine driver.Due to mine laneway bad environments,
Not only efficiency is low for this driving method, and limited precision.Additionally, dot laser director is fixed at the top board of tunnel rear, peace
Fill, dismantle, demarcating cumbersome, and considerably increasing the working strength and work risk of mine staff.
With the progress of society, the safety of mine staff is of increased attention.In recent years, some height etc.
Universities and colleges and other scientific research institutions have carried out certain research for the unmanned driving problem in tunnel.
Publication No. " CN101266134A " patent name is " cantilever excavator head pose measurement system and its method ",
The patent attempts to total station survey heading machine pose, then derives cutterhead by cantilever tank sensor and obliquity sensor
Locus.
Publication No. " CN101392653A " patent name is " the 3 d pose measurement dress of set of tunneling construction guidance system
Put ".The patent attempts to be applied to total powerstation and CCD camera in attitude of shield machine measurement.
Publication No. " CN101975063A " patent name is " development machine laser aiming positioning and orienting device and method ".Should
The original dot laser director in patent utilization tunnel, installs a laser pickoff on development machine cantilever, is referred to by dot laser
The position of cantilever is judged to position of the hot spot of instrument transmitting on laser pickoff, then by cantilever tank and cantilever inclination angle
Sensor derives the posture information of development machine.
Publication No. " A of CN 102506770 " patent name is " a kind of deviation angle of development machine detection means and detection side
Method ".Be arranged on line laser transmitter on development machine center line by the patent, and slide rail, stepper motor are installed at the top board of tunnel rear
And laser pickoff, step motor control laser pickoff moves on slide rail, it is intended to catches the line that machine body of boring machine sends and swashs
Light.So as to calculate the deviation angle of the development machine relative to laneway midline.
Publication No. " A of CN 102589514 " patent name is " heading machine pose parameter measuring device and its side ".This is special
Profit is arranged on two swingable rectangle optical sensors on machine body of boring machine to extrapolate using dot laser director and two
The pose parameter of development machine.
Above-mentioned several method has much in common, i.e., roadway reference first is fixed on into tunnel rear.Recycling dot laser,
Line laser, infrared ray etc. are measured, and set up the geometrical relationship of development machine coordinate system and tunnel coordinate system, then resolve by mathematics
Obtain position relationship of the development machine relative to benchmark.But all there are many limitation in these methods：
(1) subsurface environment is severe, and dust is very big, is unfavorable for the transmission of infrared ray, laser and visible ray, so as to cause measurement
Precision is low.
(2) above-mentioned several method is required for manually setting up benchmark at tunnel rear, when driving distance is effectively surveyed more than system
During amount scope, need manually to move benchmark and demarcate again.Above-mentioned these systems have only reached semi-automatic level, ore deposit
Well staff is still within danger, it is impossible to fundamentally labour is freed from underground.
Publication No. " CN101169038A " patent name is " full automatic tunneling machine ", and the patent is attempted inertial navigation system
In system application to development machine positioning and directing, the patent has reached full-automatic excavation operation in theory, but the system cannot be set up
Development machine is contacted with roadway reference, and the error of inertial navigation system increases rapidly with the increase of system operation time, from
And cause thrashing, therefore, there is significant limitations in the system, do not possess practical value.
Publication No. " CN103123391A " patent name is " development machine wireless navigation alignment system and method ".The patent
More above-mentioned several method is made that certain innovation again.The patent using two wireless node apparatus at tunnel rear as benchmark,
One anchor point is installed on development machine.Judge the deflection of development machine by measuring two benchmark to the difference of the distance of anchor point.
When driving distance exceedes valid analysing range, via node is earthward delivered by development machine, effective detection model is expanded with this
Enclose, but the method is still present many limitation：
(1) system can only detect whether development machine driving route is straight line on two dimensional surface, when default driving route
During for camber line, then system cannot precisely determine the deviation of development machine development machine route and default development machine, i.e. thrashing.
(2) within the system, the range finding between node and development machine anchor point is in the wireless of below 1Ghz using frequency
Flight time of the electric wave between different radio module is got with the product of the light velocity.And the clock between different modules is existed
The nonsynchronous problem of clock.The essence of range finding will be all largely effected on due to the very big therefore small time error of the magnitude of the light velocity
Degree.Therefore the precision of the system is difficult to meet national laneway molding standard.
(3) system is in development machine tunneling process, in node delivery device is installed on fuselage and need to carrying largely
After node.On the one hand as with the growth of roadway distance, system cost is also greatly increased therewith.On the other hand, with dispensing
Increasing for number of nodes, also considerably increases the complexity and accumulated error of system.
(4) due to tunnel bad environments, ground relief, driving drive end unit will also carry random forward scraper plate conveying
Machine, and be often accompanied by coal petrography and be caving.Therefore, the via node being launched is easy to be buried or damages, and in any one
Being damaged after node will all cause the failure of whole system, therefore the method does not have compared with high practicability.
In view of many disadvantages of invention above, in order to realize the entirely autonomous excavation operation of development machine, mine are worked people
Member thoroughly rescues from the heavy dangerous work of underground passage, by constantly studying and designing, and through repetition test
And after improving, the present invention having practical value is created finally.
The content of the invention
Technical problem：It is a primary object of the present invention to for current mine laneway fully mechanized workface actual conditions and now
There are many disadvantages of development machine positioning and directional technology.A kind of development machine autonomous positioning orientation system and method are proposed, main bag
Development machine three-dimensional coordinate autonomous positioning technology is included, fuselage pose parameter autonomous heading technology, benchmark independently moves forward and Auto-calibration
Technology.Aim at without manually participating in during whole tunnelling, development machine can independently carry out positioning and directing.
Technical scheme：The object of the present invention is achieved like this：The alignment system includes：Programmable computer controller；
North finder；Obliquity sensor；4 self-travel type locating base stations；7 ultra-broadband radio modules for carrying rubidium atomic clock, wherein 3
Individual ultra-broadband radio module is fixed in machine body of boring machine positioning casket, and remaining 4 are separately mounted to 4 self-travel type positioning bases
On standing.4 self-travel type locating base stations are located at development machine rear, used as the benchmark of development machine positioning and directing.Locating base station is relative
In tunnel starting point three-dimensional coordinate, it is known that by ground survey personnel in tunnelling before measure.
Described development machine autonomous positioning orientation system, it is characterized in that：Described self-travel type locating base station is by wheeled row
Walking apparatus；No. 5 infrared range-measurement systems；Single-chip microcomputer；Stepper motor；Ultra-broadband radio module with high accuracy rubidium atomic clock；This
Peace battery is constituted.Each module is connected with single-chip microcomputer by interface circuit and can carry out real-time Communication for Power, is supplied by intrinsic safe battery
Electricity.
Described development machine autonomous positioning orientation system, it is characterized in that：Described ultra-broadband radio module is by pulse electricity
Road；Telecommunication circuit；Antenna；High accuracy rubidium atomic clock is constituted；Impulse circuit signal can launch 3.4-10.6Ghz magnitudes through antenna
High radio frequency pulse.Telecommunication circuit can be modulated demodulation to radio signal, thus realize multiple radio modules it
Between two-way communication.High accuracy such as atomic clock can real time record impulse ejection moment and the time of reception.
Described development machine autonomous positioning orientation system, it is characterized in that：Programmable computer controller, gyroscope north searching instrument, 2
Individual obliquity sensor is arranged in machine body of boring machine electric cabinet.Gyroscope north searching instrument and obliquity sensor pass through interface circuit and can compile
Journey computer control is connected, and can realize real-time Communication for Power.
Described development machine autonomous positioning orientation system, it is characterized in that：Described machine body of boring machine positioning casket includes ultra-wide
Band radio module 1；Hydraulic shock-absorption oil cylinder 3；Umbrella shape rubber protection helmet 1.Ultra-broadband radio module is fixed on driving
Machine fuselage surface, three hydraulic shock-absorption oil cylinders are evenly distributed on ultra-broadband radio module, and damping oil cylinder one end is fixed on driving
Machine fuselage surface, other end connection umbrella shape rubber protection helmet.
Described development machine autonomous positioning orientation system, it is characterized in that：Described machine body of boring machine positioning casket has 3,
One ultra-broadband radio module is installed, by the programmable computer controller phase in interface circuit and electric cabinet in each casket
Connection, and realize real-time Communication for Power.
The development machine autonomous positioning orientation method of described development machine autonomous positioning orientation system is：
(1) before tunnelling machine starts, the coordinate relation of development machine and locating base station faciation for tunnel initial point position
Measured by Di Ce departments.After tunnelling starts, locating base station group's remains stationary, at the same time, development machine is according to pre-
If development machine route is tunneled forward.
(2) when development machine coordinate and posture information change, the super wideband wireless installed in locating base station group is started
Electric module.The high-frequency that ultra-broadband radio module in machine body of boring machine positioning casket launches different arteries and veins positions successively is surpassed
Broadband wireless electric impulse signal, the pulse signal of different arteries and veins positions represents different locating base stations.When the moment of impulse ejection, by mould
High accuracy rubidium atomic clock in block records x time.When fuselage radio module receives the pulse signal from locating base station
When, reflect one to locating base station at once and carry itself Pulse position information pulse signal.When locating base station receive it is wireless from fuselage
The moment of the pulse signal of electric module, the time of reception is recorded by high accuracy rubidium atomic clock.And in rubidium atomic clock the time of reception with
The difference of x time is the time that electromagnetic wave flies twice between two modules.
(3) by the single-chip microcomputer treatment in locating base station, temporal information is scaled range information, then by logical
Letter circuit transmission is in programmable computer controller in development machine electric cabinet.Matched two-by-two according between different radio module
Distance relation, so as to calculate three-dimensional coordinate and attitude information of the development machine relative to tunnel.Attitude information includes development machine
Course angle, the angle of pitch and roll angle.
(4) when development machine completes a unit development machine length, need to shut down carries out supporting.At the same time, gyro is started
North finder and obliquity sensor are calibrated to development machine course angle, the angle of pitch and roll angle.
(5) when the distance between development machine and locating base station group exceed system valid analysing range, self-travel type is started
Locating base station group's benchmark Auto-calibration program：First by programmable computer controller according to the three-dimensional system of coordinate of each locating base station
Fitting base station walking path, corresponding locating base station is transmitted separately to by radio communication module by different routing informations
In.Each locating base station according to respective routing information, the stepper motor being linked by Single-chip Controlling and running gear, successively to
Tunneling direction is moved.After the movement of each self-travel type locating base station is finished, matched successively with other locating base stations, by can
Program calculation machine controller is resolved, and updates locating base station group's reference three-dimensional coordinate.
(6) self-travel type locating base station group when mobile, infrared distance measurement module starts, when front run into the coal petrography that is caving and
During other barriers, avoidance movement is carried out according to the information that No. five infrared range-measurement systems are detected.After avoidance terminates, path is re-started
Planning, until locating base station marches to the impact point of programmable computer controller planning.
(7) after the completion of locating base station group reference coordinate updates, development machine is tunneled forward on the basis of locating base station group again
Machine, so as to realize in tunnelling works, the whole autonomous positioning orientation of development machine.
Development machine autonomous positioning orientation system of the present invention and method are compared with the prior art, with clear advantage with it is beneficial
Effect.The development machine autonomous positioning orientation system and method provided by above-mentioned technical proposal, the present invention can reach suitable skill
Art progressive and practicality, and with the extensive value in industry, it at least has following advantages：
(1) present invention utilizes ultra-broadband radio module, self-travel type locating base station group, gyroscope north searching instrument, inclination angle sensing
Device, programmable computer controller instead of Traditional Man range estimation tunneling method, solve inaccurate, the out break of tradition driving
Serious the problems such as, improve the quality and efficiency of laneway molding.Realize the complete autonomous of development machine positioning and directing in tunneling process
Change, labour is thoroughly freed from heavy, dangerous working environment.And the system can tunnel seat in the plane with real-time monitoring
Appearance and attitude, fit the driving course line of development machine.
(2) development machine autonomous positioning orientation system of the present invention and method, using the ultra-broadband radio of included rubidium atomic clock
Module, using the two-way flight time telemetry of signal, substantially increases system accuracy, in detection range, system positioning
Error is can be controlled within 2cm.
(3) development machine autonomous positioning orientation system of the present invention and method, by high accuracy gyroscope north finder and obliquity sensor
In electric cabinet, when development machine shuts down supporting, start high accuracy gyroscope north finder and obliquity sensor to development machine from
Main positioning and orientation system is calibrated so that system pose measurement precision is up to more than 0.1 °.
(4) development machine autonomous positioning orientation system of the present invention and method, system locating base station is by running gear, avoidance detection
The module compositions such as device, communicator.When development machine driving distance exceed locating base station maximum effective detection apart from when, position base
Station carries out autonomous formula demarcation, coordinate is carried out in calibration process and is independently updated.So as to realize locating base station accurately from
Main reach.So as to realize to the continuous autonomous coordinate setting of development machine and pose detection.
In sum, the development machine autonomous positioning orientation system of special construction of the present invention, it is therefore intended that propose a kind of brand-new
The autonomous consecutive tracking of development machine three-dimensional coordinate and fuselage pose parameter continuous detecting system and method, and when development machine shut down
During supporting, system autonomous calibration can be carried out by gyroscope north searching instrument and obliquity sensor, substantially increase system detectio precision.With
The increase of development machine driving distance, locating base station group independently can forward follow propulsion, and Auto-calibration updates coordinate.It is capable of achieving
Entirely autonomousization of tunneling process development machine positioning and directing, is road that the realization of development machine autonomous cruise is paved, thoroughly by ore deposit
Freed in the danger that well staff works from tunnelling.The system is applied to mine laneway driving, oil drilling and surveys
Field is tunneled in the undergrounds such as spy, subway tunnelling, not only with economic worth very high, and with good social value.
It has the advantages that above-mentioned many and practical value, its autonomous positioning orientation principle and structure design is not disclosed delivers or practical
And really belong to innovation, there is very big breakthrough on the autonomous driving technology field in tunnel, and handy and practical effect is generated, really it is one
New and innovative, progressive, practical new design.
The technological innovation of development machine autonomous positioning orientation system of the present invention and its method that above-mentioned such structure is constituted, for
Many saving graces are respectively provided with for technical staff of the same trade now, and there is technological progress really.
It is as described above basic conception of the invention.But, in technical field of the invention, as long as possessing most basic
Other exercisable embodiments of the invention can be improved by knowledge.Substantial technical scheme is proposed in the present invention
Patent protection request, its protection domain should include all variation patterns with above-mentioned technical characterstic.
The above, is only presently preferred embodiments of the present invention, and any formal limitation is not made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when making a little change or modification using the technology contents of the disclosure above
It is the Equivalent embodiments of equivalent variations, as long as being the content without departing from technical solution of the present invention, according to technical spirit of the invention
Any simple modification, equivalent variations and the modification made to above example, still fall within the range of technical solution of the present invention.
Brief description of the drawings
In figure：
Fig. 1 is present system figure
Fig. 2 is structure composition schematic diagram of the present invention
Fig. 3 is self-travel type locating base station system diagram of the present invention
Fig. 4 is machine body of boring machine positioning casket or so two isogonism axonometric drawings
Fig. 5 is machine body of boring machine positioning casket front view
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 positions casket 8：Machine body of boring machine positions casket
9：Machine body of boring machine positions 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：Radio transmissioning signal between locating base station
26：Radio transmissioning signal between locating base station and machine body of boring machine positioning casket
27：Tunnel border 28：Hydraulic shock-absorption oil cylinder
29：Fuselage ultra-broadband radio module 30：Rubber protection helmet
31：Development machine electric cabinet
Specific embodiment
Further to illustrate the present invention to reach technological means and effect that predetermined goal of the invention is taken, below in conjunction with
Accompanying drawing and preferred embodiment, to the specific embodiment party according to development machine autonomous positioning orientation system proposed by the present invention and its method
Formula, structure, feature and its effect, describe in detail as after.
For the present invention foregoing and other technology contents, feature and effect, in the following preferable reality coordinated with reference to schema
Apply and can clearly appear from the detailed description of example.By the explanation of specific embodiment, when can be to the present invention to reach predetermined mesh
The technological means taken and effect be able to more deeply and it is specific understand, but institute's accompanying drawings are only to provide with reference to and say
It is bright to be used, not for being any limitation as to the present invention.
The development machine autonomous positioning orientation system and its method of present pre-ferred embodiments, as shown in figure 1, by autonomous
Formula locating base station group 2, machine body of boring machine positions casket (7,8,9), programmable computer controller 10, gyroscope north searching instrument 11, inclination angle
Sensor 12, obliquity sensor 13 are constituted.Machine body of boring machine positions casket (7,8,9) installed in machine body of boring machine, may be programmed and calculates
Machine controller 10, gyroscope north searching instrument 11, obliquity sensor 12, obliquity sensor 13 are arranged in machine body of boring machine electric cabinet.Its
In, autonomous formula locating base station group 2 and machine body of boring machine position casket (7,8,9) and can carry out two-wire radio communication and range finding, dig
Enter machine fuselage position casket (7,8,9), gyroscope north searching instrument 11, obliquity sensor 12, obliquity sensor 13 can by the communications cable with
The connection of programmable computer controller 10 and two-way communication.
As shown in Fig. 2 described autonomous formula base station group 2 is made up of self-travel type locating base station 3,4,5,6, base station 3,
4th, two-way communication and bidirectional ranging can be carried out between 5,6.Base station 6 is placed at origin coordinates roadway floor, by base station it
Between bidirectional ranging positioned, so as to set up the frame of reference.When development machine is tunneled forward, determined by base station and development machine
Ultra-broadband radio module in the casket of position carries out radio distance-measuring, according to location algorithm, so that it is determined that development machine is relative to benchmark
The coordinate of coordinate system.And the calculating coordinate according to 3 machine body of boring machine positioning caskets goes out heading machine pose parameter.
As shown in figure 3, each base station is by running gear system 14,5 infrared range-measurement systems 15, stepper motors 16, single-chip microcomputer
17th, intrinsic safe battery 18, base station ultra-broadband radio module 19 are constituted, and wherein base station ultra-broadband radio module 19 is by microprocessor
20th, rubidium atomic clock 21, telecommunication circuit 22, impulse circuit 23, antenna 24 are constituted.Wherein, running gear system 14 small-sized is subtracted by 4
Shake tire composition, wherein 2 are connected with 2 stepper motors 16, remaining 2 is driven pulley.Stepper motor 16 and single-chip microcomputer 17
It is connected, 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 be by
The distance information transmission of the different directions for measuring is to single-chip microcomputer 17.Ultra-broadband radio module 19 is connected with single-chip microcomputer 17 and can
Carry out two-way communication.The electric power support of single-chip microcomputer 17, stepper motor 16 and ultra-broadband radio module 19 is carried by intrinsic safe battery 18
For.
In 19 in the ultra-broadband radio module, rubidium atomic clock 21, telecommunication circuit 22, impulse circuit 23 respectively with microprocessor
Device 20 is connected and can carry out two-way communication.Telecommunication circuit 22, impulse circuit 23 are attached with antenna 24 and can carry out double respectively
To communication.Wherein, telecommunication circuit 22 can realize the radio communication between radio module, and impulse circuit 23 can be launched and receive frequency
Super wideband wireless electric signal of the rate in 3.4-10.6Ghz magnitudes.
As shown in Figure 4,5, machine body of boring machine ultra-broadband radio module 29 is arranged on the fuselage of development machine 1, and surrounding is distributed
3 hydraulic shock-absorption oil cylinders 28 are installed, rubber protection helmet is arranged on hydraulic shock-absorption oil cylinder top.This mechanism can effectively protect fuselage to surpass
Broadband radio module above tunnel from from being caving coal petrography.
As shown in Fig. 6 (a), if roadway reference coordinate system is OXYZ, during system operation, start three locating base stations to driving
Three positioning caskets of machine fuselage are found range successively.The distance obtained using radio wave measurement represents that course angle is represented with α with R,
Roll angle represents that the angle of pitch is represented with θ with β.
It is the top view the XOY, (X of base station 4 of alignment system geometrical model as shown in Fig. 6 (b), in figure4、Y4、Z4)、5(X5、Y5、
Z5)、6(X6、Y6、Z6) to 7 (X7、Y7、Z7) point distance minute table be expressed as R47、R57、R67Similarly each locating base station to 9 points of (X9、
Y9、Z9) distance point table be expressed as R49、R59、R69.According to can be calculated parameter course angle α to be asked and initial range parameter
Relation is
When α values are timing, development machine deflection direction is to the left.
When α values are to bear, development machine deflection direction is to the right.
Because fuselage positioning casket is rigidly connected on development machine known to position and with development machine, so the coordinate of positioning casket is
It is development machine coordinate, as a example by positioning casket 7：
It is the front view the XOZ, (X of base station 4 of alignment system geometrical model as shown in Fig. 6 (c), in figure4、Y4、Z4)、5(X5、Y5、
Z5)、6(X6、Y6、Z6) to 7 (X7、Y7、Z7) point distance minute table be expressed as R47、R57、R67Similarly each base station to 8 points of (X8、Y8、
Z8) distance point table be expressed as R48、R58、R68.It is with the relation of initial parameter according to can be calculated parameter roll angle β to be asked
When β value is timing, roll to the left.
When β value is to bear, roll to the right.
It is the side view the YOZ, (X of base station 4 of alignment system geometrical model as shown in Fig. 6 (d), in figure4、Y4、Z4)、5(X5、Y5、
Z5)、6(X6、Y6、Z6) to 7 (X7、Y7、Z7) point distance minute table be expressed as R47、R57、R67Similarly each base station to 9 points of (X9、Y9、
Z9) distance point table be expressed as R49、R59、R69.It is with the relation of initial parameter according to can be calculated parameter pitching angle theta to be asked
When θ values are timing, bow to forward.
When θ values are to bear, bow to backward.
The implementation steps of development machine autonomous positioning orientation system and method are：
(1) autonomous formula locating base station group 2 is placed at the origin coordinates of tunnel, tunnel origin coordinates and tunnelling
Route is surveyed personnel and is given by ground, and is input into the programmable computer controller 10 in development machine electric cabinet 31, starts driving
Machine autonomous positioning oriented program.
(2) programmable computer controller 10 by machine body of boring machine position casket 7 in ultra-broadband radio module to from
Main walking locating base station group 2 sends activation instruction and causes that base station group starts.
(3) in order to avoid the signal conflict between each module, in single ranging step, only two ultra-broadband radio moulds
Block is in running order, and remaining module is in a dormant state.
(4) activation autonomous formula locating base station 3 and fuselage ultra wide band position casket 7 first.By the single-chip microcomputer 17 of base station 3
(3) send pulse ranging to base station ultra-broadband radio module 19 (3) to instruct, processed by microprocessor 20 (3), to pulse electricity
Road 23 (3) sends firing order, at the same time, riming instructions is launched to rubidium atomic clock 21 (3).Impulse circuit passes through antenna 24
(3) indifference super wideband wireless electric wave is sent to surrounding space.
(5) when the antenna 24 (7) in the fuselage ultra-broadband radio module 29 (7) in positioning casket 7 is received from autonomous
During the ultra-wideband impulse signal that the antenna 24 (3) in walking locating base station 3 sends, the rubidium atomic clock 21 (7) in positioning casket 7 stands
Carve and start timing, by after the treatment of microprocessor 20 (7), by impulse circuit 23 (7) and antenna 24 (7), the machine in positioning casket 7
Body ultra-broadband radio module 29 (7) is incidentally fixed in this electric wave again to an indifference super wideband wireless electric wave is around sent
Position casket 7 is carried from pulse to the time bag in transmitting pulse again, time bag is received by the rubidium atomic clock 21 (7) in positioning casket 7
For.
(6) when locating base station 3 receives the super wideband wireless pulse for carrying out the return transmitting of self aligning pocket 7, by rubidium atomic clock
21(3)
The time of reception is recorded, according to formulaWherein, R is air line distance between two modules,
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 can be obtained by resolving
R37.The range information R that will be obtained is launched to programmable computer controller 10 by telecommunication circuit 22 and antenna 24.
(7) similarly, autonomous formula locating base station group 2 is found range two-by-two to machine body of boring machine positioning casket 7,8,9 successively,
And the range information R for obtaining will be processed to send successively to programmable computer controller 10.
(8) programmable computer controller 10 can obtain machine body of boring machine coordinate and fuselage course angle α, roll by resolving
Angle beta, pitching angle theta.
(9) when development machine driving distance exceedes system maximum detection range, in the case where development machine shuts down supporting, open
Dynamic autonomous formula locating base station group's coordinate translation program.
(10) as shown in Fig. 7 (a), programmable computer controller 10 plans that each base station is advanced according to each base station location first
Distance, is respectively sent in each base station single-chip microcomputer 17.Then, the remains stationary state of base station 4,5,6, base station 3 is according to having planned
Travel distance, controls running gear system 14 to move forward by stepper motor 16.In traveling process, 5 road infrared distance measurement detections
Instrument 15 keeps operating condition, and when front runs into is caving the barriers such as coal petrography, the range information that will be measured feeds back to single-chip microcomputer 17,
By single-chip microcomputer 17 control left and right two stepper motors 16 carry out avoidance walking.After traveling terminates, base station 3 respectively with base station 4,5,
6 are found range, and new distance relation settles accounts into seat between the base station 3 that will be measured by programmable computer controller and other base stations
Mark, updates in the database of programmable computer controller 10.
(11) similarly, as shown in Fig. 7 (b) (c) (d), autonomous formula locating base station 4,5,6 successively according to path planning to
Preceding movement, and coordinate is updated in the database of programmable computer controller 10.Complete the translation transformation of the frame of reference.
The technological innovation of development machine autonomous positioning orientation system of the present invention and method that above-mentioned such structure is constituted, for existing
Many saving graces are respectively provided with for modern technical staff of the same trade, and there is technological progress really.
It is as described above basic conception of the invention.But, in technical field of the invention, as long as possessing most basic
Other exercisable embodiments of the invention can be improved by knowledge.Substantial technical scheme is proposed in the present invention
Patent protection request, its protection domain should include all variation patterns with above-mentioned technical characterstic.
The above, is only presently preferred embodiments of the present invention, and any formal limitation is not made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when making a little change or modification using the technology contents of the disclosure above
It is the Equivalent embodiments of equivalent variations, as long as being the content without departing from technical solution of the present invention, according to technical spirit of the invention
Any simple modification, equivalent variations and the modification made to above example, still fall within the range of technical solution of the present invention.
Claims (7)
1. a kind of development machine autonomous positioning orientation system, it is characterized in that：The system includes：Programmable computer controller, gyro
North finder, 2 obliquity sensors, 4 self-travel type locating base stations, 7 ultra-broadband radios for carrying high accuracy rubidium atomic clock
Module, wherein 3 ultra-broadband radio modules are separately fixed in 3 machine body of boring machine positioning caskets, remaining 4 are separately mounted to
In 4 self-travel type locating base stations；4 self-travel type locating base stations are located at development machine rear, used as development machine positioning and directing
Benchmark；Self-travel type locating base station relative to tunnel starting point three-dimensional coordinate, it is known that by ground survey personnel in tunnelling
Measure before.
2. development machine autonomous positioning orientation system according to claim 1, it is characterized in that：Described self-travel type positioning base
Stand by running gear system, No. 5 infrared range-measurement systems, single-chip microcomputer, stepper motor, the super wideband wireless with high accuracy rubidium atomic clock
Electric module, intrinsic safe battery are constituted；Each ultra-broadband radio module is connected with single-chip microcomputer by interface circuit and can carried out in real time
Communication, is powered by intrinsic safe battery.
3. development machine autonomous positioning orientation system according to claim 1, it is characterized in that：Described ultra-broadband radio mould
Block is made up of impulse circuit, telecommunication circuit, antenna, high accuracy rubidium atomic clock；Impulse circuit signal can launch 3.4- through antenna
The high radio frequency pulse of 10.6Ghz magnitudes；Telecommunication circuit can be modulated demodulation to radio signal, so as to realize multiple
Two-way communication between ultra-broadband radio module；High accuracy rubidium atomic clock can the real time record impulse ejection moment and receive when
Carve.
4. development machine autonomous positioning orientation system according to claim 1, it is characterized in that：Programmable computer controller,
Gyroscope north searching instrument, 2 obliquity sensors are arranged in machine body of boring machine electric cabinet；Gyroscope north searching instrument and obliquity sensor are by connecing
Mouth circuit is connected with programmable computer controller, and can realize real-time Communication for Power.
5. development machine autonomous positioning orientation system according to claim 1, it is characterized in that：Single described machine body of boring machine
Positioning casket includes ultra-broadband radio module 1, hydraulic shock-absorption oil cylinder 3, umbrella shape rubber protection helmet 1；Super wideband wireless
Electric module is fixed on machine body of boring machine surface, and 3 hydraulic shock-absorption oil cylinders are evenly distributed on around ultra-broadband radio module, hydraulic pressure
Damping oil cylinder one end is fixed on machine body of boring machine surface, the other end connection umbrella shape rubber protection helmet of hydraulic shock-absorption oil cylinder.
6. development machine autonomous positioning orientation system according to claim 1, it is characterized in that：Described machine body of boring machine positioning
Casket has 3, installs a ultra-broadband radio module in each casket, ultra-broadband radio module by interface circuit with it is automatically controlled
Programmable computer controller in case is connected, and realizes real-time Communication for Power.
7. the development machine autonomous positioning orientation method of the development machine autonomous positioning orientation system described in a kind of use claim 1, its
It is characterized in：
(1) before tunnelling starts, development machine and self-travel type locating base station faciation are closed for the coordinate of tunnel initial point position
System is measured by Di Ce departments；After tunnelling starts, self-travel type locating base station group's remains stationary, at the same time, pick
Enter machine to be tunneled forward according to default development machine route；
(2) when development machine coordinate and attitude information change, the ultra wide band installed in self-travel type locating base station group is started
Radio module, launches the ultra-broadband radio module in machine body of boring machine positioning casket the high frequency of different arteries and veins positions successively
Rate super wideband wireless electric impulse signal, the pulse signal of different arteries and veins positions represents different self-travel type locating base stations；When pulse hair
The moment penetrated, x time is recorded by the high accuracy rubidium atomic clock in ultra-broadband radio module；When fuselage super wideband wireless
When electric module receives the pulse signal from self-travel type locating base station, reflect one to self-travel type locating base station at once and carry
Itself Pulse position information pulse signal；When self-travel type locating base station receives the pulse signal from fuselage ultra-broadband radio module
Moment, the time of reception is recorded by high accuracy rubidium atomic clock；And the time of reception and x time in high accuracy rubidium atomic clock
Difference is the time that electromagnetic wave flies twice between two ultra-broadband radio modules；
(3) by the single-chip microcomputer treatment in self-travel type locating base station, temporal information is scaled range information, then pass through
Telecommunication circuit is crossed to be transmitted into development machine electric cabinet in programmable computer controller；According to different ultra-broadband radio modules it
Between the distance relation that matches two-by-two, so as to calculate three-dimensional coordinate and attitude information of the development machine relative to tunnel；Attitude information
Course angle including development machine, the angle of pitch and roll angle；
(4) when development machine completes a unit Excavation Length, need to shut down carries out supporting；At the same time, gyroscope north searching instrument is started
And obliquity sensor is calibrated to development machine course angle, the angle of pitch and roll angle；
(5) when the distance between development machine and self-travel type locating base station group exceed system valid analysing range, start voluntarily
Walk formula locating base station group's benchmark Auto-calibration program：First by programmable computer controller according to each self-travel type locating base station
Three-dimensional system of coordinate fitting base station walking path, different routing informations is transmitted separately to by phase by ultra-broadband radio module
In the self-travel type locating base station answered；Each self-travel type locating base station according to respective routing information, by Single-chip Controlling and row
The stepper motor that walking apparatus are linked, moves to tunneling direction successively；After the movement of each self-travel type locating base station is finished, with it
He is matched at self-travel type locating base station successively, is resolved by programmable computer controller, updates self-travel type positioning base
Stand group's reference three-dimensional coordinate；
(6) when mobile, infrared range-measurement system starts self-travel type locating base station group, when front runs into the coal petrography and other barriers being caving
When hindering thing, avoidance movement is carried out according to the information that No. five infrared range-measurement systems are detected；After avoidance terminates, path planning is re-started,
Until self-travel type locating base station marches to the impact point of programmable computer controller planning；
(7) after the completion of self-travel type locating base station group reference coordinate updates, development machine is again with self-travel type locating base station group
Benchmark is tunneled forward, so as to realize in tunnelling works, the whole autonomous positioning orientation of development machine.
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| CN106840137B (en) * | 2016-12-28 | 2022-12-27 | 中国煤炭科工集团太原研究院有限公司 | Automatic positioning and orienting method of four-point type heading machine |
| CN107225575A (en) * | 2017-07-22 | 2017-10-03 | 广东大仓机器人科技有限公司 | The robot of indoor precise positioning is realized using six ultra wide band modules |
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| AU2019259069C1 (en) * | 2018-04-28 | 2021-05-20 | China University Of Mining And Technology | Underground space intelligent construction system and method |
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| CN109296370B (en) * | 2018-10-09 | 2020-07-10 | 山东蓝光软件有限公司 | Tunneling method and system for automatic surveying and mapping positioning |
| CN109356608B (en) * | 2018-11-22 | 2019-08-06 | 山东新矿信息技术有限公司 | A kind of development machine, system and method |
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| CN111121735A (en) * | 2020-01-03 | 2020-05-08 | 中国船舶重工集团公司第七0七研究所 | Tunnel, subway and mine excavation tunneling autonomous positioning and orienting system and method |
| CN112066955B (en) * | 2020-08-24 | 2022-04-29 | 西安科技大学 | Method and system for measuring pose parameters of body of underground dynamic heading machine |
| CN115412853A (en) * | 2021-05-27 | 2022-11-29 | 北京金坤科创技术有限公司 | Underground construction engineering positioning method |
| CN113253203A (en) * | 2021-06-02 | 2021-08-13 | 常州市工业互联网研究院有限公司 | Indoor positioning system based on UWB |
| CN113266369B (en) * | 2021-06-03 | 2022-06-24 | 上海市基础工程集团有限公司 | Detection device applied to ultra-long distance shield axis positioning |
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