CN110118088A - A kind of development machine positioning driving method and its system - Google Patents
A kind of development machine positioning driving method and its system Download PDFInfo
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- CN110118088A CN110118088A CN201910402080.6A CN201910402080A CN110118088A CN 110118088 A CN110118088 A CN 110118088A CN 201910402080 A CN201910402080 A CN 201910402080A CN 110118088 A CN110118088 A CN 110118088A
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- 238000011161 development Methods 0.000 title claims abstract description 42
- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000005520 cutting process Methods 0.000 claims abstract description 78
- 230000005641 tunneling Effects 0.000 claims abstract description 13
- 238000004080 punching Methods 0.000 claims abstract description 11
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/10—Making by using boring or cutting machines
- E21D9/108—Remote control specially adapted for machines for driving tunnels or galleries
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- G—PHYSICS
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- G06F—ELECTRIC DIGITAL DATA PROCESSING
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Abstract
The invention discloses a kind of development machine positioning driving method and its system, punching device including the positioning for hard formation based on the above method and new system；Belong to construction process apparatus field, include the following steps, S1: tunnel model is generated according to Tunnel Design and model is generated according to cutterhead scope of activities；S2: it determines positioning origin, establishes coordinate system, generate tunnel model coordinate and cutting range model coordinate；S3: development machine Primary Location determines tunneling machine cutting model coordinate；S4: basic point is chosen, determines datum level；S5: it is determined according to datum level and each cutting depth to cutting body coordinate；S6: start excavation operation.The problem of present invention uses small segmentation cutting, cooperates Automatic Positioning Control, solves in the case where artificially controlling cutting machine, be easy to produce tunnel location error and accumulated error.
Description
Technical field
The present invention relates to tunnel piercing technical fields, and in particular to a kind of positioning of development machine is punchinged device and positioning driving side
Method.
Background technique
Development machine is the machine that tunnel is dug for flat bottom surface；Pass through mechanical rock breaking stone.Be usually used in tunnel and mine etc..
According to structure composition, boom-type roadheader and shield machine can be divided into.Wherein, shield machine is suitable for long straight tunnel piercing, such as
The mountain tunnel of subway and overlength, Support types are relatively simple, can only be using annular supporting；Boom-type roadheader includes cutting
Mechanism, loader mechanism, transport establishment, walking mechanism, rack and revolving platform, hydraulic system, electrical system, cooling go out dirt for water system
System and operating system；Boom-type roadheader has biggish flexibility, can be used for any Support types；Compared to shield machine；Tool
Have the advantages that small investment, preparation of construction time are short and recycling type is high.It is larger in the design of some shorter and camber, or mining need to
When being converted according to coal seam position distribution, it is necessary to use the biggish characteristic of its flexibility.But existing boom-type roadheader
At work, orientation and driving path are manually differentiated substantially；May deviate with design route causes to be not easy between tunnel
It connects；And cutting is easy to produce error accumulation based on production face before every time.And in some hard formations, in cutting
Before machine is worked, then need to be punchinged with rock drill, suffered resistance when reducing cutterhead cutting.
Summary of the invention
For the deficiency in the presence of the prior art, the purpose of the present invention is to provide a kind of development machines to position driving method
And its system, it solves in the prior art, boom-type roadheader digs the problem of practical inbound path is deviated with design path.
To achieve the above object, present invention employs the following technical solutions:
A kind of development machine positioning driving method, comprising the following steps:
S1: tunnel model is generated according to Tunnel Design and model is generated according to cutterhead scope of activities；
S2: it determines positioning origin, establishes coordinate system, generate tunnel model coordinate and cutting range model coordinate；
S3: development machine Primary Location determines tunneling machine cutting model coordinate；
S4: choosing basic point, determines that datum level, the datum level are the cross sections for passing through the basic point on tunnel model；
S5: it is determined according to datum level and each cutting depth to cutting body coordinate；
S6: start excavation operation.
A kind of development machine positioning driving system for implementing the above method, comprising:
Memory module: storage tunneling model and cutterhead scope of activities model simultaneously record key point information；
Locating module: according to the positioning origin of selection and key point position, localized tunnel model and cutting range model are sat
Mark；Datum level is determined according to the basic point of selection；It is obtained simultaneously according to datum level to cutting body Model coordinate；According to location transmitters
Signal determines position of the location transmitters in coordinate；
Computing module: according to cutterhead present position and direction and target position and direction, mobile and rotary road is calculated
Diameter, and generate instruction；
Control module: it according to instruction, controls motor and starting and stopping for hydraulic device controls cutterhead or positioning in turn
Device of punchinging is movable.
It is a kind of to be punchinged device by the development machine positioning of above system control, including it is located at tunneling machine cutting part two sides
Two positioning punching mechanism；The positional punch mechanism include puncher, control puncher advance along its length or
The driving plate of retrogressing and the mechanical arm of the control of cooperation development machine steering mechanism driving plate spatial position and angle；Driving board ends are set
There are location transmitters, the computing module is calculated and driven also according to driving plate present position and direction and target position and direction
Movable plate movement and rotating path, and generate instruction.
Compared with the prior art, the invention has the following beneficial effects:
A kind of development machine proposed by the present invention positions driving method；It is positioned by modeling, is cut after positioning by machine automatization
It cuts, reduces error caused by artificial distinguish；Origin reference location face is set on master mould and is converted with driving, datum level is set
It sets and is subject to initial model, small segmentation driving will not generate error accumulation.Also propose a kind of development machine positioning system, including
Memory module, locating module, correction verification module and control module；Complete the positioning and verification to cutting body；Based on the above method and
System devises a kind of positioning of development machine and punchinges device；Using the same principle of the above method and same system and device, realize
Treat punchinging automatically for cutting part；Make when processing hard rock, resistance suffered by cutterhead is smaller.
Further advantage, target and feature of the invention will be partially reflected by the following instructions, and part will also be by this
The research and practice of invention and be understood by the person skilled in the art.
Detailed description of the invention
Fig. 1 is workflow schematic diagram of the present invention；
Fig. 2 is each module annexation figure；
Fig. 3 is that each model is overlapped schematic diagram；
Fig. 4 is to cutting model schematic；
Fig. 5 is cutting path profile；
Fig. 6 be positioning punching device cutting mechanism position display diagram；
Fig. 7 is to position apparatus structure schematic diagram of punchinging.
Wherein, cutterhead 1, positioning punching device 2, datum level 3, to cutting body 4, to cutting face 5, basic point 6, cutting range
Model 7, tunnel model 8, support column 21, the first rotating disc 22, the second rotating disc 23, adjustable plate 24, driving plate 25, puncher
26。
Specific embodiment
In order to make the present invention realize technological means, creation characteristic, reach purpose and effect more clearly and be apparent to,
Below with reference to specific embodiment is echoed, the present invention is further elaborated:
As shown in figs. 1-7, the invention proposes a kind of driving machine positioning device and its localization methods, comprising the following steps:
S1: tunnel model 8 is generated according to Tunnel Design and cutting range model 7 is generated according to 1 scope of activities of cutterhead.
S2: determining positioning origin, establish coordinate system, generate the coordinate of tunnel model 8 and the coordinate of cutting range model 7,
S3: development machine Primary Location determines tunneling machine cutting model coordinate.
S4: choosing basic point 6, determines that datum level 3, the datum level are the cross sections for passing through the basic point on tunnel model.
S5: it is determined according to datum level 3 and each cutting depth to 4 coordinate of cutting body.
S6: start excavation operation.
A kind of development machine positioning driving system for implementing the above method, comprising:
Memory module: storage tunneling model 8 and 1 scope of activities model of cutterhead simultaneously record key point information.Key point
It must include the endpoint of the endpoint of model straight line, the endpoint of circular arc and the center of circle and curve.
Locating module: according to the positioning origin of selection and key point position, 7 coordinate of localized tunnel and cutting range model；
Datum level 3 is determined according to the basic point 6 of selection；It is obtained simultaneously according to datum level 3 to 4 model coordinate of cutting body；According to localizing emission
Device signal determines position of the location transmitters in coordinate.After positioning, model has determined the position and direction in coordinate.
Computing module: according to 25 present position of driving plate and direction and target position and direction, according to locating for cutterhead 1
Position and direction and target position and direction calculate mobile and rotating path, and generate instruction.
Control module: it according to instruction, controls motor and starting and stopping for hydraulic device controls cutterhead 1 or positioning in turn
Device 2 of punchinging is movable.
A kind of development machine positioning based on above-mentioned positioning system is punchinged device, including is located at cutting mechanism for heading machine two
Two of side position mechanism of punchinging；Before the positional punch mechanism includes puncher 26, controls puncher 26 along its length
Into or retreat driving plate 25 and cooperation development machine steering mechanism control driving plate 25 spatial position and angle mechanical arm；It drives
25 both ends of movable plate are equipped with location transmitters.Wherein, the computing module is also according to driving plate present position and direction, target position
And direction, driving plate movement and rotating path are calculated, and generate instruction.
In above scheme, the course of work of the invention are as follows: after the completion of Tunnel Design, according to Tunnel Design route and shape
Shape generates tunnel model 8 and key point information, and establishes cutting range model 7, typing storage according to the scope of activities of cutterhead 1
In module；Tunnel model 8 is regarded as being formed by stacking by many sections；Cutting range model 7 is determined by development machine model.Specifically
When driving, positioning origin is selected, coordinate system is established, and determine the coordinate of tunnel model 8 according to key point position, development machine is driven
It moves to driving position, at this time according to development machine position, determines the coordinate of cutting range model 7, and in typing locating module.
Then it chooses to C point in development end point more outstanding as basic point 6, such as Fig. 3, establishes datum level 3, datum level 3 is tunnel
Pass through the cross section of the basic point 6 on model 8；Driving plate 25 is adjusted to perpendicular to cross-wise direction, and adjusts 25 front end of driving plate
On datum level 3；To be tunneling direction perpendicular to datum level 3, tunnelling footage is preset, and then obtain body to be tunneled.Pass through school again
Module is tested to match to cutting body 4 whether in tunneling machine cutting range model 7；If starting to choose on datum level 3 more
Point is punchinged；If development machine position is not adjusted if.After cutting, change development machine position and new to cutting face
New basic point 6 is chosen on 5, and determines new datum level 3.In the case where tunnel is straight, it is exactly and tunnel model 8 to cutting body 4
Be overlapped, therefore new basic point 6 is also on tunnel model 8, though in racetrack portion, it is adjacent to cutting body 4 be also the overwhelming majority with
Tunnel model 8 is overlapped, and not choosing to the position at 5 edge of cutting face is basic point 6.In racetrack portion, as shown in Figure 3 (wait cut
Cut body 4 and tunnel model 8 and slightly have deviation), the tunnel inner wall after cutting need to be modified slightly, can be in passing when setting up tunnel support
It completes.When cutting, as shown in Figure 5 (dash area indicate cutting path), using " S " type path cutting from the bottom up.
If driving hard formation, select basic point 6 when, using positioning punching device 2 carry out, first by driving plate 25 adjust to wait cut
25 front end of driving plate is adjusted to the position apart from protrusion 2-5cm, selectes the positioning of front end at this time by 5 protrusion of face
The position of transmitter is basic point 6, obtains datum level 3, then by control system adjustment driving plate 25 perpendicular to datum level 3, and preceding
The location transmitters at end are located on datum level 3.Then control system control puncher 26 and rodless cylinder are punchinged, depth of punchinging choosing
It selects and is generally reasonably selected according to the size of nature of ground and cutting head of roadheader 1.In order to which driving seat in the plane is tentatively arranged
Be set to standard, at the same resistance suffered by cutterhead 1 do not answer yet it is excessive.Then start to dig other holes, the quantity punchinged is according to rock stratum hardness
It determines, is subject to resistance suffered by cutterhead 1 within the scope of the usual cutting resistance of model cutting machine.When digging other holes, should also it control
Driving plate 25 processed is located on datum level 3 perpendicular to datum level 3, the location transmitters of front end, and 26 extended length of puncher is identical, and
It is not that depth of punchinging is identical.After having dug all holes, packs up positioning and punching device 2.In Locating driver plate 25, as shown in figure 4,
Positioning system obtains the displacement launcher signal at 25 both ends of driving plate, and the principle of straight line is determined using two o'clock, determines driving
The spatial position of plate 25, and then mobile and rotating path is obtained by computing module and is sent to control module, control module hair
Command adapted thereto is sent, and then controls it perpendicular to datum level 3.
When needing cutting, cutterhead 1 is first moved to the position in 3 lower left corner of datum level, accordingly also by localizing emission
Device positions the position of cutterhead 1, and general three-dimensional localization needs three localizing emission devices just to can determine that spatial position and angle, but
Be due to cutterhead 1 be revolving body, only need to be arranged in the axial direction thereof two localizing emission devices can determine its position with
Angle.
The mechanical arm includes axis support column 21 perpendicular to each other, the first rotating disc 22 and the second rotating disc 23, support
The scalable setting of column 21,21 one end of support column are hinged on development machine, and can be swung up and down under the driving of hydraulic cylinder, and described
The free end of support column 21 is arranged in one rotating disc 22 and the second rotating disc 23, to control the angle of the driving plate 25.Two
Orthogonal rotating disc, cooperates the function of cutting mechanism for heading machine being horizontally diverted, and realizes to driving plate 25 divided by from height
Any angle control outside the rotation in the direction that direction is axis is spent, in conjunction with the swing of the scalable and short transverse of support column 21
Setting realizes and controls the angles and positions of driving plate 25 that two position the cooperation of device 2 of punchinging, substantially without dead angle, practical operation
In the process, it without the accurate arrival for strictly realizing each position, substantially realizes.
Regulating tank is additionally provided between the Locating driver and the second rotating disc 23, the regulating tank, which is equipped with, supplies the driving
The groove that plate 25 slides along its length.It is that driving plate 25 provides power that screw mechanism is equipped in the regulating tank.The drive
Movable plate 25 is equipped with the rodless cylinder of the position of control puncher 26.The setting of regulating tank, so that in driving plate 25 of having good positioning
After angle and plan-position, the position on length direction directly can compensate adjusting by regulating tank, make computing module
It calculates the algorithm in path and controls more convenient.And the setting of the kind of drive, screw mechanism compensate positioning timeliness in driving plate 25
Fruit is more preferable, rodless cylinder transmission, then the stroke control being more suitable in the installation space and boring procedure in driving plate 25.
When punchinging, using distribution mode as shown in Figure 5, the interval of Kong Yukong should be less than the maximum cutting face of cutterhead 1；
To guarantee the crushing effect of rock.Notice that driving plate 25 is each perpendicular to datum level 3, and front end is long in the elongation of each puncher 26
Spend identical, depth of not punchinging is identical, and the depth punchinged generally is closed according to the size of nature of ground and cutting head of roadheader 1
The selection of reason.Positioning is packed up after punchinging to punching 2 broken line cutting of device.It, can be with automatically as the calculation of computing module
The common algorithm of control field carries out, below just one of calculating process give illustration.
As shown in figure 4, AB is the position of two location transmitters in driving plate 25, CD is one of target position,
When path computing, two rotating discs are first passed through by AB and go to the parallel AB1 of CD, during this centered on A, rotational angle a
It is extremely parallel with CD.Control that mechanical arm cooperation development machine itself is included to be horizontally diverted structure driving plate is moved to location of C from A again,
And then realize the transfer from present position to target position.For the first time adjust the angle punching after, behind without adjust the angle, directly
Adjust position.After determining datum level 3, dug according to position of the preset hole on datum level 3.
The control mode of corresponding cutterhead 1, it is directly default according to boom-type roadheader after reaching lower left corner predetermined position
Serpentine path cutting tunnel from bottom to top just.There are also other algorithms most in use that other realize identical function, also are regarded as this
The specific embodiment of invention.One has been carried out after the driving of cutting body 4, then has selected new basic point 6 true on the face after cutting
It is fixed new to the progress cutting of cutting body 4.
The present invention is positioned using local area network, and positioning is more accurate, without using civilian GPS positioning, (map, public transport etc. are fixed
Position mode), it will not be influenced by network poor signal in tunnel.In selective positioning origin, when just can select to tunnel for the first time,
Development machine position is origin, and corresponding network equipment is arranged, and makes each reception device of the location transmitters position from locating module
Closer, precision is more preferable；After tunneling a biggish distance, origin can be changed and receiving device signal generates position.
The selection of key point must include the endpoint of the endpoint of model straight line, the endpoint of circular arc and the center of circle and curve.Such as
The positioning of tunnel model 8, in the position of wherein several key points, setting location transmitters determine tunnel by the positioning of several points
The key point outside tunnel model 8 should be also arranged in the selection of tunnel key point in the coordinate setting of road model 8, convenient for initial pick
Into when, the coordinate setting of tunnel model 8.
Select basic point 6 when, be in the 2-5cm except part outstanding on cutting face 5, i.e., the basic point 6 with it is outstanding
2-5cm is spaced between part, to prevent from colliding in moving process.That is, on the one hand, it places driving plate 25 and punchinges in transfer
When position, datum level 3 is avoided to collide with when cutting face 5 is not overlapped with practical, tunnel corner curvature is generally little, therefore
Every 2-5cm, while also giving the range that the certain error of locating module allows.
In aforesaid operations, generally speaking, locating module is connect with memory module, computing module and checking module respectively；It is fixed
Position module obtains mould shapes from memory module and key point information, control module are connected with computing module；Checking module is from calmly
Position module treats driving body and connect a range model after obtaining location information carries out overlapping check and correction；Computing module is according to pre-determined bit mould
The predetermined position and present position that block obtains carry out path computing and send instructions to control module.
As shown in above scheme, technical thought of the invention are as follows: a kind of driving method is provided, by cutterhead 1, tunnel
Modeling positioning, realizes the automatic control to cutting action, reduces and artificially judges error brought by tunneling direction；With small segmentation
Cutting, model is subject in positioning every time, subject to the not above cutting face, is reduced deviation accumulation, is kept tunnel integral position accurate.
Setting positions device of punchinging on development machine, in conjunction with positioning driving system, the automatic control that hard rock is punchinged is realized, without special first
It is punchinged with puncher 26, improves working efficiency.
The above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to preferred embodiment to this hair
It is bright to be described in detail, those skilled in the art should understand that, it can modify to technical solution of the present invention
Or equivalent replacement should all cover without departing from the objective and range of technical solution of the present invention in claim of the invention
In range.
Claims (10)
1. a kind of development machine positions driving method, it is characterised in that: the following steps are included:
S1: tunnel model is generated according to Tunnel Design and cutting range model is generated according to cutterhead scope of activities；
S2: it determines positioning origin, establishes coordinate system, generate tunnel model coordinate and cutting range model coordinate；
S3: development machine Primary Location determines tunneling machine cutting model coordinate；
S4: choosing basic point, determines that datum level, the datum level are the cross sections for passing through the basic point on tunnel model；
S5: it is determined according to datum level and each cutting depth to cutting body coordinate；
S6: start excavation operation.
2. a kind of development machine according to claim 1 positions driving method, it is characterised in that: tunnel model and cutting range
The coordinate of model determines that key point must include the endpoint of model straight line, the endpoint of circular arc and the center of circle by key point location information
And the endpoint of curve.
3. a kind of development machine according to claim 2 positions driving method, it is characterised in that: the also school before starting driving
Cutting body is treated whether in cutting range model.
4. a kind of development machine according to claim 3 positions driving method, which is characterized in that driving route uses " S " type
Path is tunneled from bottom to top.
5. a kind of development machine positioning driving system as used in any one of the claim 2-4 development machine positioning driving method
System, it is characterised in that: include:
Memory module: storage tunneling model and cutterhead scope of activities model simultaneously record the key point information；
Locating module: according to the positioning origin of selection and key point position, localized tunnel model and cutting range model coordinate；Root
Datum level is determined according to the basic point of selection；It is obtained simultaneously according to datum level to cutting body Model coordinate；According to location transmitters signal,
Determine position of the location transmitters in coordinate；
Computing module: according to cutterhead present position and direction, target position and direction, cutterhead movement and rotary road are calculated
Diameter, and generate instruction；
Control module: according to described instruction, starting and stopping for motor and hydraulic device is controlled.
6. a kind of development machine according to claim 5 positions driving system, it is characterised in that: further include checking module；Institute
Checking module is stated to proofread to cutting model whether in cutting model.
7. a kind of development machine according to claim 6 positions driving system, it is characterised in that: fixed when tunneling hard formation
Position module also Locating driver plate, computing module calculate mobile driving plate and rotating path and generate described instruction；Control module root
According to instruction control puncher position and punching.
The device 8. a kind of development machine positioning by any one of the claim 5-7 system control is punchinged, it is characterised in that: including
Two for being located at cutting mechanism for heading machine two sides position mechanism of punchinging；The positional punch mechanism includes puncher, control
The driving plate and cooperation development machine steering mechanism that puncher advances or retreats along its length control driving plate spatial position
With the mechanical arm of angle；Board ends are driven to be equipped with location transmitters；The computing module is also according to driving plate present position and side
It to, target position and direction, calculates that driving plate is mobile and rotating path, and generates instruction.
The device 9. a kind of development machine positioning according to claim 8 is punchinged, it is characterised in that: the mechanical arm includes axis
Support column, the first rotating disc and the second rotating disc perpendicular to each other, the scalable setting of support column, support column one end is hinged on driving
It on machine, and can be swung up and down under the driving of hydraulic cylinder, the freedom of first rotating disc and the second rotating disc setting support column
It holds to control the angle of the driving plate.
The device 10. a kind of development machine positioning according to claim 9 is punchinged, it is characterised in that: the driving plate and second
Regulating tank is additionally provided between rotating disc, the regulating tank is equipped with the groove slided along its length for the driving plate.Institute
It states in regulating tank and provides power equipped with screw mechanism for driving plate；The driving plate is equipped with control puncher position without bar gas
Cylinder.
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| CN201910402080.6A CN110118088B (en) | 2019-05-13 | 2019-05-13 | Positioning tunneling method and system of tunneling machine |
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| CN201910402080.6A CN110118088B (en) | 2019-05-13 | 2019-05-13 | Positioning tunneling method and system of tunneling machine |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112443328A (en) * | 2019-08-29 | 2021-03-05 | 三一重型装备有限公司 | Control method, control device, mining equipment and computer-readable storage medium |
| CN113246314A (en) * | 2021-07-02 | 2021-08-13 | 中铁工程服务有限公司 | Chain saw cutting machine and cutting method and cutting device thereof |
| CN113756820A (en) * | 2021-10-13 | 2021-12-07 | 湖南五新隧道智能装备股份有限公司 | Method and device for acquiring swing angle of construction equipment in tunnel construction |
| CN117231307A (en) * | 2023-10-26 | 2023-12-15 | 重庆交通建设(集团)有限责任公司 | Tunnel monitoring system based on multi-frequency signals |
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| CN113246314A (en) * | 2021-07-02 | 2021-08-13 | 中铁工程服务有限公司 | Chain saw cutting machine and cutting method and cutting device thereof |
| CN113756820A (en) * | 2021-10-13 | 2021-12-07 | 湖南五新隧道智能装备股份有限公司 | Method and device for acquiring swing angle of construction equipment in tunnel construction |
| CN113756820B (en) * | 2021-10-13 | 2023-10-13 | 湖南五新隧道智能装备股份有限公司 | Method and device for acquiring swing angle of construction equipment in tunnel construction |
| CN117231307A (en) * | 2023-10-26 | 2023-12-15 | 重庆交通建设(集团)有限责任公司 | Tunnel monitoring system based on multi-frequency signals |
| CN117231307B (en) * | 2023-10-26 | 2024-07-16 | 重庆交通建设(集团)有限责任公司 | Tunnel monitoring system based on multi-frequency signals |
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