CN110185452A - Ranging angle adjusts positioning mechanism, positioning control system, method and engineering machinery - Google Patents
Ranging angle adjusts positioning mechanism, positioning control system, method and engineering machinery Download PDFInfo
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- CN110185452A CN110185452A CN201910400814.7A CN201910400814A CN110185452A CN 110185452 A CN110185452 A CN 110185452A CN 201910400814 A CN201910400814 A CN 201910400814A CN 110185452 A CN110185452 A CN 110185452A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 31
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000005259 measurement Methods 0.000 claims abstract description 32
- 238000010276 construction Methods 0.000 claims abstract description 12
- 230000003287 optical effect Effects 0.000 claims abstract description 7
- 238000009434 installation Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
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- 238000001727 in vivo Methods 0.000 claims 1
- 238000012546 transfer Methods 0.000 abstract description 6
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Classifications
-
- 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
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Environmental & Geological Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Operation Control Of Excavators (AREA)
Abstract
The invention belongs to engineering machinery construction location control technical fields, it is specifically designed a kind of positioning mechanism, positioning control system, method and engineering machinery for the adjustment of ranging angle, the positioning mechanism includes: for the open shell fixed with engineering machinery fuselage, being set in the housing the prism for exporting positioning optical signal；It is set in the housing for driving prism axis rotation and adjusts the rotating electric machine of prism rotation.The present invention meets measurement apart from short, measurement angle range is limited, dust atmosphere and the constructions such as width tunnel greatly position place demand, cooperated by controller, positioning mechanism and total station, with the mobile adjustment prism rotational angle of engineering mechanical device vehicle body, guarantee that total station ranging angle needs, reach angular range, close current prism rotation, open next be suitble to index prism, guarantee that total station ranging is continuous, frequent station transfer is avoided to influence the situation of measurement efficiency etc., tunnel machine equipment construction efficiency and construction quality are greatly improved, there is stronger future in engineering applications.
Description
Technical field
The invention belongs to engineering machinery construct location control technical field, be specifically designed it is a kind of for ranging angle adjustment
Positioning mechanism, positioning control system, method and engineering machinery.
Background technique
Existing tunnel machine equipment positioning system is substantially summarized as positioning and non real-time positioning in real time.Real-time positioning system
Conventional scheme are as follows: the prism being mounted in equipment to be positioned is measured using total station to realize；The reality of this scheme
Apply the requirement for needing to meet measurement distance and measurement angle.For the frequently a wide range of mobile or effectively lesser positioning of detecting distance
Scene needs frequent station transfer to meet positioning function demand.To solve the above problems, having in existing scheme using with servo
Motor and target sight the total station of function automatically, and automatic target lock function can extend measurable range, to a certain degree
Upper raising working efficiency.But in the case of limited for measurement environment, by taking cantilever excavator as an example, it is directly used in tunnel cross-section pick
Into measurement environment has a large amount of dust, this just needs total station survey distance cannot too far, and other works behind cantilever excavator
The progress of sequence, such as arch installation, just spray, also limit the arrangement installation of total station.Therefore, in this measurement apart from short, survey
The problems such as measuring angle range is limited, under dust atmosphere, and especially big wide tunnel just needs to solve positioning system frequent station transfer, to mention
High working efficiency.
Summary of the invention
For this purpose, the present invention provides a kind of positioning mechanism, positioning control system, method and engineering for the adjustment of ranging angle
Machinery, meeting measurement, the constructions such as limited, dust atmosphere and big wide tunnel position place demand apart from short, measurement angle range, fit
It is strong with property, job execution efficiency is improved, there is preferable future in engineering applications.
According to design scheme provided by the present invention, a kind of positioning mechanism for the adjustment of ranging angle includes:
Open shell for being fixed with engineering machinery fuselage,
It is set in the housing the prism for exporting positioning optical signal；
It is set in the housing for driving prism axis rotation and adjusts the rotating electric machine of prism rotation.
Above-mentioned, also comprising being set in the housing prism two sides for limiting the limit switch of prism rotation angle degree.
Further, limit switch is fixed in shell by mounting plate, and mounting plate is symmetrical arranged centered on prism axis
There is the arc adjustment hole for adjusting limit switch installation site.
Above-mentioned, the open shell includes to be set to bottom plate two for the bottom plate and back side panel fixed with engineering machinery
Side and two side guard plates fixed with back side panel, connect the top plate of two side guard plates and back side panel；Two side guard plate outer edges are opened
Equipped with the broadening slot for increasing optical signal transceiver effective angle range.
Preferably, the broadening slot is the groove of U-shaped structure or c-type structure.
Above-mentioned, the rotating electric machine is rotation motor, is provided with electricity loss brake on prism axis.
Above-mentioned, the rotating electric machine is servo motor.
Further, the present invention also provides a kind of tunnel device positioning control system, include:
Total station for survey engineering mechanical position information；
Several above-mentioned positioning mechanisms；
Controller in engineering machinery, for according to limit switch signal in total station ranging angle and positioning mechanism
To control rotating electric machine movement.
In above-mentioned system, the controller is set in engineering machinery driving cabin, connected to the controller also functional to open
Close button；The functional switch key includes location control mode setting switch key and prism open-close on-off key.
Further, the present invention also provides a kind of tunnel device position control methods, are positioned based on above-mentioned tunnel device
Control system realizes that the realization process includes following content:
According to construction operation demand, positioning mechanism is laid in each position of engineering machinery, fixation total powerstation；Set prism
Rotating range, and set prism to the original state of mirror surface Yu engineering machinery median perpendicular；
After positioning measurement starts, as engineering machinery fuselage is mobile, determine that, with index prism, controller adjustment is revolved with index prism
Gyration is to cooperate total station ranging demand, and when reaching preset range with index prism rotation angle degree, it is servo-actuated that controller controls this
Prism is closed, and is chosen other positions prism and is used as with index prism, guarantees the continuous of total station ranging.
Further, the present invention also provides a kind of engineering machinery, it is fixed that above-mentioned tunnel device is provided in the engineering machinery
Level controlling system is to realize that the position in operation positions.
Beneficial effects of the present invention:
1, the positioning mechanism in the present invention for the adjustment of ranging angle, structure is simple, novel in design, reasonable, passes through rotation
The intracorporal prism of motor driven opening shell rotates angle to cooperate ranging operation, improves measurement efficiency, and strong applicability can be suitble to
The measurement tunnel placement ranging environment limited etc. apart from short, measurement angle range.
2, for situations such as the limited, low efficiencys of existing tunnel positioning measurement environment, pass through controller, positioning mechanism and whole station
The cooperation of instrument adjusts prism rotational angle with the movement of engineering mechanical device vehicle body, guarantees that total station ranging angle needs, reaches
After angular range, close the rotation of current prism, open it is next it is suitable guarantee total station ranging continuous work with index prism,
It avoids frequent station transfer from influencing the situation of measurement efficiency etc., greatly improves tunnel machine equipment construction efficiency and construction quality, have
Stronger future in engineering applications.
Detailed description of the invention:
Fig. 1 is positioning mechanism structural schematic diagram in embodiment；
Fig. 2 is positioning mechanism body diagram in embodiment；
Fig. 3 is B-B schematic cross-sectional view in Fig. 1 in embodiment；
Fig. 4 is that prism rotates angle schematic diagram in Fig. 3 in embodiment；
Fig. 5 is A-A schematic cross-sectional view in Fig. 1 in embodiment；
Fig. 6 is positioning mechanism functional block diagram in embodiment；
Fig. 7 is positioning control system functional block diagram in embodiment；
Fig. 8 is location control flow chart in embodiment.
Specific embodiment:
Figure label, label 1 represent prism, and label 2 represents rotating electric machine, and label 3 represents limit switch, and label 4 represents
Shell, label 5 represent installing handle and close bolt, and label 6 represents arc adjustment hole, and label a represents prism angle rotating range, label
7 represent prism axis, and label 8 represents mounting plate.
To make the object, technical solutions and advantages of the present invention clearer, understand, with reference to the accompanying drawing with technical solution pair
The present invention is described in further detail.
The embodiment of the present invention includes referring to a kind of positioning mechanism for the adjustment of ranging angle shown in Fig. 1 and 2, is provided:
Open shell for being fixed with engineering machinery fuselage,
It is set in the housing the prism for exporting positioning optical signal；
It is set in the housing for driving prism axis rotation and adjusts the rotating electric machine of prism rotation.
It drives the open intracorporal prism of shell to rotate angle to cooperate ranging operation by rotating electric machine, improves measurement efficiency,
Strong applicability can be suitble to measure apart from the tunnel placement ranging environment that short, measurement angle range is limited etc.；Open shell can lead to
It crosses and conjunction bolt is fixed with fuselage, dismantle easy to assembly, reliable.
Further, shown in Figure 1 in the embodiment of the present invention, also comprising being set in the housing prism two sides for limiting
Prism rotates the limit switch of angle, rotates angle by limiting prism preferably to cooperate the work of total station in ranging operation
Make.
Further, in the embodiment of the present invention, referring to shown in Fig. 3,4 and 5, limit switch is fixed on shell by mounting plate
Interior, mounting plate is symmetrically arranged with the arc adjustment hole for adjusting limit switch installation site centered on prism axis.According to not
It can be by adjusting limit switch peace according to actual angle needs with the different locating schemes arrangement and different location of engineering machinery
Holding position more preferably cooperates the ranging operation of total station to realize, using effect is good.
Further, shown in Figure 2 in the embodiment of the present invention, open shell includes for fixed with engineering machinery
Bottom plate and back side panel connect two side guard plates and back side panel set on bottom plate two sides and two side guard plates fixed with back side panel
Top plate；Two side guard plate outer edges offer the broadening slot for increasing optical signal transceiver effective angle range.Broadening slot is set
Meter increases effective angle when prism rotation so that the side guard plate width of protective casing is less than upper and lower backplate (i.e. bottom plate and top plate)
Degree can more preferably cooperate total station ranging localization, improve measurement efficiency.
Further, shown in Figure 2 in the embodiment of the present invention, broadening slot is the groove of U-shaped structure or c-type structure.Root
Factually border service condition is also designed to the shape and structure that other side guard plate width are less than upper and lower backplate, to obtain preferable rib
Mirror rotates effective angle.
Further, in the embodiment of the present invention, rotating electric machine is rotation motor, is provided with electricity loss brake on prism axis.
It can be realized quickly parking when powering off using electricity loss brake and be accurately positioned, accurately prism axis rotational angle is controlled, to reach
To better measuring accuracy.
Further, in the embodiment of the present invention, servo motor is also can be used in rotating electric machine.Similarly, servo motor is utilized
Torque and revolving speed are converted with the control precision of drive control object by voltage signal, accurately control prism axis rotational angle,
To reach better measuring accuracy.
Further, referring to shown in Fig. 6 and 7, the embodiment of the present invention also provides a kind of tunnel device positioning control system, packet
Contain:
Total station for survey engineering mechanical position information；
Positioning mechanism in several above-described embodiments；
Controller in engineering machinery, for according to limit switch signal in total station ranging angle and positioning mechanism
To control rotating electric machine movement.
For situations such as the limited, low efficiencys of existing tunnel positioning measurement environment, pass through controller, positioning mechanism and total station
Cooperation, adjust prism rotational angle with engineering mechanical device vehicle body is mobile, guarantee that total station ranging angle needs, reach angle
After spending range, current prism rotation is closed, unlatching is next suitable with index prism, guarantees total station ranging continuous work, keeps away
Exempting from frequent station transfer influences the situation of measurement efficiency etc., greatly improves tunnel machine equipment construction efficiency and construction quality.
Further, controller is set in engineering machinery driving cabin, and connected to the controller there are also functional switch keys；Institute
Stating functional switch key includes location control mode setting switch key and prism open-close on-off key.Controller can utilize engineering
Industrial personal computer or main controller realize the control function of equipment positioning, electric control handle in utilizing works machinery in mechanical electric-control system
And/or hydraulic valve bank, controller and each functional switch key are attached cooperation, to realize engineering machinery measurement and positioning control
Left and right is ipsilateral in mode processed, control function of scheme control of left and right heteropleural and prism rotary opening and closing, easy to operate, quick.
Further, referring to also providing a kind of tunnel device position control method shown in Fig. 7 and 8, in the embodiment of the present invention,
Tunnel device positioning control system in based on the above embodiment realizes that the realization process includes following content:
According to construction operation demand, positioning mechanism is laid in each position of engineering machinery, fixation total powerstation；Set prism
Rotating range, and set prism to the original state of mirror surface Yu engineering machinery median perpendicular；
After positioning measurement starts, as engineering machinery fuselage is mobile, determine that, with index prism, controller adjustment is revolved with index prism
Gyration is to cooperate total station ranging demand, and when reaching preset range with index prism rotation angle degree, it is servo-actuated that controller controls this
Prism is closed, and is chosen other positions prism and is used as with index prism, guarantees the continuous of total station ranging.
Further, a kind of engineering machinery is also provided in the embodiment of the present invention, above-mentioned tunnel is provided in the engineering machinery
Road equipment positioning control system is to realize that the position in operation positions.
For the validity for verifying technical solution of the present invention, it is illustrated by taking large cross-section tunnel as an example below: in order to obtain most
Good measurement angle guarantees total station survey continuity, avoids frequent station transfer, by taking large cross-section tunnel as an example, big cross section, that is, tunnel
Width is much larger than plant width, and the specific implementation process of location control is as follows:
1. being arranged on the left of tunnel using tunnel central axes as boundary with total station, engineering mechanical device is located at left side simultaneously
For: main controller sends control command and closes engineering mechanical device left and right side prism, opens rib at the top of rear portion and driver's cabin
Mirror.
2. being located at zero-bit, i.e. mirror surface and equipment median perpendicular when prism is opened.
3. engineering type device works normally, when being turned to using electric control handle operation equipment, main controller receives handle and turns
To angle signal, according to the proportionality coefficient α of setting, the prism that output control signal control is opened rotates.Specifically, engineering machinery
Equipment is advanced, back operation prism angle remains unchanged, and when left-hand rotation, prism turns left and (overlooks clockwise) according to predetermined ratio, right
When turning, prism is turned right and (is overlooked counterclockwise) according to predetermined ratio, when prism rotates triggering rotary stopper sensor, main controller hair
It send control command to close the prism, i.e., rotates 180 degree from prism zero-bit, prism mirror surface turns to protective casing rear backplate, avoids surveying
Amount interference, while achieving the purpose that protect prism.
4. the above-mentioned angle of closing transfinites after prism, while opening engineering machinery side prism, specifically: mechanical equipment is to the right
Right side prism is opened when rotation, and left side prism is opened when turning left.
5. continuing to execute positioning measurement according to above-mentioned steps.
6. opening engineering mechanical device rear portion prism when total station judges that prism measuring signal is lost and carrying out positioning measurement
Operation.
In actual measurement operation, total station and positioning mechanism installation position are set according to operating environment.The cloth of prism
Office's mode, can be divided into rear portion prism, left side prism, right side prism and cab roof prism；Engineering directly can be set by switching
The opening and closing of prism on mechanical equipment.When total station and engineering machinery be located at tunnel it is not ipsilateral when, arranged with total station
In left side, when engineering mechanical device is located at tunnel central right, the control difference of positioning measurement is to enable equipment side first
The prism of side, successively needs to open or close rear portion prism according to measurement angle.Measurement control under remaining position is not repeating.
Wherein, variable angle prism can not use limit sensors, completely according to the rotation angle of rotation motor according to actual condition
Data judge whether to close the condition of the prism；In certain operating conditions and engineering mechanical device, sentenced using equipment turn signal
Disconnected there is a certain error, for example wheel or crawler belt skid, and in response to this, are uploaded to master using total station survey data
Device is controlled, includes the distance between total station and prism and angle information in positioning measurement data, main controller is according to distance and angle
Information is to determine whether turn off or on prism.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
A specific embodiment of the invention is only limitted to this, for those of ordinary skill in the art to which the present invention belongs, is not taking off
Under the premise of from present inventive concept, several simple deduction or replace can also be made, all shall be regarded as belonging to the present invention by institute
Claims of submission determine scope of patent protection.The foregoing description of the disclosed embodiments makes this field professional technique
Personnel can be realized or use the application.Various modifications to these embodiments will be for those skilled in the art
It will be apparent that the general principles defined herein can without departing from the spirit or scope of the application, at it
It is realized in its embodiment.Therefore, the application is not intended to be limited to the embodiments shown herein, and is to fit to and this paper
The consistent widest scope of disclosed principle and features of novelty.
Claims (10)
1. it is a kind of for ranging angle adjustment positioning mechanism, characterized by comprising:
Open shell for being fixed with engineering machinery fuselage,
It is set in the housing the prism for exporting positioning optical signal；
It is set in the housing for driving prism axis rotation and adjusts the rotating electric machine of prism rotation.
2. the positioning mechanism according to claim 1 for the adjustment of ranging angle, which is characterized in that also comprising being set to shell
Interior prism two sides are used to limit the limit switch of prism rotation angle degree；Further, limit switch is fixed on shell by mounting plate
In vivo, mounting plate is symmetrically arranged with the arc adjustment hole for adjusting limit switch installation site centered on prism axis.
3. the positioning mechanism according to claim 1 for the adjustment of ranging angle, which is characterized in that the open shell
Comprising for the bottom plate and back side panel fixed with engineering machinery, set on bottom plate two sides and two side guard plates fixed with back side panel,
Connect the top plate of two side guard plates and back side panel；Two side guard plate outer edges are offered for increasing optical signal transceiver effective angle
The broadening slot of range.
4. the positioning mechanism according to claim 3 for the adjustment of ranging angle, which is characterized in that the broadening slot is U
The groove of type structure or c-type structure.
5. the positioning mechanism according to claim 1 for the adjustment of ranging angle, which is characterized in that the rotating electric machine is
Rotation motor is provided with electricity loss brake on prism axis.
6. the positioning mechanism according to claim 1 for the adjustment of ranging angle, which is characterized in that the rotating electric machine is
Servo motor.
7. a kind of tunnel device positioning control system, characterized by comprising:
Total station for survey engineering mechanical position information；
Several described in any item positioning mechanisms of claim 1~6；
Controller in engineering machinery, for being controlled according to limit switch signal in total station ranging angle and positioning mechanism
Rotating electric machine movement processed.
8. tunnel device positioning control system according to claim 7, which is characterized in that the controller is set to engineering machine
In tool driver's cabin, connected to the controller there are also functional switch keys；The functional switch key includes that location control mode is set
Set switch key and prism open-close on-off key.
9. a kind of tunnel device position control method, which is characterized in that be based on tunnel device location control as claimed in claim 7
System realizes that the realization process includes following content:
According to construction operation demand, positioning mechanism is laid in each position of engineering machinery, fixation total powerstation；Set prism rotation
Range, and set prism to the original state of mirror surface Yu engineering machinery median perpendicular；
After positioning measurement starts, as engineering machinery fuselage is mobile, determine that, with index prism, controller is adjusted with index prism rotation angle
Degree is to cooperate total station ranging demand, and when reaching preset range with index prism rotation angle degree, controller control should be with index prism
It closes, chooses other positions prism and be used as with index prism, guarantee the continuous of total station ranging.
10. a kind of engineering machinery, which is characterized in that be provided with tunnel device positioning as claimed in claim 7 in the engineering machinery
Control system is to realize that the position in operation positions.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910400814.7A CN110185452A (en) | 2019-05-15 | 2019-05-15 | Ranging angle adjusts positioning mechanism, positioning control system, method and engineering machinery |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910400814.7A CN110185452A (en) | 2019-05-15 | 2019-05-15 | Ranging angle adjusts positioning mechanism, positioning control system, method and engineering machinery |
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| Publication Number | Publication Date |
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| CN110185452A true CN110185452A (en) | 2019-08-30 |
Family
ID=67716317
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| CN201910400814.7A Pending CN110185452A (en) | 2019-05-15 | 2019-05-15 | Ranging angle adjusts positioning mechanism, positioning control system, method and engineering machinery |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113236364A (en) * | 2021-04-28 | 2021-08-10 | 深圳市利拓光电有限公司 | Mine safety early warning method, device, storage medium and device based on laser |
| CN114575343A (en) * | 2022-04-07 | 2022-06-03 | 中交二航局第四工程有限公司 | Steel pipe inserting and beating guide system suitable for multi-slope self-walking intelligent adjustment |
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2019
- 2019-05-15 CN CN201910400814.7A patent/CN110185452A/en active Pending
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