CN111810181B - Heading machine roadway positioning and footage monitoring device and method based on data internet of things - Google Patents
Heading machine roadway positioning and footage monitoring device and method based on data internet of things Download PDFInfo
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- CN111810181B CN111810181B CN202010705947.8A CN202010705947A CN111810181B CN 111810181 B CN111810181 B CN 111810181B CN 202010705947 A CN202010705947 A CN 202010705947A CN 111810181 B CN111810181 B CN 111810181B
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- 238000012806 monitoring device Methods 0.000 title claims abstract description 27
- 238000000034 method Methods 0.000 title claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 230000005641 tunneling Effects 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims abstract description 8
- 238000004519 manufacturing process Methods 0.000 claims abstract description 5
- 238000011161 development Methods 0.000 claims description 29
- 230000033001 locomotion Effects 0.000 claims description 14
- 238000012544 monitoring process Methods 0.000 claims description 8
- 238000010276 construction Methods 0.000 claims description 4
- 239000003245 coal Substances 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 claims description 2
- 238000007405 data analysis Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 238000012546 transfer Methods 0.000 claims 2
- 238000012937 correction Methods 0.000 abstract description 2
- 230000008030 elimination Effects 0.000 abstract description 2
- 238000003379 elimination reaction Methods 0.000 abstract description 2
- 230000002349 favourable effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000009412 basement excavation Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
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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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- 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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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Geochemistry & Mineralogy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
Abstract
The invention discloses a data-internet-of-things-based heading machine roadway positioning and footage monitoring device, which comprises a positioning base station, an antenna, a positioning sensing module, a heading machine electric control system, a display system, an oil cylinder stroke monitoring device, a walking device, an information transmission link and a mine information centralized control center, wherein the positioning base station comprises a positioning base station, an antenna, a positioning sensing module, a heading machine electric control system, a display system, an oil cylinder stroke monitoring device, a walking device, an information transmission link and a mine information centralized control center; the positioning base station and the antenna are connected with the electric control system of the tunneling machine through the positioning sensing module, the electric control system of the tunneling machine is respectively connected with the display system, the oil cylinder stroke monitoring device and the traveling device in a control mode, the positioning base station and the antenna are connected with the mine information centralized control center through the information transmission link, and the mine information centralized control center is connected with the electric control system of the tunneling machine. The footage measurement does not depend on manual work, the footage measurement and control are accurate, and the labor intensity is reduced; the workload is quantified in real time, hysteresis and deceptiveness are eliminated, and the production standardization operation is controlled and checked conveniently; the method can realize effective position, angle and other deviation correction and accumulated error elimination, and is favorable for realizing the automatic positioning and driving functions of the heading machine.
Description
Technical Field
The invention relates to the technical field of development machines, in particular to a development machine roadway positioning and footage monitoring device and method based on data internet of things.
Background
With the rapid development of national economy, the urbanization process of China is accelerated continuously, and in a quite long period of time in future, a large number of tunnel construction and development machines for tunnel construction are needed in projects such as domestic urban subway tunnels, hydraulic tunnels, river crossing tunnels, railway tunnels, highway tunnels, municipal pipelines, mine roadways and the like.
In the prior art, the following problems exist in the excavation operation footage statistics and position determination of the development machine:
1) the development machine adopts manual measurement and regular measurement in developing the coal cutting footage of the roadway, the information is lagged, and the labor intensity of manual operation is high;
2) because the position and the footage information of the development machine cannot be obtained in real time, the production management, particularly the safety management, is lagged and extensive, and the hidden troubles of information missing report and false report exist.
Disclosure of Invention
The invention aims to provide a device and a method for positioning a heading and monitoring footage of a heading machine based on a data internet of things, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: the heading machine roadway positioning and footage monitoring device based on the data internet of things comprises a positioning base station, an antenna, a positioning sensing module, a heading machine electric control system, a display system, an oil cylinder stroke monitoring device, a walking device, an information transmission link and a mine information centralized control center; the positioning base station and the antenna are connected with the electric control system of the tunneling machine through the positioning sensing module, the electric control system of the tunneling machine is respectively connected with the display system, the oil cylinder stroke monitoring device and the traveling device in a control mode, the positioning base station and the antenna are connected with the mine information centralized control center through the information transmission link, and the mine information centralized control center is connected with the electric control system of the tunneling machine.
Preferably, the number of the positioning base stations and the antennas is at least 1, so as to avoid frequent cable movement (except for the existing 4G/5G wireless coverage area).
Preferably, the electric control system of the heading machine comprises an acquisition function module, a driving function module, a transmission function module I, a processing function module and a transmission function module II.
Preferably, the positioning base stations and the antennas are arranged in a mine roadway, one of the positioning base stations and the antennas is positioned at the head near end of the heading roadway, and the wireless coverage distance range of the positioning base station and the antenna is not less than the head position of the heading roadway and is used for monitoring the distance and the direction of the heading machine relative to the base stations; the positioning base station can be accessed to an information transmission link in a wired mode and uploads information to a mine information centralized control center; and wireless extension can be carried out through a plurality of positioning base stations and antennas, an information transmission link is accessed, and information is uploaded to a mine information centralized control center.
Preferably, the positioning sensing module is arranged at a selected position of the development machine, obtains the current position, namely the position parameter of the development machine, sends the position parameter to an electric control system of the development machine in a bus form, and displays the current position information, the single-cycle footage data, the accumulated footage data information and the like on a display system of the development machine;
preferably, the oil cylinder stroke monitoring device is used for monitoring the measurement and calculation of the position tunneling footage data of the tunneling machine with the cutting telescopic function, and the configuration requirement does not exist when the tunneling equipment does not have the function;
preferably, the electric control system and the display system of the development machine receive development machine position information and oil cylinder stroke monitoring data sent by the positioning sensing module, resolve information such as single footage data, accumulated footage data, single travel distance and accumulated position data of the development machine, and locally display and upload the information to the mine information centralized control center;
preferably, the walking device executes the function of transferring in the tunnel of the heading machine, and can execute instruction information of a heading machine control system according to set advancing or footage data to automatically complete the transferring and stopping of the set distance;
preferably, the information transmission link is an information channel for completing information intercommunication of the mine positioning base station and uploading data to the mine information center;
preferably, the mine information centralized control center receives positioning and footage data information uploaded by the heading machine, the positioning base station and the like, executes big data analysis and display, and simultaneously can issue a production instruction to guide the heading machine to automatically complete set distance movement and coal cutting footage.
Preferably, the positioning base station and the antenna in the antenna can be in an external form to improve the wireless coverage; and the positioning base station can be integrated with the positioning base station, so that engineering construction and installation are facilitated.
Compared with the prior art, the invention has the beneficial effects that:
1) the footage measurement does not depend on manual work, the footage measurement and control are accurate, and the labor intensity is reduced;
2) the workload is quantified in real time, hysteresis and deceptiveness are eliminated, and the production standardization operation is controlled and checked conveniently;
3) the method is combined with positioning and navigation technologies such as a gyroscope, a radar and the like, can realize deviation correction of effective positions, angles and the like and accumulated error elimination, and is favorable for realizing the automatic positioning and driving functions of the development machine.
Drawings
FIG. 1 is a functional block diagram of the present invention;
FIG. 2 is a block diagram of the system components of the present invention;
FIG. 3 is a structural view of a first embodiment of an example of the present invention;
FIG. 4 is a structural view of a second embodiment of an example of the present invention.
In the figure: the system comprises a positioning base station and antenna 1, a positioning sensing module 2, a heading machine electric control system 3, a display system 4, an oil cylinder stroke monitoring device 5, a walking device 6, an information transmission link 7 and a mine information centralized control center 8;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 2, the present invention provides a technical solution: the heading machine roadway positioning and footage monitoring device based on the data internet of things comprises a positioning base station and antenna 1, a positioning sensing module 2, a heading machine electric control system 3, a display system 4, an oil cylinder stroke monitoring device 5, a traveling device 6, an information transmission link 7 and a mine information centralized control center 8; the positioning base station and the antenna 1 are connected with the electric control system 3 of the development machine through the positioning sensing module 2, the electric control system 3 of the development machine is respectively connected with the display system 4, the oil cylinder stroke monitoring device 5 and the walking device 6 in a control mode, the positioning base station and the antenna 1 are connected with the mine information centralized control center 8 through the information transmission link 7, and the mine information centralized control center 8 is connected with the electric control system 3 of the development machine.
Wherein, the number of the positioning base station and the antenna 1 is at least 1; the electric control system 3 of the development machine comprises an acquisition function module 3-1, a driving function module 3-2, a transmission function module I3-3, a processing function module 3-4 and a transmission function module II 3-5; the first transmission function module 3-3 and the second transmission function module 3-5 are respectively used for butt joint of a roadway local area communication and an information transmission link 7, and can be integrated into a physical quantity module according to the actual engineering situation.
Referring to fig. 1, a monitoring method of a heading machine roadway positioning and footage monitoring device based on a data internet of things specifically comprises the following steps:
firstly, according to single-cycle movement and footage parameters of a heading machine which are manually set or automatically sensed and identified by a system (working condition sensing function modules such as surrounding rock support, gas emission and the like need to be matched), an electric control system calculates and sends a motion control command;
secondly, the traveling device 6 and the oil cylinder stroke monitoring device 5 execute motion control instructions to complete the front and back movement and rotation of the tunneling machine and the telescopic action of the oil cylinder;
thirdly, the electric control system 3 of the development machine receives the information of the oil cylinder stretching amount monitored by the positioning base station, the antenna 1 and the oil cylinder stroke monitoring device 5, checks the current position information and the target position information of the development machine, and judges the execution effect of the motion control instruction;
fourthly, uploading position data information in real time, and displaying the position of the development machine in real time;
and fifthly, circularly executing the first step to the fourth step to realize accurate positioning of the position in the tunnel of the heading machine and single-cycle footage control.
Example 1: as shown in fig. 3, the distance from the current position of the heading machine to the end of the roadway is LB + LR, where LB is the length from the heading adjacent positioning base station to the end of the roadway, and LR is the distance from the heading machine (sensing module) to the positioning base station; when the cutting part of the heading machine is positioned at the foremost end of the roadway, the total footage of the roadway is LB + LA, LA is LR + L + DeltaL, L is the length of the cutting head and the position base point of the heading machine, and DeltaL is the telescopic amount of the cutting arm.
Example 2: as shown in fig. 4, when the current automatic movement distance or footage is set to Δ LA, the heading machine advances or the cutting head extends and contracts through the traveling driving device, and the target footage distance LA + Δ LA is satisfied on the basis of the original maximum footage LA + LB of the roadway, so that (1) the heading machine advances to the target position LR + Δ LA, or (2) the heading machine advances to the target position LR + Δ LA- Δ L, where Δ L is the displacement of the cutting head extension cylinder when the target footage is reached.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (3)
1. Entry driving machine tunnel location and footage monitoring devices based on data thing allies oneself with, its characterized in that: the monitoring device comprises a positioning base station and antenna (1), a positioning sensing module (2), a tunneling machine electric control system (3), a display system (4), an oil cylinder stroke monitoring device (5), a walking device (6), an information transmission link (7) and a mine information centralized control center (8); the positioning base station and the antenna (1) are connected with an electric control system (3) of the tunneling machine through a positioning sensing module (2), the electric control system (3) of the tunneling machine is respectively in control connection with a display system (4), an oil cylinder stroke monitoring device (5) and a walking device (6), the positioning base station and the antenna (1) are connected with a mine information centralized control center (8) through an information transmission link (7), the mine information centralized control center (8) is connected with the electric control system (3) of the tunneling machine, the number of the positioning base stations and the antennas (1) is at least 1, and the electric control system (3) of the tunneling machine comprises an acquisition function module (3-1), a driving function module (3-2), a transmission function module I (3-3), a processing function module (3-4) and a transmission function module II (3-5);
the positioning base stations and the antennas (1) are arranged in a mine roadway, one of the positioning base stations and the antennas is positioned at the head-on near end of a tunneling roadway, the wireless coverage distance range of the positioning base station and the antenna is not less than the head-on position of the roadway, and the positioning base stations and the antennas are used for monitoring the distance and the direction of the tunneling machine relative to the base stations; the positioning base station can be accessed to an information transmission link (7) in a wired mode and uploads information to a mine information centralized control center (8); the wireless extension can be carried out through a plurality of positioning base stations and antennas (1), an information transmission link (7) is accessed, and information is uploaded to a mine information centralized control center (8);
the positioning sensing module (2) is arranged at a selected position of the development machine, obtains the current position, namely the position parameter of the development machine, sends the current position to the electric control system (3) of the development machine in a bus form, and displays the current position information, the single-cycle footage data and the accumulated footage data information on the display system (4) of the development machine;
the oil cylinder stroke monitoring device (5) is used for monitoring the measurement and calculation of the position tunneling footage data of the tunneling machine with the cutting telescopic function, and when the tunneling equipment does not have the function, the configuration requirement does not exist;
the heading machine electric control system (3) and the display system (4) receive heading machine position information and oil cylinder stroke monitoring data sent by the positioning sensing module (2), resolve heading machine single-pass data, accumulated-pass data, single-pass travel distance and accumulated position data information, and locally display and upload the data to the mine information centralized control center;
the traveling device (6) executes the transfer function in the tunnel of the heading machine, and can execute the instruction information of a heading machine control system according to the set advancing or footage data to automatically complete the transfer and stop of the set distance;
the information transmission link (7) is an information channel for information intercommunication and data uploading of the mine positioning base station to the mine information center;
the mine information centralized control center (8) receives positioning and footage data information uploaded by the heading machine and the positioning base station, executes big data analysis and display, and can issue a production instruction to guide the heading machine to automatically complete set distance movement and coal cutting footage.
2. The heading machine roadway positioning and footage monitoring device based on the data internet of things as claimed in claim 1, wherein: the positioning base station and the antenna in the antenna can be in an external form so as to improve the wireless coverage; and the positioning base station can be integrated with the positioning base station, so that engineering construction and installation are facilitated.
3. A method of a heading machine lane positioning and footage monitoring device based on the data internet of things of claim 1, characterized by comprising the following steps: the specific method comprises the following steps:
firstly, according to single-cycle movement and footage parameters of the development machine which are manually set or automatically sensed and identified by a system, an electric control system calculates and sends a motion control command;
secondly, the traveling device (6) and the oil cylinder stroke monitoring device (5) execute a motion control instruction to complete the front and back movement and rotation of the development machine and the telescopic action of the oil cylinder;
thirdly, an electric control system (3) of the heading machine receives the information of the oil cylinder expansion amount monitored by the positioning base station, the antenna (1) and the oil cylinder stroke monitoring device (5), checks the current position information and the target position information of the heading machine, and judges the execution effect of the motion control instruction;
fourthly, uploading position data information in real time, and displaying the position of the development machine in real time;
and fifthly, circularly executing the first step to the fourth step to realize accurate positioning of the position in the tunnel of the heading machine and single-cycle footage control.
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| CN202010705947.8A CN111810181B (en) | 2020-07-21 | 2020-07-21 | Heading machine roadway positioning and footage monitoring device and method based on data internet of things |
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| CN202010705947.8A CN111810181B (en) | 2020-07-21 | 2020-07-21 | Heading machine roadway positioning and footage monitoring device and method based on data internet of things |
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| CN111810181B true CN111810181B (en) | 2021-10-15 |
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| CN114215527B (en) * | 2021-11-08 | 2024-05-17 | 中国煤炭科工集团太原研究院有限公司 | Method for measuring drift length of tunnel excavation and drift length measuring base station |
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| CN111005730A (en) * | 2019-12-11 | 2020-04-14 | 中国矿业大学 | Tunneling machine footage measuring method |
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2020
- 2020-07-21 CN CN202010705947.8A patent/CN111810181B/en active Active
Patent Citations (7)
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| RU2405937C1 (en) * | 2009-08-03 | 2010-12-10 | Общество с ограниченной ответственностью Научно-производственное предприятие "ВНИКО" | System for monitoring position and controlling movement of mini-shield for building mini-tunnels |
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| CN104131841A (en) * | 2014-07-18 | 2014-11-05 | 天地（常州）自动化股份有限公司 | Precise positioning device for fast tunneling equipment in coal mine coal mining tunnel |
| KR101618340B1 (en) * | 2015-04-30 | 2016-05-04 | 주식회사 맥서브 | Tunnel environmental monitoring system using sensing devices for road conditions |
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Effective date of registration: 20210922 Address after: 467000 No. 21 miner Road, Henan, Pingdingshan Applicant after: PINGDINGSHAN TIANAN COAL MINING Co.,Ltd. Applicant after: WUXI HUAHAN ENERGY EQUIPMENT TECHNOLOGY Co.,Ltd. Address before: No.20 Jinhui Road, wind power park, Huishan Economic Development Zone, Wuxi City, Jiangsu Province, 214000 Applicant before: WUXI HUAHAN ENERGY EQUIPMENT TECHNOLOGY Co.,Ltd. Applicant before: PINGDINGSHAN TIANAN COAL MINING Co.,Ltd. |
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