CN112857340B - Full-intelligent method and device for positioning virtual face of drill jumbo - Google Patents
Full-intelligent method and device for positioning virtual face of drill jumbo Download PDFInfo
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Abstract
The invention discloses a method for positioning a tunnel face, which comprises the following steps: determining coordinates of a current rock drilling jumbo origin to be acquired in front of a virtual face; if the mileage of the face is known, the mileage can be directly input into the system according to the tunnel information, and the coordinate system of the face is calculated to complete the face positioning. If the mileage information of the palm surface is unknown; acquiring geodetic coordinates of the tail end of the arm support of the drill jumbo according to the information of the arm support sensor; and analyzing the face mileage according to geodetic coordinate information of the tail end of the rock drilling jumbo arm support, directly inputting the mileage into the system based on the face mileage obtained by analysis, calculating a coordinate system of the face, and completing face positioning. The method can efficiently determine the tunnel face, and improve the subsequent construction efficiency and the construction safety.
Description
Technical Field
The invention belongs to the technical field of drilling control of full-automatic drill jumbo, and particularly relates to a full-intelligent method and device for positioning a virtual face of a drill jumbo.
Background
The working face is the working face that constantly advances forward at tunnel or mine road in the in-process of excavation, and in the in-process of tunnel blasting excavation, no matter adopt multi-arm drill carriage or drill jumbo, the accurate location of working face provides more accurate data support for subsequent drilling work, provides the guarantee for construction safety simultaneously. However, the traditional determination of the tunnel face adopts equipment such as manual sketch, geological compass, photogrammetry, laser scanning and the like, and the positioning of the tunnel face obtained by the method has the problems of complicated information acquisition process, low information accuracy and the like, and is difficult to meet the actual tunnel construction requirement.
The prior art, to the detection of tunnel face, utility model publication number is CN210268541U among the prior art, the scheme of utility model discloses a tunnel face displacement monitoring's device based on machine vision, the device comprises tunnel face image acquisition unit, information transmission unit, information processing unit, alarm unit and power module, through gathering tunnel face image, convey information processing unit end via information transmission unit, three-dimensional reconstruction obtains the three-dimensional model of face, calculate the relative displacement of face after comparing with face initial model. If the displacement exceeds a set threshold value, triggering an alarm unit to give an alarm; and if the displacement is not out of limit, continuously acquiring the image for monitoring. The deformation monitoring of the tunnel face is carried out by a machine vision method, and compared with the existing deformation monitoring technology, namely laser ranging and a sensor, the device has stronger operability, is practical and simple, and can well realize the deformation monitoring of the tunnel face so as to better control the construction safety. However, for this technical solution, its detection device needs specific position, and detection device is independent, needs specific installation position for rock drilling construction is inconvenient, and the sensor such as laser rangefinder, image acquisition that its uses simultaneously has the inaccurate problem of test in narrow and small construction area.
In addition, in the prior art, a virtual face is obtained for the drill jumbo, and usually, mutual conversion information of a current drill jumbo coordinate system and a face coordinate system is obtained before the full-automatic drill jumbo performs drilling operation, so that the virtual face is generated in the system, and the drilling operation is performed after the virtual face is positioned.
The invention provides a full-intelligent method and a device for positioning a virtual face of a rock drilling jumbo, aiming at the technical problems existing in the prior art or not found, wherein the method for positioning the face can accurately determine the position of the face in the tunnel rock drilling process and provide a calculation basis for rock drilling operation.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a full-intelligent method and a device for positioning the virtual face of a drill jumbo, the method can accurately measure the positioning of the face, provide data support for accurately finding out blast holes in the subsequent drilling process, and can be used for construction more efficiently and safely.
The invention relates to a method for accurately acquiring information of a tunnel face, in particular to a method for accurately acquiring information of the tunnel face, which comprises the steps of determining a geodetic coordinate system of an original point of a vehicle body, determining a geodetic coordinate system of the tail end of an arm support when the arm support of the vehicle body extends to the tunnel face, determining mileage information of the tunnel face, and calculating the coordinate system of the tunnel face according to the information.
Aiming at the full-automatic drilling jumbo, the system can acquire the virtual face before the full-automatic drilling jumbo drills, and drills after the virtual face is positioned, so that the working efficiency and safety of drilling are improved.
Furthermore, the invention acquires the coordinates of the origin of the current drill jumbo before determining the virtual face;
when a coordinate system of a face is located and detected, the coordinate system of the rock drilling trolley is easily obtained according to tunnel information and mileage information, but the length of a drill boom of the rock drilling trolley is long, so that when the coordinate system of the rock drilling trolley is used for calculating the coordinate of the face, a large error exists, and based on the large error, input factors of the coordinate information are further adjusted.
Furthermore, the invention needs to obtain the geodetic coordinates of the tail end of the arm support when the drilling arm of the drill jumbo extends to the working face before determining the virtual working face.
Furthermore, the geodetic coordinates of the tail end of the arm support when the drilling arm of the drill jumbo extends to the tunnel face are obtained by conversion according to the coordinates of the original point of the drill jumbo, the geodetic coordinates include information such as the angle and the length of the arm support of the drill jumbo obtained by a sensor, and the geodetic coordinates of the tail end of the arm support are calculated.
More specifically, the method synthesizes the current drill jumbo coordinate system information of the drill jumbo and the mutual conversion calculation of the geodetic coordinates of the tail end of the arm support when the drill jumbo drilling arm extends to the working face to obtain a virtual working face coordinate system.
Furthermore, the invention comprises two methods for obtaining a working face coordinate system, wherein one method is that the mileage information of the working face is known, and the system combines the current coordinate system of the drill jumbo and the geodetic coordinate system of the tail end of the arm support when the drill arm of the drill jumbo extends to the working face to obtain a virtual working face coordinate system.
Or the mileage information of the palm surface is unknown;
then, the drill jumbo obtains a coordinate system of the original point of the drill jumbo according to the tunnel information and the ground positioning information;
further, the angle and/or length change of each joint of the arm support is obtained, and a geodetic coordinate system of the tail end of the arm support is analyzed;
the geodetic coordinate system of the tail end of the arm support is obtained by combining angle and/or length information of each joint of the arm support according to the origin coordinate system of the drill jumbo;
the obtained geodetic coordinate system of the tail end of the arm support comprises three-dimensional coordinates, namely an east-west coordinate X, a north-south coordinate Y and a height coordinate Z, which are marked as (X, Y and Z), and the point is marked as a point P.
Determining each pile point of the tunnel according to the tunnel design information, and marking the ground of the pile point as (X)n，Yn，Zn) Meanwhile, according to the information of the tunnel, the mileage of each pile point in the tunnel can be determined.
Calculating the position relation between the tail end of the arm support and each pile point according to the relation between the geodetic coordinate system of the tail end of the arm support and the geodetic coordinate system of each pile point;
furthermore, the distance between the geodetic coordinate system of the tail end of the arm support and each pile point is obtained by calculating according to the following formula:
L=((Xn-X)2+(Yn-Y)2+(Zn-Z)2)1\2；
screening out the distance between the tail end of the arm support and the nearest pile point according to the distance between the arm support and each pile point, wherein the nearest pile point is marked as N, and the calculation formula of the distance is as follows:
Lmin=((Xn-X)2+(Yn-Y)2+(Zn-Z)2)1\2；
when L isminWhen the absolute value of the distance between the two adjacent pile points is less than the absolute precision range, the nearest pile point can be determined to be near the tunnel face, and the coordinate system of the tunnel face can be calculated according to the nearest pile point N;
furthermore, a conversion function exists according to the mileage information and the coordinate information, and a coordinate system of the tunnel face is determined through the conversion function;
specifically, the mileage and coordinate conversion function of the straight tunnel, the mileage and coordinate conversion function of the first section of the relaxation curve, the mileage and coordinate conversion function of the circular curve, the mileage and coordinate conversion function of the second section of the relaxation curve, and the mileage information of the stake point N, wherein the mileage of the stake point N is marked as LIC.
Specifically, the conversion function between the mileage information and the coordinate system of the tunnel face is recorded as:
LIC=f（x,y,z）
therefore, a working face coordinate system can be obtained through the mileage information, the rock drilling jumbo arm support end coordinate system information and the closest pile point coordinate information of the rock drilling jumbo arm support, and the positioning of the working face is obtained.
However, due to the problem of the arrangement density of the pile points, the face is not necessarily near the pile points, and therefore, the calculated face is not accurate;
in order to improve the accuracy of positioning the tunnel face, the coordinate information of the tunnel face at the tail end of the rock drilling jumbo boom is determined according to the position relation between the coordinate system of the pile point coordinate information and the coordinate system of the rock drilling jumbo boom.
Based on the determined nearest pile point N, the relative position information of the tail end of the arm support of the drill jumbo and each pile point can be further determined according to the pile point mileage information from N-1 to N +1, and a tunnel face coordinate system is further determined.
The distance from the tail end of the arm support of the rock drilling jumbo to the pile point N-1 is L1The mileage distance of the pile point N-1 is LIC1Wherein the coordinate system of the pile point N-1 is (X)1，Y1，Z1）；
Further, the distance from the tail end of the rock drilling jumbo arm frame to N +1 is L2The mileage distance of the pile point N +1 is LIC2Wherein the coordinate system of the pile point N-1 is (X)2，Y2，Z2）；
Further, the intermediate mileage of the stake points N-1 and N +1 is calculated, and the point is marked as PmidThe calculation method is as follows:
calculating (LIC)1+LIC2) (2 mileage) as PmidThe mileage at this point is recorded as LICmidAnd through the tunnel information, the coordinate of the point can be known as (X)mid，Ymid，Zmid) And calculating the PmidThe distance from the point P to the tail end of the arm support of the drill jumbo is counted;
Lmid=((Xmid-X)2+(Ymid-Y)2+(Zmid-Z)2)1\2
when L ismidWhen the absolute value of the pile point N-1 and the pile point N +1 is smaller than the absolute precision range, the middle mileage point of the pile point N-1 and the pile point N +1 can be determined to be positioned near the palm surface, and the coordinate system of the palm surface can be calculated according to the middle mileage point of the pile point N-1 and the pile point N + 1;
namely LICmid=f（x,y,z）
Or, the calculation is performed as follows:
and calculating the distance between the pile point and the tail end P point of the arm support of the drill jumbo according to the distance between the tail end of the arm support of the drill jumbo and the pile points N-1 and N-2.
Step S1, calculating the distances between the two ends of the current mileage range and the tail end of the drill jumbo arm support, namely L1 、L2
Then, L1 =((X1-X)2+(Y1-Y)2+(Z1-Z)2)1\2;
L2 =((X2-X)2+(Y2-Y)2+(Z2-Z)2)1\2;
Step S2, take L1And L2The pile point coordinate information of the minimum distance;
Lmin=MIN(L1 ,L2);
can obtain LminMinimum coordinate system, denoted as (X)min，Ymin，Zmin）
Step S3, calculate (LIC)1+LIC2) (2 mileage) as PmidThe mileage at this point is recorded as LICmidAnd through the tunnel information, the coordinate of the point can be known as (X)mid，Ymid，Zmid) And calculating the PmidDistance from point to P point at tail end of rock drilling jumbo arm support
Lmid=((Xmid-X)2+(Ymid-Y)2+(Zmid-Z)2)1\2
Further, willL obtained in step 2minMileage and LmidIs taken as a new mileage range L1 、L2
Step S4, when | LIC1-LIC2When | is less than the required precision, the current PmidThe mileage of (2) is the mileage of point P1, that is, the mileage of the palm surface, and the coordinates of the palm surface can be converted according to the following formula;
LICmid=f（x,y,z）
further, when | LIC1-LIC2If the L is not in the preset precision, the L obtained in the step 2 is usedminMileage and LmidIs taken as a new mileage range L1 、L2 ，The calculation manner of steps S2-S3 is repeated so that | LIC1-LIC2If | is less than the set precision, step PmidThe mileage of point P1, that is, the mileage of the working face, can be converted into the coordinates of the working face according to the following formula;
LICmid=f（x,y,z）
furthermore, the invention also provides an intelligent rock drilling trolley with a virtual tunnel face for positioning, which is characterized in that the rock drilling trolley is provided with a total station and/or a scanner;
the total station and/or the scanner are used for positioning the trolley in a tunnel coordinate system;
each joint of an arm support of the drill jumbo is provided with an encoder and a flow meter sensor;
the encoder and the flowmeter sensor can analyze geodetic coordinates of the tail end of the arm support;
the rock drilling jumbo can position the virtual face by the method.
The technical scheme adopted by the invention is that in the drilling and excavating process of the full-intelligent drill jumbo, the drill jumbo can obtain the geodetic coordinates of the drill jumbo at first, the state of an arm support is obtained according to an arm support sensor of the drill jumbo, a coordinate system of the tail end of the arm support of the drill jumbo is obtained according to an original coordinate system of the drill jumbo, and the positioning of a virtual tunnel face in a tunnel can be calculated according to the relative positions of the coordinate system of the tail end of the drill jumbo and a pile point in the tunnel. The intelligent drill jumbo provided by the invention can accurately position the face coordinates, and has high positioning speed and safe construction.
Drawings
FIG. 1 is a flow chart of the inventive method concept;
FIG. 2 is a schematic diagram of the method of locating a drill face of the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1:
a method for positioning a face, as shown in FIG. 1, the overall process of the invention comprises the steps of 1, determining coordinates of a current drill jumbo origin to be acquired in front of a virtual face;
if the mileage of the face is known, the mileage can be directly input into the system according to the tunnel information, and the coordinate system of the face is calculated to complete the face positioning.
If the mileage information of the palm surface is unknown;
acquiring geodetic coordinates of the tail end of the arm support of the drill jumbo according to the information of the arm support sensor;
analyzing the face mileage according to geodetic coordinate information of the tail end of the arm support of the drill jumbo
And (4) directly inputting the mileage into the system based on the mileage of the working face obtained by analysis, and calculating a coordinate system of the working face to finish the positioning of the working face.
As shown in fig. 2, the tail end of the boom of the drill jumbo is a point P, a plurality of pile points are arranged in the axial direction of the tunnel, and a coordinate system P of the tunnel face can be determined according to the coordinates of the pile points and the coordinate system of the tail end point of the boom1And further the positioning of the palm surface is completed.
Example 2:
a positioning method of a palm surface, the mileage information of the palm surface is unknown;
the drill jumbo obtains a coordinate system of an original point of the drill jumbo according to the tunnel information and the land positioning information;
acquiring the angle and/or length change of each joint of the arm support, and analyzing a geodetic coordinate system of the tail end of the arm support;
the method comprises the following steps that a geodetic coordinate system of the tail end of the arm support is obtained by converting according to an original point coordinate system of the drill jumbo and angle and/or length information of each joint of the arm support;
the obtained geodetic coordinate system of the tail end of the arm support comprises three-dimensional coordinates, namely an east-west coordinate X, a north-south coordinate Y and a height coordinate Z, which are marked as (X, Y and Z), and the point is marked as a point P.
According to the tunnel design information, each pile point of the tunnel is determined, and the ground sitting marks (Xn, Yn, Zn) of the pile points are determined, and according to the tunnel information, each pile point mile leaf in the tunnel can be determined.
Calculating the position relation between the tail end of the boom and each pile point according to the relation between the geodetic coordinate system of the tail end of the boom and the geodetic coordinate system of each pile point;
the distance between the geodetic coordinate system of the tail end of the arm support and each pile point is obtained by calculating according to the following formula:
L=((Xn-X)2+(Yn-Y)2+(Zn-Z)2)1\2；
screening out the distance between the tail end of the arm support and the nearest pile point according to the distance between the arm support and each pile point, wherein the nearest pile point is marked as N, and the calculation formula of the distance is as follows:
Lmin=((Xn-X)2+(Yn-Y)2+(Zn-Z)2)1\2；
when L isminWhen the absolute value of the distance between the two adjacent pile points is less than the absolute precision range, the nearest pile point can be determined to be near the tunnel face, and the coordinate system of the tunnel face can be calculated according to the nearest pile point N;
determining a coordinate system of the tunnel face through a conversion function according to the conversion function existing between the mileage information and the coordinate information;
the mileage and coordinate transformation function of the straight tunnel, the mileage and coordinate transformation function of the first section of the easement curve, the mileage and coordinate transformation function of the circular curve, the mileage and coordinate transformation function of the second section of the easement curve, and the mileage information of the stake point N, wherein the mileage of the stake point N is marked as LIC.
Specifically, the conversion function between the mileage information and the coordinate system of the tunnel face is recorded as:
LIC=f（x,y,z）
the coordinate system of the working face can be obtained through the mileage information, the information of the coordinate system of the tail end of the arm support of the drill jumbo and the coordinate information of the nearest pile point of the arm support of the drill jumbo, and the positioning of the working face is obtained.
Example 3:
a positioning method of a palm surface, the mileage information of the palm surface is unknown; according to the scheme, the relative position information of the tail end of the arm support of the drill jumbo and each pile point can be further determined according to the mileage information of the pile points from N-1 to N +1, and a working face coordinate system is further determined.
The distance from the tail end of the arm support of the rock drilling jumbo to the pile point is N-1 mile LIC1Wherein the coordinate system of the pile point N-1 is (X)1，Y1，Z1）；
The mileage distance from the tail end of the arm support of the drill jumbo to the N +1 pile point is LIC2Wherein the coordinate system of the pile point N-1 is (X)2，Y2，Z2）；
Calculating the intermediate mileage between pile point N-1 and pile point N +1, and recording the intermediate mileage as PmidThe calculation method is as follows:
calculating (LIC)1+LIC2) (2 mileage) as PmidThe mileage at this point is recorded as LICmidAnd through the tunnel information, the coordinate of the point can be known as (X)mid，Ymid，Zmid) And calculating the PmidThe distance from the point to the point P at the tail end of the rock drilling jumbo arm support;
Lmid=((Xmid-X)2+(Ymid-Y)2+(Zmid-Z)2)1\2
when L ismidWhen the absolute value of the pile point N-1 and the pile point N +1 is smaller than the absolute precision range, determining that the intermediate mileage point of the pile point N-1 and the pile point N +1 is positioned near the working face, and calculating a coordinate system of the working face according to the intermediate mileage point of the pile point N-1 and the pile point N + 1;
namely LICmid=f（x,y,z）
Example 4
A positioning method of a palm surface, the mileage information of the palm surface is unknown; in the scheme, the face coordinate is not at the middle point of the pile measuring point, and the calculation is carried out according to the following mode:
the distance from the tail end of the arm support of the rock drilling jumbo to the pile point is N-1 mile LIC1Wherein the coordinate system of the pile point N-1 is (X)1，Y1，Z1）；
The mileage distance from the tail end of the arm support of the drill jumbo to the N +1 pile point is LIC2Wherein the coordinate system of the pile point N-1 is (X)2，Y2，Z2）；
Calculating the intermediate mileage between pile point N-1 and pile point N +1, and recording the intermediate mileage as PmidThe calculation method is as follows:
and calculating the distance between the pile point and the tail end P point of the arm support of the drill jumbo according to the distance between the tail end of the arm support of the drill jumbo and the pile points N-1 and N-2.
Then, L1 =((X1-X)2+(Y1-Y)2+(Z1-Z)2)1\2;
L2 =((X2-X)2+(Y2-Y)2+(Z2-Z)2)1\2;
Step 2, taking the minimum distance between L1 and L2;
Lmin=MIN(L1 ,L2);
from the tunnel information, L can be obtainedminCoordinate system (X)min，Ymin，Zmin）
Step 3, calculate (LIC)1+LIC2) (2 mileage) as PmidThe mileage at this point is recorded as LICmidAnd through the tunnel information, the coordinate of the point can be known as (X)mid，Ymid，Zmid) And calculating the PmidDistance from point to point P at tail end of arm support of drill jumbo
Lmid=((Xmid-X)2+(Ymid-Y)2+(Zmid-Z)2)1\2
Step 4, when | LIC1-LIC2If | is less than the required precision, PmidThe mileage of (2) is the mileage of point P1, that is, the mileage of the palm surface, and the coordinates of the palm surface can be converted according to the following formula;
LICmid=f（x,y,z）
example 5
A positioning method of a palm surface, the mileage information of the palm surface is unknown; in the scheme, the face coordinate is not at the middle point of the pile measuring point, and the calculation is carried out according to the following mode:
and calculating the distance between the pile point and the tail end P point of the arm support of the drill jumbo according to the distance between the tail end of the arm support of the drill jumbo and the pile points N-1 and N-2.
Then, L1 =((X1-X)2+(Y1-Y)2+(Z1-Z)2)1\2;
L2 =((X2-X)2+(Y2-Y)2+(Z2-Z)2)1\2;
Step 2, taking the minimum distance between L1 and L2;
Lmin=MIN(L1 ,L2);
from the tunnel information, L can be obtainedminCoordinate system (X)min，Ymin，Zmin）
Step 3, calculate (LIC)1+LIC2) (2 mileage) as PmidThe mileage at this point is recorded as LICmidAnd through the tunnel information, the coordinate of the point can be known as (X)mid，Ymid，Zmid) And calculating the PmidDistance from point to point P at tail end of arm support of drill jumbo
Lmid=((Xmid-X)2+(Ymid-Y)2+(Zmid-Z)2)1\2
Step 4, when | LIC1-LIC2If the L is not in the preset precision, the L obtained in the step 2 is usedminMileage and LmidIs taken as a new mileage range L1 、L2 ，The calculation of steps 2-3 is repeated so that | LIC1-LIC2If | is less than the set precision, step PmidThe mileage of point P1, that is, the mileage of the face, can be converted into the coordinates of the face according to the following formula, that is, the mileage of the face, and the coordinates of the face according to the following formula;
LICmid=f（x,y,z）。
example 6
An intelligent rock drilling trolley with a virtual face positioning function is provided, wherein the rock drilling trolley is provided with a total station and/or a scanner; the total station and/or the scanner are used for positioning the trolley in the tunnel coordinate system; each joint of an arm support of the drill jumbo is provided with a coder and a flowmeter sensor; the encoder and the flow meter sensor can analyze geodetic coordinates of the tail end of the arm support; the rock drilling rig can locate the virtual face by the method described above.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The present invention has been described in detail, and the principles and embodiments of the present invention have been described herein using specific examples, which are provided only to assist in understanding the present invention and the core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (3)
1. A method for positioning a tunnel face is characterized by comprising the following steps:
step 1, determining coordinates of a current rock drilling jumbo origin to be acquired in front of a virtual face;
step 2, acquiring geodetic coordinates of the tail end of the arm support of the drill jumbo according to the information of the arm support sensor;
step 3, analyzing the face mileage information according to geodetic coordinate information of the tail end of the rock drilling jumbo arm support;
step 4, directly inputting the mileage into the system based on the mileage of the working face obtained by analysis, calculating a coordinate system of the working face and finishing the positioning of the working face;
step 3 comprises calculating the distance between the terminal coordinate system of the arm support and two pile points, and calculating the mileage of the palm surface based on the two pile points;
the specific calculation method is as follows:
the distance from the tail end of the arm support of the drill jumbo to the pile point N-1 is L1The mileage distance of the pile point N-1 is LIC1Wherein the coordinate system of the pile point N-1 is (X)1，Y1，Z1)；
The distance from the tail end of the arm support of the drill jumbo to the N +1 pile point is L2Pile point N +1 mileage distance is LIC2Wherein the coordinate system of the pile point N-1 is (X)2，Y2，Z2)；
Step S1, calculating the two ends of the current mileage rangeDistance from the end of the boom of the drill jumbo, i.e. L1、L2
Then the process of the first step is carried out,
L1＝((X1-X)2+(Y1-Y)2+(Z1-Z)2)1\2；
L2＝((X2-X)2+(Y2-Y)2+(Z2-Z)2)1\2；
step S2, get L1And L2The pile point coordinate information of the minimum distance;
Lmin＝MIN(L1,L2)；
can obtain LminMinimum coordinate system, denoted as (X)min，Ymin，Zmin)
Step S3, calculate (LIC)1+LIC2) (2 mileage) as PmidThe mileage at this point is recorded as LICmidAnd calculating the coordinate of the point as (X) through the tunnel informationmid，Ymid，Zmid) And calculating the PmidThe distance from the point to the point P at the tail end of the rock drilling jumbo arm support;
Lmid＝((Xmid-X)2+(Ymid-Y)2+(Zmid-Z)2)1\2
step S4, when | LIC1-LIC2When | is less than the required precision, the current PmidThe mileage of (A) is the mileage of point P1, namely the mileage of the palm surface;
converting the coordinates of the tunnel face according to the following formula;
LICmid＝f(x,y,z)；
or, step S4, when | LIC1-LIC2If L is not at the preset accuracy, the peg point information determined in step S2 is selected, and L obtained in step S2 is addedminMileage and LmidIs taken as a new mileage range L1、L2Repeating the calculation of step S2-step S3 so that | LIC1-LIC2If | is less than the required precision, step PmidMileage of P1 points；
According to P1The mileage of (2), that is, the mileage of the face,
converting the coordinates of the tunnel face according to the following formula;
LICmid＝f(x,y,z)。
2. the method for positioning a working face as claimed in claim 1, wherein the concrete operation of step 2 is obtained by conversion according to an origin coordinate system of the drill jumbo and angle and/or length information of each joint of the boom when the operation is a geodetic coordinate system of the tail end of the boom.
3. An intelligent drill jumbo, characterized in that the face positioning is carried out using the method according to any one of claims 1-2, the drill jumbo having a total station and/or a scanner; and encoders and flow meter sensors are arranged on all joints of the arm support of the drill jumbo.
Priority Applications (1)
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