CN112983452A - Tunneling process and cooperative positioning control method for complete equipment for comprehensive tunneling of roadway - Google Patents
Tunneling process and cooperative positioning control method for complete equipment for comprehensive tunneling of roadway Download PDFInfo
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- CN112983452A CN112983452A CN202110239553.2A CN202110239553A CN112983452A CN 112983452 A CN112983452 A CN 112983452A CN 202110239553 A CN202110239553 A CN 202110239553A CN 112983452 A CN112983452 A CN 112983452A
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- 230000005641 tunneling Effects 0.000 title claims abstract description 134
- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000004891 communication Methods 0.000 claims abstract description 76
- 239000000835 fiber Substances 0.000 claims abstract description 66
- 238000012546 transfer Methods 0.000 claims description 53
- 239000000463 material Substances 0.000 claims description 20
- 238000005452 bending Methods 0.000 claims description 19
- 238000005553 drilling Methods 0.000 claims description 16
- 238000011161 development Methods 0.000 claims description 12
- 230000036544 posture Effects 0.000 claims description 9
- 239000011435 rock Substances 0.000 claims description 5
- 230000007723 transport mechanism Effects 0.000 claims description 2
- 238000009412 basement excavation Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 230000003028 elevating effect Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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 DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D20/00—Setting anchoring-bolts
- E21D20/003—Machines for drilling anchor holes and setting anchor bolts
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
- E21D9/12—Devices for removing or hauling away excavated material or spoil; Working or loading platforms
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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
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- E—FIXED CONSTRUCTIONS
- E21—EARTH 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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a tunneling process and a cooperative positioning control method for comprehensive tunneling complete equipment of a roadway, wherein the process is an equipment arrangement process based on a tunneling system of the comprehensive tunneling complete equipment, the tunneling system of the comprehensive tunneling complete equipment of the roadway comprises the comprehensive tunneling complete equipment, a cooperative positioning control system, a distributed wireless communication transceiver, an inertial positioning navigation system, a laser ranging positioning system and a tandem type fiber bragg grating three-dimensional curvature sensing system, the control method is based on the process, can be universally applied to the existing tunneling working condition, realizes the close matching of the comprehensive tunneling complete equipment by using the reasonable equipment arrangement process, realizes the cooperative control of parallel operation among a plurality of tunneling working procedures such as tunneling, supporting, transportation and the like based on an autonomous positioning method and a relative positioning method, and improves the comprehensive tunneling efficiency and automation of the roadway, And (4) the intelligent level.
Description
Technical Field
The invention relates to the technical field of equipment arrangement technology and automation control of a roadway driving working face, in particular to a tunneling technology and a cooperative positioning control method of comprehensive tunneling complete equipment of a roadway.
Background
For many years, the tunnel excavation has the problems of low speed, low excavation efficiency, disordered comprehensive mechanical excavation equipment matching, incapability of parallel operation of complete equipment, low equipment intelligent control level and the like, and the problems to be solved urgently are solved.
Therefore, at present, a tunneling process and a cooperative positioning control method for comprehensive tunneling complete equipment of a roadway are needed to be designed to realize cooperative control and parallel operation of tunneling, supporting and transporting of tunneling equipment of the roadway, and the comprehensive tunneling complete equipment is generally suitable for various roadway constructions to quickly improve the tunneling efficiency and the automation and intelligence levels of the roadway.
Disclosure of Invention
Aiming at the technical defects, the invention aims to provide a complete equipment tunneling process for comprehensive tunneling of a roadway and a cooperative positioning control method.
In order to solve the technical problems, the invention adopts the following technical scheme:
the invention provides a tunneling process of comprehensive tunneling complete equipment, which is an equipment arrangement process based on a tunneling system of the comprehensive tunneling complete equipment, and comprises the comprehensive tunneling complete equipment, a cooperative positioning control system, a distributed wireless communication transceiver, an inertial positioning navigation system, a laser ranging positioning system and a serial fiber bragg grating three-dimensional curvature sensing system, wherein the comprehensive tunneling complete equipment comprises a cantilever type tunneling machine arranged on the section of a tunneling head, a self-moving step type temporary supporting device is arranged above the cantilever type tunneling machine, a crawler self-moving type transfer machine is arranged behind a conveying mechanism of the cantilever type tunneling machine, a straddle type automatic anchor rod drilling machine is arranged on the crawler self-moving type transfer machine, a self-moving type flexible continuous conveyer is connected behind the crawler self-moving type transfer machine, the crawler self-moving type reversed loader body and the self-moving type flexible continuous conveyor body are provided with a serial fiber bragg grating three-dimensional curvature sensing system, the cooperative positioning control system is arranged in a chamber of a roadway side wall and is responsible for unified receiving, calculation and control information issuing of pose information of comprehensive tunneling complete equipment, and the crawler self-moving type reversed loader, the straddle type automatic anchor rod drilling machine and the self-moving type flexible continuous conveyor are respectively provided with a distributed wireless communication transceiver to realize communication of the pose information of each device and the cooperative positioning control system.
Preferably, the cantilever type excavator is used for realizing rock breaking and excavation of a roadway section, the self-moving stepping type temporary supporting device is used for temporarily supporting the roadway and preventing empty roof operation, the track self-moving type transfer conveyor is used for transporting rock materials and connecting complete equipment, the riding type automatic anchor rod drilling machine is used for realizing permanent support of a roadway anchor rod, and the self-moving type flexible continuous conveyor is used for transporting flexible following materials.
Preferably, the distributed wireless communication transceiver device comprises a control center wireless communication transceiver device, a heading machine wireless communication transceiver device, a reversed loader wireless communication transceiver device and a transporter wireless communication transceiver device, the control center wireless communication transceiver device is arranged in a cooperative positioning control system of the tunnel comprehensive heading complete equipment and is responsible for carrying out information communication and control instruction issuing on each distributed wireless communication transceiver device, the heading machine wireless communication transceiver device is arranged on a cantilever type heading machine body and is responsible for sending positioning information of the cantilever type heading machine and a temporary support device acquired by an inertial positioning navigation system and a laser ranging positioning system to the control center wireless communication transceiver device and receiving a movement control instruction, and the reversed loader wireless communication transceiver device is arranged on a track self-moving reversed loader body and is responsible for positioning information of the reversed loader and positioning instructions of an automatic anchor rod drilling machine acquired by a reversed loader serial fiber grating three-dimensional curvature sensing system The information is sent to the control center wireless communication transceiver and the motion control instruction is collected, and the conveyor wireless communication transceiver is arranged on the self-moving flexible continuous conveyor body and is responsible for sending the positioning information of the self-moving flexible continuous conveyor obtained by the conveyor serial fiber grating three-dimensional curvature sensing system to the control center wireless communication transceiver and collecting the motion control instruction.
Preferably, the inertial positioning navigation system and the laser ranging positioning system are used for measuring the pose of the heading machine body in real time.
Preferably, a series fiber grating three-dimensional curvature sensing system is arranged on one side of the crawler self-moving type transfer conveyor body to sense the bending postures of the joints of the transfer conveyor along the horizontal direction and the numerical direction and the relative position of the straddle type automatic jumbolter on the transfer conveyor, and a series fiber grating three-dimensional curvature sensing system is arranged on one side of the self-moving type flexible continuous conveyor body to sense the bending postures of the flexible continuous conveyor along the horizontal direction and the vertical direction.
Preferably, the series fiber grating three-dimensional curvature sensing system is formed by connecting a plurality of sections of fiber grating three-dimensional curvature sensors in series, and the plurality of sections of fiber grating three-dimensional curvature sensing systems are connected end to form the series fiber grating three-dimensional curvature sensing system.
Preferably, each section of the fiber grating three-dimensional curvature sensor comprises a first flexible substrate, a second flexible substrate, a first fiber grating string, a second fiber grating string, a male joint, a female joint and an orthogonal slotted flexible rubber tube.
Preferably, the first fiber grating string and the second fiber grating string are orthogonally arranged in the orthogonal slotted flexible rubber tube, so that bending attitude information of each section of the serial fiber grating three-dimensional curvature sensing system can be obtained, and further pose information of the reversed loader and the transporter can be estimated.
The invention also provides a cooperative positioning control method based on the process, which specifically comprises the following steps:
(1) the comprehensive tunneling complete equipment for the tunnel is arranged along the tunnel according to the arrangement mode of claim 1;
(2) starting a cooperative positioning control system, an inertial positioning navigation system, a laser ranging positioning system and a serial fiber grating three-dimensional curvature sensing system, and completing initial alignment and calibration;
(3) starting a cantilever type tunneling machine to perform head-on section tunneling, measuring the position and posture of a tunneling machine body in real time by an inertial positioning navigation system and a laser ranging and positioning system, and sending the position and posture of the tunneling machine body and the distance of the tunneling machine relative to a roadway head-on part, a roadway side part and a self-moving walking type temporary supporting device to a cooperative positioning control system in real time by a wireless communication transceiver of the tunneling machine;
(4) synchronously operating with the step (3), starting the self-moving stepping type temporary supporting device to perform temporary supporting above the tunneling machine, and preventing the tunneling machine from operating on the empty top;
(5) operating synchronously with the step (3), starting the crawler self-moving transfer conveyor, continuously transferring the materials cut by the development machine to the rear of the roadway, and acquiring the bending poses of the crawler self-moving transfer conveyor along the horizontal direction and the vertical direction in real time by a series fiber bragg grating three-dimensional curvature sensing system arranged on the body of the crawler self-moving transfer conveyor, and sending the bending poses to a cooperative positioning control system through a transfer conveyor wireless communication transceiver;
(6) operating synchronously with the step (3), starting a straddle type automatic jumbolter, automatically bolting a top plate and a side wall of a newly excavated tunnel by the straddle type automatic jumbolter, permanently supporting the tunnel, straddling over a crawler self-moving transfer machine by the straddle type automatic jumbolter, after one row of bolting operation is completed, moving the straddle type automatic jumbolter along the crawler self-moving transfer machine to the head-on direction of the tunnel for a certain distance, fixing, then performing next row of bolting operation, sensing the relative position of the automatic jumbolter on the crawler self-moving transfer machine by a tandem type fiber bragg grating three-dimensional curvature sensing system arranged on the crawler self-moving transfer machine, and sending the relative position to a cooperative positioning control system by a transfer machine wireless communication transceiver;
(7) operating synchronously with the step (3), starting the flexible continuous conveyer, continuously conveying the materials transported by the crawler self-moving transfer conveyor to the rear of the roadway, and acquiring the bending poses of the flexible continuous conveyer along the horizontal direction and the vertical direction in real time by a serial fiber bragg grating three-dimensional curvature sensing system installed on the flexible continuous conveyer, and sending the bending poses to a cooperative positioning control system through a conveyer wireless communication transceiver;
(8) and (4) synchronously operating with the step (3), receiving the pose information of the wireless communication transceiver of the development machine, the wireless communication transceiver of the reversed loader and the wireless communication transceiver of the transporter in real time by the cooperative positioning control system, uniformly calculating and judging the relative pose of the complete equipment, and issuing an operation control instruction of each equipment.
The invention has the beneficial effects that: the process and the method can be generally suitable for the existing roadway tunneling working condition, the close matching of comprehensive tunneling complete equipment is realized by a reasonable equipment arrangement process, the parallel operation cooperative control among a plurality of tunneling procedures such as tunneling, supporting and transporting is realized based on an autonomous positioning method and a relative positioning method, and the comprehensive tunneling efficiency and the automation and intelligentization level of the roadway are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a layout diagram of a comprehensive tunneling complete equipment for a tunneling working face according to the invention.
Fig. 2 is a network diagram of a distributed wireless communication transceiver.
FIG. 3 is a schematic diagram of a tandem fiber grating three-dimensional curvature sensing system.
Fig. 4 is a layout diagram of the tandem fiber grating three-dimensional curvature sensing system in a reversed loader and a transporter.
Fig. 5 is a flow chart of the co-location control system.
In the figure: 1. a roadway driving head-on section, 2, a cantilever type tunneling machine, 2-1, an inertial positioning navigation system, 2-2, a laser ranging positioning system, 2-3, a tunneling machine wireless communication transceiver, 3, a self-moving stepping type temporary support device, 4, a riding type automatic jumbolter, 5, a crawler self-moving type transfer machine, 5-1, a transfer machine wireless communication transceiver, 5-2, a transfer machine serial type fiber bragg grating three-dimensional curvature sensing system, 5-2-1, a male joint, 5-2-2, a flexible base material I, 5-2-3, a flexible base material II, 5-2-4, a fiber bragg grating string I, 5-2-5, a fiber bragg grating string II, 5-2-6, a female joint, 5-2-7 and an orthogonal flexible slotted rubber pipe, 6. the system comprises a self-moving flexible continuous conveyor, 6-1, a conveyor wireless communication transceiver, 6-2, a conveyor tandem type fiber bragg grating three-dimensional curvature sensing system, 7, a roadway fully-mechanized excavation complete equipment cooperative pose control system, 7-1, a control center wireless communication transceiver, 8 and a formed roadway.
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.
As shown in figure 1, the process is an equipment arrangement process based on a comprehensive tunneling complete equipment tunneling system, the comprehensive tunneling complete equipment tunneling system comprises a comprehensive tunneling complete equipment, a cooperative positioning control system, a distributed wireless communication transceiver, an inertial positioning navigation system, a laser ranging positioning system and a serial fiber grating three-dimensional curvature sensing system, the comprehensive tunneling complete equipment comprises a cantilever type tunneling machine 2 arranged on a tunneling head section 1 to realize rock breaking and tunneling of the tunneling section, a self-moving step type temporary supporting device 3 is arranged above the cantilever type tunneling machine 2 to take charge of temporary supporting of the tunnel to prevent empty top operation, a crawler type self-moving transfer machine 5 is arranged behind a transport mechanism of the cantilever type tunneling machine 2 to take charge of transport of rock materials and connection of the complete equipment, a riding type automatic anchor rod drilling machine 4 is arranged on the crawler self-moving transfer conveyor 5 to realize permanent anchor rod support of the roadway, and a self-moving type flexible continuous conveyor 6 is connected and arranged behind the crawler self-moving transfer conveyor 5 and is used for flexible following material transportation;
the comprehensive tunneling complete equipment is based on the operation of a crawler self-moving type transfer machine 5, a cantilever type tunneling machine 2, a self-moving stepping type temporary supporting device 3, a riding type automatic anchor rod drilling machine 4, a self-moving type flexible continuous conveyor 6 and the like are arranged around the self-moving type transfer machine 5, and the parallel operation of temporary supporting, material conveying and anchor rod supporting can be realized while the tunneling machine performs tunnel excavation.
Fig. 2 is a network diagram of a distributed wireless communication transceiver of a comprehensive tunneling complete set of equipment for roadway driving according to the embodiment, which includes a control center wireless communication transceiver 7-1, a tunneling machine wireless communication transceiver 2-3, a reversed loader wireless communication transceiver 5-1, and a transporter wireless communication transceiver 6-1, wherein the control center wireless communication transceiver 7-1 is arranged in the coordinated positioning control system 7 of the comprehensive tunneling complete set of equipment for roadway driving and is responsible for performing information communication and control command issue for each distributed wireless communication transceiver, the tunneling machine wireless communication transceiver 2-3 is arranged on the body of the tunneling machine 2 and is responsible for sending the positioning information of the tunneling machine 2 and the temporary support 3 acquired by the inertial positioning navigation system 2-1 and the laser ranging positioning system 2-2 to the control center wireless communication transceiver 7-1 and receiving the motion control command, the elevating conveyor wireless communication transceiver 5-1 is arranged on a crawler self-moving elevating conveyor 5 body and is responsible for sending positioning information of the elevating conveyor 5 and the automatic roofbolter 4 acquired by the elevating conveyor serial fiber grating three-dimensional curvature sensing system 5-2 to the control center wireless communication transceiver 7-1 and receiving a movement control instruction, and the transporter wireless communication transceiver 6-1 is arranged on a self-moving flexible continuous transporter 6 body and is responsible for sending positioning information of the self-moving flexible continuous transporter 6 acquired by the transporter serial fiber grating three-dimensional curvature sensing system 6-2 to the control center wireless communication transceiver 7-1 and receiving the movement control instruction.
As shown in figures 3 and 4, the tandem type fiber grating three-dimensional curvature sensing systems 5-2 and 6-2 are formed by connecting segmented fiber grating three-dimensional curvature sensors in series, each segment of fiber grating three-dimensional curvature sensor comprises a flexible base material I5-2-2, a flexible base material II 5-2-3, a fiber grating string I5-2-4, a fiber grating string II 5-2-5, a male connector 5-2-1, a female connector 5-2-6 and an orthogonal slotted flexible rubber pipe 5-2-7, a plurality of segments of fiber grating three-dimensional curvature sensing systems are connected end to form the tandem type fiber grating three-dimensional curvature sensing systems 5-2 and 6-2, and the fiber grating three-dimensional curvature sensing systems 5-2-4 and the fiber grating string II 5-2-5 which are orthogonally arranged in the orthogonal slotted flexible rubber pipe 5-2-7 can be connected in series Bending attitude information of each section of the coupled fiber bragg grating three-dimensional curvature sensing systems 5-2 and 6-2 can be further estimated to obtain pose information of the reversed loader 5 and the conveyor 6; the reversed loader serial fiber bragg grating three-dimensional curvature sensing system 5-2 is arranged on one side of the body of the crawler self-moving reversed loader 5 and is responsible for sensing the positioning information of the reversed loader 5 and the automatic anchor rod drilling machine 4, and the conveyor serial fiber bragg grating three-dimensional curvature sensing system 6-2 is arranged on one side of the body of the self-moving flexible continuous conveyor 6 and is responsible for sensing the positioning information of the continuous conveyor 6.
Fig. 5 is a flowchart of a cooperative positioning control system of a tunnel comprehensive excavation complete equipment according to this embodiment, and the specific working process is as follows:
a. the comprehensive tunneling complete equipment for the roadway is arranged along the roadway according to the arrangement mode;
b. starting a comprehensive tunneling complete equipment cooperative positioning control system 7, an inertial positioning navigation system 2-1, a laser ranging positioning system 2-2, a serial fiber grating three-dimensional curvature sensing system, positioning sensors 5-2 and 6-2, wireless communication transceiving devices 2-3, 5-1, 6-1 and 7-1, and completing initial alignment and calibration;
c. starting the comprehensive tunneling complete equipment, firstly, performing head-on section 1 tunneling by a cantilever type tunneling machine 2, measuring the body pose of the tunneling machine 2 in real time by an inertial positioning navigation system 2-1 and a laser ranging positioning system 2-2, sending the body pose of the tunneling machine 2 and the distance between the tunneling machine 2 and the head-on section 1, the side wall and the self-moving step type temporary supporting device 3 of the roadway to a cooperative positioning control system 7 in real time by a wireless communication transceiver 2-3 of the tunneling machine, judging whether the current roadway section is completed by the cooperative positioning control system 7 of the comprehensive tunneling complete equipment, if the roadway is not completed, continuing tunneling the roadway section by the cantilever type tunneling machine 2, moving materials forward by a crawler type self-moving transfer loader 5 and a self-moving type flexible continuous conveyor 6 along with the tunneling machine 2, and stopping the comprehensive tunneling complete equipment and the control system when the tunneling is completed, finishing tunneling;
d. c, synchronously operating, carrying out temporary support on the self-moving stepping type temporary support device 3 above the tunneling machine 2 to prevent the tunneling machine from working without a top, judging whether the current temporary support device 3 exceeds a support range or not by the comprehensive tunneling complete equipment cooperative positioning control system 7, if the current temporary support device 3 exceeds the support range, advancing the temporary support device 3 for a certain distance in a stepping mode, and continuing the temporary support, and if the current temporary support device 3 does not exceed the support range, continuing the temporary support by the temporary support device 3;
e. c, synchronously operating, starting the crawler self-moving transfer conveyor 5, continuously transferring the materials cut by the development machine 2 to the rear of the roadway 8, and acquiring the bending poses of the crawler self-moving transfer conveyor 5 along the horizontal direction and the vertical direction in real time by a serial fiber bragg grating three-dimensional curvature sensing system 5-2 arranged on the body of the crawler self-moving transfer conveyor 5, and sending the bending poses to a cooperative positioning control system 7 through a transfer conveyor wireless communication transceiver 5-1;
f. and c, synchronously operating, starting the straddle type automatic anchor rod drilling machine 4, automatically bolting a top plate and a side wall of a newly excavated tunnel by the straddle type automatic anchor rod drilling machine 4, permanently supporting the tunnel, straddling the straddle type automatic anchor rod drilling machine 4 above the crawler self-moving transfer machine 5, after one row of anchor rod supporting operation is finished, moving the straddle type automatic anchor rod drilling machine 4 along the crawler self-moving transfer machine 5 to the direction of the head 1 of the tunnel for a certain distance, fixing, then performing the next row of anchor rod supporting operation, sensing the relative position of the automatic anchor rod drilling machine 4 on the crawler self-moving transfer machine 5 by a tandem type fiber bragg grating three-dimensional curvature sensing system 5-2 arranged on the crawler self-moving transfer machine 5, sending the relative position to a cooperative positioning control system 7 through a transfer machine wireless communication transceiver 5-1, judging whether the current position bolting operation is finished by the comprehensive excavation complete equipment cooperative positioning control system 7, if the bolting operation at the current position is finished, the straddle type automatic bolting machine 4 continues to perform bolting operation at the next position after moving forward for a certain distance along the crawler self-moving transfer conveyor 5, and if the bolting operation at the current position is not finished, the straddle type automatic bolting machine 4 continues to finish the bolting operation at the current position;
g. c, synchronously operating, starting the flexible continuous conveyer 6, continuously conveying the materials transferred by the crawler self-moving transfer conveyor 5 to the rear of the roadway 8, and acquiring the bending poses of the flexible continuous conveyer 6 in the horizontal direction and the vertical direction in real time by a serial fiber bragg grating three-dimensional curvature sensing system 6-2 arranged on the flexible continuous conveyer 6, and sending the bending poses to a cooperative positioning control system 7 through a conveyer wireless communication transceiver 6-1;
h. the cooperative positioning control system 7 receives the position and attitude information of the wireless communication transceiver 2-3 of the development machine, the wireless communication transceiver 5-1 of the reversed loader and the wireless communication transceiver 6-1 of the transporter in real time, carries out unified calculation and judgment on the relative position and attitude of the complete equipment and issues operation control instructions of all the equipment.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A tunneling process of tunnel comprehensive tunneling complete equipment is characterized in that: the process is an equipment arrangement process based on a comprehensive tunneling complete equipment tunneling system of a tunnel, the comprehensive tunneling complete equipment tunneling system of the tunnel comprises comprehensive tunneling complete equipment, a cooperative positioning control system, a distributed wireless communication transceiver, an inertial positioning navigation system, a laser ranging positioning system and a serial fiber bragg grating three-dimensional curvature sensing system, the comprehensive tunneling complete equipment comprises a cantilever type tunneling machine arranged on the section of a tunneling head, a self-moving step type temporary supporting device is arranged above the cantilever type tunneling machine, a crawler self-moving type transfer machine is arranged behind a transport mechanism of the cantilever type tunneling machine, a riding type automatic anchor rod drilling machine is arranged on the crawler self-moving type transfer machine, a self-moving type flexible continuous transport machine is arranged behind the crawler self-moving type transfer machine in a linking manner, and the inertial positioning navigation system is arranged on the body of the cantilever type tunneling machine, the crawler self-moving type transfer machine body and the self-moving type flexible continuous conveyer body are provided with a series fiber bragg grating three-dimensional curvature sensing system, the cooperative positioning control system is arranged in a chamber of a roadway side wall and is responsible for unified receiving, calculation and control information issuing of pose information of comprehensive tunneling complete equipment, and the crawler self-moving type transfer machine, the riding type automatic anchor rod drilling machine and the self-moving type flexible continuous conveyer are respectively provided with a distributed wireless communication transceiver to realize communication of the pose information of each device and the cooperative positioning control system.
2. The tunneling process of the comprehensive tunneling complete equipment of the roadway of claim 1, characterized in that: the crawler self-moving type transfer conveyor is used for transporting rock materials and connecting complete equipment, the riding type automatic anchor rod drilling machine is used for realizing permanent anchor rod supporting of the roadway, and the self-moving type flexible continuous conveyor is used for transporting flexible following materials.
3. The tunneling process of the comprehensive tunneling complete equipment of the roadway of claim 1, characterized in that: the distributed wireless communication transceiver comprises a control center wireless communication transceiver, a development machine wireless communication transceiver, a reversed loader wireless communication transceiver and a transporter wireless communication transceiver, wherein the control center wireless communication transceiver is arranged in a cooperative positioning control system of the tunnel comprehensive development complete equipment and is responsible for information communication and control instruction issuing on each distributed wireless communication transceiver, the development machine wireless communication transceiver is arranged on a cantilever development machine body and is responsible for sending positioning information of a cantilever development machine and a temporary support device acquired by an inertial positioning navigation system and a laser ranging positioning system to the control center wireless communication transceiver and receiving a motion control instruction, and the reversed loader wireless communication transceiver is arranged on a track self-moving reversed loader body and is responsible for sending positioning information of a reversed loader and an automatic anchor rod drilling machine acquired by a reversed loader serial fiber grating three-dimensional curvature sensing system And the conveyor wireless communication transceiver is arranged on the self-moving flexible continuous conveyor body and is used for sending the positioning information of the self-moving flexible continuous conveyor acquired by the conveyor serial fiber grating three-dimensional curvature sensing system to the control center wireless communication transceiver and receiving the motion control instruction.
4. The tunneling process of the comprehensive tunneling complete equipment according to claim 1, characterized in that: the inertial positioning navigation system and the laser ranging positioning system are used for measuring the position and the posture of the development machine body in real time.
5. The tunneling process of the comprehensive tunneling complete equipment according to claim 1, characterized in that: the crawler belt self-moving type reversed loader comprises a crawler belt self-moving type reversed loader body, wherein a serial fiber bragg grating three-dimensional curvature sensing system is arranged on one side of the crawler belt self-moving type reversed loader body to sense the bending postures of joints of the reversed loader along the horizontal direction and the numerical direction and the relative position of a straddle type automatic jumbolter on the reversed loader, and a serial fiber bragg grating three-dimensional curvature sensing system is arranged on one side of the self-moving type flexible continuous conveyor body to sense the bending postures of the flexible continuous conveyor along the horizontal direction and the vertical direction.
6. The tunneling process of the comprehensive tunneling complete equipment according to claim 1, characterized in that: the series fiber grating three-dimensional curvature sensing system is formed by connecting a plurality of sections of fiber grating three-dimensional curvature sensors in series, and the plurality of sections of fiber grating three-dimensional curvature sensing systems are connected end to form the series fiber grating three-dimensional curvature sensing system.
7. The tunneling process of the comprehensive tunneling complete equipment of the roadway according to claim 6, characterized in that: each section of the fiber grating three-dimensional curvature sensor comprises a first flexible base material, a second flexible base material, a first fiber grating string, a second fiber grating string, a male joint, a female joint and an orthogonal slotted flexible rubber tube.
8. The tunneling process of the comprehensive tunneling complete equipment according to claim 7, characterized in that: the first fiber grating string and the second fiber grating string are orthogonally arranged in the orthogonal slotted flexible rubber tube, so that bending attitude information of each section of the serial fiber grating three-dimensional curvature sensing system can be obtained, and further pose information of the reversed loader and the conveyor can be estimated.
9. The cooperative positioning method based on the tunneling process of the comprehensive tunneling complete equipment of the roadway according to claim 1 is characterized in that: the method comprises the following steps:
(1) the comprehensive tunneling complete equipment for the tunnel is arranged along the tunnel according to the arrangement mode of claim 1;
(2) starting a cooperative positioning control system, an inertial positioning navigation system, a laser ranging positioning system and a serial fiber grating three-dimensional curvature sensing system, and completing initial alignment and calibration;
(3) starting a cantilever type tunneling machine to perform head-on section tunneling, measuring the position and posture of a tunneling machine body in real time by an inertial positioning navigation system and a laser ranging and positioning system, and sending the position and posture of the tunneling machine body and the distance of the tunneling machine relative to a roadway head-on part, a roadway side part and a self-moving walking type temporary supporting device to a cooperative positioning control system in real time by a wireless communication transceiver of the tunneling machine;
(4) synchronously operating with the step (3), starting the self-moving stepping type temporary supporting device to perform temporary supporting above the tunneling machine, and preventing the tunneling machine from operating on the empty top;
(5) operating synchronously with the step (3), starting the crawler self-moving transfer conveyor, continuously transferring the materials cut by the development machine to the rear of the roadway, and acquiring the bending poses of the crawler self-moving transfer conveyor along the horizontal direction and the vertical direction in real time by a series fiber bragg grating three-dimensional curvature sensing system arranged on the body of the crawler self-moving transfer conveyor, and sending the bending poses to a cooperative positioning control system through a transfer conveyor wireless communication transceiver;
(6) operating synchronously with the step (3), starting a straddle type automatic jumbolter, automatically bolting a top plate and a side wall of a newly excavated tunnel by the straddle type automatic jumbolter, permanently supporting the tunnel, straddling over a crawler self-moving transfer machine by the straddle type automatic jumbolter, after one row of bolting operation is completed, moving the straddle type automatic jumbolter along the crawler self-moving transfer machine to the head-on direction of the tunnel for a certain distance, fixing, then performing next row of bolting operation, sensing the relative position of the automatic jumbolter on the crawler self-moving transfer machine by a tandem type fiber bragg grating three-dimensional curvature sensing system arranged on the crawler self-moving transfer machine, and sending the relative position to a cooperative positioning control system by a transfer machine wireless communication transceiver;
(7) operating synchronously with the step (3), starting the flexible continuous conveyer, continuously conveying the materials transported by the crawler self-moving transfer conveyor to the rear of the roadway, and acquiring the bending poses of the flexible continuous conveyer along the horizontal direction and the vertical direction in real time by a serial fiber bragg grating three-dimensional curvature sensing system installed on the flexible continuous conveyer, and sending the bending poses to a cooperative positioning control system through a conveyer wireless communication transceiver;
(8) and (4) synchronously operating with the step (3), receiving the pose information of the wireless communication transceiver of the development machine, the wireless communication transceiver of the reversed loader and the wireless communication transceiver of the transporter in real time by the cooperative positioning control system, uniformly calculating and judging the relative pose of the complete equipment, and issuing an operation control instruction of each equipment.
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Effective date of registration: 20231106 Address after: 221116 No. 1 Tongshan University Road, Xuzhou City, Jiangsu Province Patentee after: CHINA University OF MINING AND TECHNOLOGY Patentee after: JIANGSU ZHONGJI MINE EQUIPMENT Co.,Ltd. Address before: 221116 No. 1 Tongshan University Road, Xuzhou City, Jiangsu Province Patentee before: CHINA University OF MINING AND TECHNOLOGY |