CN113252044A - Method for calculating deviation of tunneling equipment body - Google Patents
Method for calculating deviation of tunneling equipment body Download PDFInfo
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- CN113252044A CN113252044A CN202110573199.7A CN202110573199A CN113252044A CN 113252044 A CN113252044 A CN 113252044A CN 202110573199 A CN202110573199 A CN 202110573199A CN 113252044 A CN113252044 A CN 113252044A
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Abstract
The invention discloses a method for calculating the deviation of a tunneling equipment body, which can calculate the deviation of the equipment body relative to a design center line of a roadway in real time, takes a geodetic coordinate system as a reference, does not need to convert a multi-coordinate system, performs calculation based on a three-dimensional geometric space, and is simpler. In addition, the method of the invention is irrelevant to the type and structure of the equipment, does not need to consider the mechanical structure of the equipment, and has strong universality and wide applicability. The deviation of the equipment body in the roadway is mastered through a real-time deviation calculation result, and the remote acquisition of the position data of the equipment by an operator is facilitated.
Description
Technical Field
The invention relates to the technical field of underground tunneling, in particular to a method for calculating the deviation of a tunneling device body.
Background
The tunneling equipment is used as important excavating equipment in the comprehensive mechanical production process and is widely applied to engineering construction such as coal mine tunnel mining, highway tunnels and the like. According to statistics, the number of coal mine tunneling working faces in China exceeds twenty thousand, and the tunneling working faces are high in danger and large in dust, so that the coal mine tunneling working faces are not beneficial to production labor and safety and health of tunneling workers. With the popularization and application of computer technology, environment perception technology, data fusion technology and intelligent algorithm, the remote control and the unmanned working face of the tunneling equipment become necessary requirements for future development.
To realize remote control and unmanned working face of the tunneling equipment, the real-time position of the tunneling equipment in a roadway needs to be accurately acquired, the deviation condition of a machine body of the tunneling equipment in the roadway can be detected, the running track of the tunneling equipment in the roadway is mastered, the actual running track is compared with a set route, and the running direction and the action of the tunneling equipment are guided and controlled.
The existing tunneling equipment positioning technology and method mainly focus on positioning of a tunneling equipment body and a cutting head, real-time deviation information of the equipment body is not obtained, and therefore the deviation degree of the equipment relative to a designed center line of a roadway in the operation process of the roadway cannot be judged, and the deviation condition of an actual driving track of the equipment and a set route cannot be determined. Meanwhile, the existing tunneling equipment positioning technology and method need to involve conversion among a multi-coordinate system such as a geodetic coordinate system, a machine body coordinate system, a roadway coordinate system and the like, the conversion process is complicated, and detailed design parameters of the machine body need to be equipped.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method for calculating the deviation of the tunneling equipment body.
In order to solve the technical problems, the invention provides the following technical scheme: a heading equipment body deviation calculation method comprises the following steps:
setting an inertial navigation unit and a total station unit; the inertial navigation unit is fixedly arranged on the excavating equipment body; the total station unit comprises a total station and four prisms; the total station is arranged behind the advancing direction of the mining equipment in the roadway, three of the four prisms are rear intersection prisms used for determining the three-dimensional coordinates of the total station, and the other prism is a coordinate target prism used for determining the three-dimensional position of the mining equipment;
selecting a coordinate origin in a roadway, constructing a northeast coordinate system, arranging three rear intersection prisms at three known point positions under the northeast coordinate system, and determining three-dimensional coordinates of the position of a total station according to a total station rear intersection principle;
during the operation process of the mining equipment, the pitch angle and the direction angle are measured in real time through the inertial navigation unit, the position coordinate value of the target prism before and after the position change of the mining equipment is determined according to the pitch angle and the direction angle, and the excavation depth of the mining equipment is calculated through the position change amount.
The method comprises the following steps of determining position coordinate values of a target prism before and after the position of the mining equipment is changed according to a pitch angle and a direction angle, wherein the method comprises the following steps:
in a northeast sky coordinate system, setting an east direction as an X axis, a north direction as a Y axis, a sky direction as a Z axis, and a forward direction of mining equipment as D, and projecting the forward direction D under the northeast sky coordinate system, namely projecting on an XOY plane and a YOZ plane respectively to obtain a direction vector of the forward direction D;
knowing one point in the advancing direction D, and establishing a linear equation of the advancing direction D by combining the direction vector of D; establishing an equation of a plane Q through the advancing direction D and the direction parallel to the Z axis, and determining the deviation of the airframe as the deviation of the airframe target prism from P1Position is moved to P2The position is the difference in distance to the plane Q, which is calculated based on the geodetic coordinate system and is the absolute distance.
Wherein, rear intersection prism's setting mode does: the installation is fixed in the open position in total powerstation rear, is not sheltered from, guarantees to see through with the total powerstation, when placing rear intersection prism, with two of them rear intersection prism installation along tunnel advancing direction in one side, another rear intersection prism is installed in the opposite side.
The target prism is arranged at the rear position of the machine body of the excavation equipment and is not shielded, so that the target prism is ensured to be in communication with the total station.
Different from the prior art, the method for calculating the deviation of the tunneling equipment body provided by the invention can calculate the deviation of the tunneling equipment body relative to the design center line of a roadway in real time, takes a geodetic coordinate system as a reference, does not need conversion of a multi-coordinate system, performs calculation based on a three-dimensional geometric space, and is simpler. In addition, the method of the invention is irrelevant to the type and structure of the equipment, does not need to consider the mechanical structure of the equipment, and has strong universality and wide applicability. The deviation of the equipment body in the roadway is mastered through a real-time deviation calculation result, and the remote acquisition of the position data of the equipment by an operator is facilitated.
Drawings
The invention will be further described with reference to the accompanying drawings and examples, in which:
fig. 1 is a schematic view of a tunneling equipment body target prism measurement flow of the tunneling equipment body deviation calculation method provided by the invention.
Fig. 2 is a schematic diagram of a total station measuring a target prism of the tunneling equipment according to the method for calculating the fuselage deviation of the tunneling equipment provided by the invention.
Fig. 3 is a schematic diagram of a heading equipment body deviation calculation process of the heading equipment body deviation calculation method provided by the invention.
Fig. 4 is a projection schematic diagram of the advancing direction of the heading equipment body deviation calculation method provided by the invention on an XOY plane.
Fig. 5 is a projection schematic diagram of the advancing direction of the heading equipment body deviation calculation method provided by the invention on an XOY plane.
In fig. 2: the device comprises a tunneling device, a main body, a prism, a total station and a controller, wherein 1(1) is the position of the main body of the device at an initial moment, 1(2) is the position of the main body at the next moment in the advancing direction, 2(1) is the position of the prism at the initial moment when the prism is installed on the right side of the main body, 2(2) is the position of the prism at the next moment in the advancing direction when the prism is installed on the right side of the main body, 2(3) is the position of the prism at the initial moment when the prism is installed on the left side of the main body, 2(4) is the position of the prism at the next moment in the advancing direction when the prism is installed on the left side of the main body, and 3 is the total station.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
Referring to fig. 1 and 2, the invention provides a method for calculating the deviation of a tunneling device body, which comprises the following steps:
setting an inertial navigation unit and a total station unit; the inertial navigation unit is fixedly arranged on the excavating equipment body; the total station unit comprises a total station and four prisms; the total station is arranged behind the advancing direction of the mining equipment in the roadway, three of the four prisms are rear intersection prisms used for determining the three-dimensional coordinates of the total station, and the other prism is a coordinate target prism used for determining the three-dimensional position of the mining equipment;
the setting mode of the rear intersection prism is as follows: the installation is fixed in the open position in total powerstation rear, is not sheltered from, guarantees to see through with the total powerstation, when placing rear intersection prism, with two of them rear intersection prism installation along tunnel advancing direction in one side, another rear intersection prism is installed in the opposite side. The target prism is arranged at the rear position of the machine body of the mining equipment and is not shielded, so that the full-station instrument can be seen through.
Selecting a coordinate origin in a roadway, constructing a northeast coordinate system, arranging three rear intersection prisms at three known point positions under the northeast coordinate system, and determining three-dimensional coordinates of the position of a total station according to a total station rear intersection principle;
during the operation process of the mining equipment, the pitch angle and the direction angle are measured in real time through the inertial navigation unit, the position coordinate value of the target prism before and after the position change of the mining equipment is determined according to the pitch angle and the direction angle, and the excavation depth of the mining equipment is calculated through the position change amount.
The method comprises the following steps of determining position coordinate values of a target prism before and after the position of the mining equipment is changed according to a pitch angle and a direction angle, wherein the method comprises the following steps:
in a northeast sky coordinate system, setting an east direction as an X axis, a north direction as a Y axis, a sky direction as a Z axis, and a forward direction of mining equipment as D, and projecting the forward direction D under the northeast sky coordinate system, namely projecting on an XOY plane and a YOZ plane respectively to obtain a direction vector of the forward direction D;
knowing one point in the advancing direction D, and establishing a linear equation of the advancing direction D by combining the direction vector of D; establishing an equation of a plane Q through the advancing direction D and the direction parallel to the Z axis, and determining the deviation of the airframe as the deviation of the airframe target prism from P1Position is moved to P2The position is the difference in distance to the plane Q, which is calculated based on the geodetic coordinate system and is the absolute distance.
The deviation calculation method is characterized in that a geodetic coordinate system (northeast sky coordinate system) is used as a reference, the position coordinates of the total station and the prism are calculated by using the geodetic coordinate system, the three-dimensional coordinate direction of the geodetic coordinate system is established, the east direction is used as an X axis, the north direction is used as a Y axis, and the sky direction is used as a Z axis. After the coordinate axis direction of the geodetic coordinate system is determined, the three-dimensional coordinate of the prism is intersected due to the rearThe standard is given by the mine, and the accurate survey station coordinate (X) of the total station under the geodetic coordinate system can be determined by the backward intersection of the total station and a backward prismT，YT，ZT). According to the working principle of the total station, the total station is aligned to a target prism of the equipment body, after the target prism is searched and locked successfully, the target prism is measured, and the accurate three-dimensional coordinates of the equipment body, namely the coordinate value (X) of the equipment body in a geodetic coordinate system can be obtainedP1，YP1，ZP1)、(XP2，YP2，ZP2)。
In the process of running the tunneling equipment in a roadway, due to the influence of coal bed distribution, the attitude of the machine body can change such as uphill, downhill, left deviation, right deviation and the like, the vertical deviation angle of the machine body relative to the XOY plane is a pitch angle and is set as alpha, and the horizontal deviation angle of the machine body relative to the YOZ plane is a direction angle and is set as beta. In the operation process of the equipment, the inertial navigation unit is fixedly connected with the machine body, the measured value of the inertial navigation unit is the attitude angle of the machine body, the attached elevation angle, the direction angle and the roll angle can be measured, the machine body angle mainly comprises an upper attached elevation angle, a lower attached elevation angle, a left deflection angle and a right deflection angle, the roll angle is small, only the pitch angle and the direction angle are considered, and the roll angle is ignored. During the operation of the equipment, the pitch angle and the direction angle can be measured and are known quantities. The total station measures the position coordinates of a target prism of an equipment body, the position of the target prism is continuously changed due to the continuous change of the equipment position in the operation process, and the deviation of the equipment body is calculated by measuring the position change quantity of two target prisms.
The calculation process of the body deviation of the heading equipment is shown in fig. 3. Let the direction of advance be D and assume that the prism is mounted to the right of the fuselage midline. In the three-dimensional space, as shown in fig. 4 and 5, the forward direction D is projected on the XOY plane and the YOZ plane respectively, and the included angle between the forward direction D and the XOY plane is a pitch angle α, and the included angle between the forward direction D and the YOZ plane is a direction angle β, so as to obtain a direction vector of the forward direction D
By knowing a point B (X) in the direction of advance0，Y0，Z0) And combining the direction vector of D, the linear equation with the advancing direction D is
By advancing in the direction D and parallel to the Z-axis, the equation for the plane Q, i.e. X-tan beta. Y-X, is established0+tanβ·Y00. The fuselage deviation is the fuselage target prism from P1(XP1，YP1，ZP1) Position is moved to P2(XP2，YP2，ZP2) The position is the difference in distance to the plane Q, which is calculated based on the geodetic coordinate system and is the absolute distance.
The prism is arranged at the right side of the center line of the body, and when the body deviates to the left, the body deviation a is equal to | A2P2|-|A1P1|<0; when the fuselage deviates to the right, the fuselage deviation a is | A2P2|-|A1P1|>0, i.e.
The prism is arranged on the left side of the center line of the body, and when the body deviates to the left, the deviation a of the body is equal to | A1P1′|-|A2P′2|<0; when the fuselage deviates to the right, the fuselage deviation a is | A1P1′|-|A2P2′|>0, i.e.
Different from the prior art, the method for calculating the deviation of the tunneling equipment body provided by the invention can calculate the deviation of the tunneling equipment body relative to the design center line of a roadway in real time, takes a geodetic coordinate system as a reference, does not need conversion of a multi-coordinate system, performs calculation based on a three-dimensional geometric space, and is simpler. In addition, the method of the invention is irrelevant to the type and structure of the equipment, does not need to consider the mechanical structure of the equipment, and has strong universality and wide applicability. The deviation of the equipment body in the roadway is mastered through a real-time deviation calculation result, and the remote acquisition of the position data of the equipment by an operator is facilitated.
The above embodiments are only preferred embodiments of the present invention, and those skilled in the art can make variations and modifications to the above embodiments, therefore, the present invention is not limited to the above embodiments, and any obvious improvements, substitutions or modifications made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (4)
1. A method for calculating the deviation of a tunneling device body is characterized by comprising the following steps:
setting an inertial navigation unit and a total station unit; the inertial navigation unit is fixedly arranged on the excavating equipment body; the total station unit comprises a total station and four prisms; the total station is arranged behind the advancing direction of the mining equipment in the roadway, three of the four prisms are rear intersection prisms used for determining the three-dimensional coordinates of the total station, and the other prism is a coordinate target prism used for determining the three-dimensional position of the mining equipment;
selecting a coordinate origin in a roadway, constructing a northeast coordinate system, arranging three rear intersection prisms at three known point positions under the northeast coordinate system, and determining three-dimensional coordinates of the position of a total station according to a total station rear intersection principle;
during the operation process of the mining equipment, the pitch angle and the direction angle are measured in real time through the inertial navigation unit, the position coordinate value of the target prism before and after the position change of the mining equipment is determined according to the pitch angle and the direction angle, and the excavation depth of the mining equipment is calculated through the position change amount.
2. The method for calculating the deviation of the body of the excavating equipment according to claim 1, wherein the step of determining the position coordinate values of the target prism before and after the position of the excavating equipment is changed according to the pitch angle and the azimuth angle comprises the steps of:
in a northeast sky coordinate system, setting an east direction as an X axis, a north direction as a Y axis, a sky direction as a Z axis, and a forward direction of mining equipment as D, and projecting the forward direction D under the northeast sky coordinate system, namely projecting on an XOY plane and a YOZ plane respectively to obtain a direction vector of the forward direction D;
knowing one point in the advancing direction D, and establishing a linear equation of the advancing direction D by combining the direction vector of D; establishing an equation of a plane Q through the advancing direction D and the direction parallel to the Z axis, and determining the deviation of the airframe as the deviation of the airframe target prism from P1Position is moved to P2The position is the difference in distance to the plane Q, which is calculated based on the geodetic coordinate system and is the absolute distance.
3. The method for calculating the deviation of the tunneling equipment body according to claim 1, wherein the rear intersection prism is arranged in a manner that: the installation is fixed in the open position in total powerstation rear, is not sheltered from, guarantees to see through with the total powerstation, when placing rear intersection prism, with two of them rear intersection prism installation along tunnel advancing direction in one side, another rear intersection prism is installed in the opposite side.
4. The method of claim 1, wherein the target prism is mounted behind the body of the mining equipment so as to be unobstructed and to ensure visibility to the total station.
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