CN113670239A - Shaft tunneling pose measuring device and method - Google Patents
Shaft tunneling pose measuring device and method Download PDFInfo
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- CN113670239A CN113670239A CN202110890990.0A CN202110890990A CN113670239A CN 113670239 A CN113670239 A CN 113670239A CN 202110890990 A CN202110890990 A CN 202110890990A CN 113670239 A CN113670239 A CN 113670239A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 230000005641 tunneling Effects 0.000 title claims abstract description 12
- 238000001514 detection method Methods 0.000 claims abstract description 22
- 238000005259 measurement Methods 0.000 claims description 4
- 238000000691 measurement method Methods 0.000 claims 3
- 229910000831 Steel Inorganic materials 0.000 description 7
- 239000010959 steel Substances 0.000 description 7
- 238000009412 basement excavation Methods 0.000 description 5
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D1/00—Sinking shafts
- E21D1/03—Sinking shafts mechanically, e.g. by loading shovels or loading buckets, scraping devices, conveying screws
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
Abstract
The invention relates to a device and a method for measuring the position and posture of shaft tunneling, wherein the device comprises: one end of the rope-shaped object is fixed at a wellhead fixing point at a wellhead, and the other end of the rope-shaped object is divided into a first branch section, a second branch section and a third branch section, wherein the first branch section is connected with a first fixing point on the heading machine, the second branch section is connected with a second fixing point on the heading machine, and the third branch section is connected with a third fixing point on the heading machine; the dynamometer is arranged on the first branch section, the second branch section and the third branch section; the angle sensor is arranged on the heading machine; and the calculation module is used for calculating the coordinate value of the reference point in a heading machine coordinate system according to the detection value of the dynamometer and then obtaining the position and the posture of the heading machine by combining the detection value of the angle sensor and the coordinate value of the reference point in a geodetic coordinate system. The invention can measure the attitude of the vertical shaft heading machine.
Description
Technical Field
The invention relates to the technical field of heading machine attitude detection, in particular to a device and a method for measuring a vertical shaft heading pose.
Background
The well forming quality of the vertical shaft heading machine depends on attitude monitoring and deflection control in the heading process to a great extent, the traditional vertical shaft orientation depends on the traditional suspension wire and laser mode, and the problems of complicated working process, low efficiency, low precision and the like exist in the control method of verticality and elevation in the suspension wire process. The laser mode is greatly influenced by the environment, and dust or water drops can be attached to the imaging plate after the imaging plate is used for a long time, so that the shooting of a camera is influenced, and the accuracy of the system is influenced.
Disclosure of Invention
The invention aims to solve the technical problem of providing a device and a method for measuring the attitude of a vertical shaft tunneling machine, which can measure the attitude of the vertical shaft tunneling machine.
The technical scheme adopted by the invention for solving the technical problems is as follows: provided is a shaft boring pose measuring device, including:
one end of the rope-shaped object is fixed at a wellhead fixing point at a wellhead, and the other end of the rope-shaped object is divided into a first branch section, a second branch section and a third branch section, wherein the first branch section is connected with a first fixing point on the heading machine, the second branch section is connected with a second fixing point on the heading machine, and the third branch section is connected with a third fixing point on the heading machine; the second fixed point, the third fixed point and a reference point are both positioned on the horizontal plane of the heading machine, the reference point is a projection point of the wellhead fixed point vertically projected to the horizontal plane of the heading machine, the first fixed point is positioned below the horizontal plane of the heading machine, and the first branch section can be vertical to the horizontal plane of the heading machine when the rope-shaped object is stressed in a balanced manner;
the dynamometer is arranged on the first branch section, the second branch section and the third branch section;
the angle sensor is arranged on the heading machine;
and the calculation module is used for calculating the coordinate value of the reference point in a heading machine coordinate system according to the detection value of the dynamometer and then obtaining the position and the posture of the heading machine by combining the detection value of the angle sensor and the coordinate value of the reference point in a geodetic coordinate system.
The calculation module comprises: the first angle calculating unit is used for calculating an included angle between the horizontal component force of the rope and the second branch section according to the measured values of the dynamometers on the second branch section and the third branch section and the included angle between the second branch section and the third branch section; the second angle calculation unit is used for calculating an included angle between the rope-shaped object and the first branch section according to the measured values of the dynamometers on the first branch section, the second branch section and the third branch section and the included angle between the second branch section and the third branch section; the heading machine coordinate calculation unit is used for calculating a coordinate value of the reference point on a heading machine coordinate system according to an included angle between the horizontal component of the rope and the second branch section, an included angle between the rope and the first branch section and the length of the rope; and the pose calculation unit is used for calculating the position and the posture of the heading machine according to the coordinate value of the reference point on the heading machine coordinate system, the coordinate value of the reference point on the geodetic coordinate system and the detection value of the angle sensor.
The first angle calculating unit passes
Calculating an included angle between the horizontal component of the rope and the second branch section, wherein F2As measured by a dynamometer on said second branch, F3The measured value of the dynamometer on the third branch section, beta is an included angle between the second branch section and the third branch section, and theta is an included angle between the horizontal component of the rope shape and the second branch section.
The second angle calculating unit passes
Calculating the included angle between the rope-shaped object and the first branch section, wherein F1As measured by a dynamometer on said first leg, F2As measured by a dynamometer on said second branch, F3The measured value of the dynamometer on the third branch section, beta is an included angle between the second branch section and the third branch section, theta is an included angle between the horizontal component of the rope and the second branch section, and alpha is an included angle between the rope and the first branch section; f4Is the horizontal component force of the rope, F5Is the force to which the rope is subjected.
The technical scheme adopted by the invention for solving the technical problems is as follows: the vertical shaft tunneling pose measuring method comprises the following steps:
(1) fixing one end of the rope-shaped object to a wellhead fixing point at a wellhead, respectively connecting the first branch section, the second branch section and the third branch section with the first fixing point, the second fixing point and the third fixing point, adjusting the tensile force of the rope-shaped object to enable the rope-shaped object to be balanced in stress, and enabling the other end of the rope-shaped object to be located on the same horizontal plane with the second fixing point and the third fixing point;
(2) acquiring detection values of the dynamometer on the first branch section, the second branch section and the third branch section and the angle sensor;
(3) and calculating the coordinate value of the reference point in a heading machine coordinate system according to the detection value of the dynamometer, and then obtaining the position and the posture of the heading machine by combining the detection value of the angle sensor and the coordinate value of the reference point in a geodetic coordinate system.
The step (3) includes the substeps of:
(31) calculating an included angle between the horizontal component force of the rope and the second branch section according to the measured values of the dynamometers on the second branch section and the third branch section and the included angle between the second branch section and the third branch section;
(32) calculating the included angle between the rope-shaped object and the first branch section according to the measured values of the dynamometers on the first branch section, the second branch section and the third branch section and the included angle between the second branch section and the third branch section;
(33) calculating the coordinate value of the reference point on the heading machine coordinate system according to the included angle between the horizontal component of the rope and the second branch section, the included angle between the rope and the first branch section and the length of the rope;
(34) and calculating the position and the posture of the heading machine according to the coordinate value of the reference point on the heading machine coordinate system, the coordinate value of the reference point on the geodetic coordinate system and the detection value of the angle sensor.
In the step (31) by
Calculating an included angle between the horizontal component of the rope and the second branch section, wherein F2As measured by a dynamometer on said second branch, F3The measured value of the dynamometer on the third branch section, beta is an included angle between the second branch section and the third branch section, and theta is an included angle between the horizontal component of the rope shape and the second branch section.
In the step (32) by
Calculating the included angle between the rope-shaped object and the first branch section, wherein F1As measured by a dynamometer on said first leg, F2As measured by a dynamometer on said second branch, F3The measured value of the dynamometer on the third branch section, beta is an included angle between the second branch section and the third branch section, theta is an included angle between the horizontal component of the rope and the second branch section, and alpha is an included angle between the rope and the first branch section; f4Is the horizontal component force of the rope, F5Is the force to which the rope is subjected.
Advantageous effects
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects: in the implementation process, one end of the rope-shaped object is connected with a wellhead fixed point, the other end of the rope-shaped object is divided into three branch sections which are respectively connected with three fixed points on the heading machine, a dynamometer is arranged on the three branch sections, the coordinate value of a point on the excavation face of the heading machine on a heading machine coordinate system is obtained according to the stress balance of the rope-shaped object, and the position and the posture of the heading machine can be obtained according to the coordinate value on the geodetic coordinate of the point on the excavation face of the heading machine and an angle sensor on the heading machine. Therefore, the mode is simple to operate, is not limited by the environment and is very convenient to use.
Drawings
Fig. 1 is a schematic diagram of the principle of the present invention.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
An embodiment of the present invention relates to a shaft excavation pose measurement device, as shown in fig. 1, including:
a rope-shaped object 1, wherein one end of the rope-shaped object 1 is fixed at a well head fixing point A at the well head0The other end of the first branch section is divided into a first branch section 11, a second branch section 12 and a third branch section 13, wherein the first branch section 11 is connected with a first fixed point C on the tunneling machine, the second branch section 12 is connected with a second fixed point D on the tunneling machine, and the third branch section 13 is connected with a third fixed point E on the tunneling machine; the second fixed point C and the third fixed point D and the reference point A1Are all positioned on the horizontal plane of the heading machine, and the reference point A1Is the wellhead fixing point A0A projection point vertically projected to the horizontal plane of the heading machine, wherein the first fixed point C is positioned below the horizontal plane of the heading machine and can be used for balancing the stress of the rope-shaped objectThe first branch section can be made to be vertical to the horizontal plane of the heading machine. In the embodiment, two wellhead fixing points are arranged, and the other wellhead fixing point is B0The fixed point of the wellhead is B0There is a reference point B1。
The dynamometer is arranged on the first branch section 11, the second branch section 12 and the third branch section 13 and is used for detecting the stress values of the first branch section 11, the second branch section 12 and the third branch section 13 respectively;
the angle sensor is arranged on the heading machine;
a calculation module for calculating the reference point A according to the detection value of the dynamometer1And a reference point B1Coordinate values in a coordinate system of the heading machine are combined with the detection value of the angle sensor and the reference point A1And a reference point B1And obtaining the position and the posture of the heading machine by the coordinate values in the geodetic coordinate system.
The calculation module in the present embodiment includes:
a first angle calculating unit for calculating the angle between the rope-shaped horizontal component and the second branch section according to the measured values of the dynamometers on the second branch section 12 and the third branch section 13 and the angle between the second branch section 12 and the third branch section 13, namely, through the measurement of the dynamometer on the second branch section 12 and the third branch section 13
Calculating an included angle theta between the horizontal component of the rope and the second branch section, wherein F2As measured by a dynamometer on said second branch 12, F3The angle β between the second leg 12 and the third leg 13 is known because the first, second and third fixed points C, D and E are known relative to the position of the machine, i.e. the coordinates of the first, second and third fixed points C, D and E relative to the heading machine, and therefore the angle β between the second leg 12 and the third leg 13 is also known, so only θ in the above equation is an unknown and can therefore be calculated.
A second angle calculating unit for calculating a second angle based onAnd calculating the included angle between the rope-shaped object and the first branch section 11 through the measured values of the dynamometers on the first branch section 11, the second branch section 12 and the third branch section 13 and the included angle between the second branch section 12 and the third branch section 13. The force F to which the rope is subjected5Is divided into a vertical component and a horizontal component, and since the rope is stressed in a balanced manner in the present embodiment, the vertical component is the measured value F of the dynamometer on the first branch section 111The component force in the horizontal direction is F4The force is compared with the measured value F of the dynamometer on the second branch 122And the measured value F of the dynamometer on said third branch 133At F4The sum of the component forces in the directions is equal, so that the component forces can pass
Calculating an included angle alpha between the rope-shaped object and the first branch section 11, wherein F1As measured value of a dynamometer on said first branch 11, F2As measured by a dynamometer on said second branch 12, F3Is the measured value of the dynamometer on the third branch section 13, beta is the included angle between the second branch section 12 and the third branch section 13, theta is the included angle between the rope-shaped horizontal component and the second branch section 12, F4The component force of the rope in the horizontal direction is obtained.
A heading machine coordinate calculation unit for calculating the reference point A according to the included angle theta between the horizontal component force of the rope and the second branch section 12, the included angle alpha between the rope and the first branch section 11 and the length of the rope1And a reference point B1Coordinate values on the coordinate system of the heading machine, wherein the length of the rope can be obtained by measurement.
A pose calculation unit for calculating a pose based on the reference point A1And a reference point B1Coordinate values on a coordinate system of the heading machine and the reference point A1And a reference point B1The coordinate value on the geodetic coordinate system and the detection value of the angle sensor are used for calculating the position and the posture of the heading machine through seven-parameter coordinate conversion, whereinReference point A1And a reference point B1The coordinate value on the geodetic coordinate system can be determined according to a wellhead fixed point A0And well head fixed point B0The coordinate value of the geodetic coordinate system, the length of the rope-shaped object and the included angle alpha between the rope-shaped object and the first branch section are obtained.
The embodiment of the invention also relates to a shaft tunneling pose measuring method, which uses the shaft tunneling pose measuring device in the embodiment, wherein the rope-shaped object adopted in the embodiment is a steel wire rope, and the method comprises the following steps:
(1) a well head fixing point A for fixing one end of the steel wire rope at the well head0The first branch section 11, the second branch section 12 and the third branch section 13 at the other end of the steel wire rope are respectively connected with a first fixed point C, a second fixed point D and a third fixed point E on the heading machine, the tension of the steel wire rope is adjusted to enable the steel wire rope to be balanced in stress, and the other end of the steel wire rope (namely the common end point of the first branch section 11, the second branch section 12 and the third branch section 13) and the second fixed point D and the third fixed point E are located on the same horizontal plane.
(2) And acquiring detection values of the dynamometer on the first branch section 11, the second branch section 12 and the third branch section 13 and the angle sensor, and measuring the length of the steel wire rope.
(3) Calculating the horizontal direction component force F of the rope-shaped object according to the measured values of the dynamometers on the second branch section 12 and the third branch section 13 and the included angle beta between the second branch section 12 and the third branch section 134And the angle theta from the second branch section 12.
(4) And calculating an included angle alpha between the rope-shaped object and the first branch section 11 according to the measured values of the dynamometers on the first branch section 11, the second branch section 12 and the third branch section 13 and the included angle beta between the second branch section 12 and the third branch section 13.
(5) According to the horizontal component force F of the rope-shaped object4Calculating the reference point A by the included angle theta between the second branch section 12, the included angle alpha between the rope-shaped object and the first branch section 11 and the length of the rope-shaped object1Coordinate values on the coordinate system of the heading machine.
(6) Using the same as aboveCalculating the reference point B1Coordinate values on the coordinate system of the heading machine.
(7) According to the reference point A1And a reference point B1Coordinate values on a coordinate system of the heading machine and the reference point A1And a reference point B1And calculating the position and the posture of the heading machine through seven-parameter coordinate conversion according to the coordinate values on the geodetic coordinate system and the detection values of the angle sensor.
In the implementation process, one end of the rope-shaped object is connected with a wellhead fixed point, the other end of the rope-shaped object is divided into three branch sections which are respectively connected with three fixed points on the heading machine, a dynamometer is arranged on the three branch sections, the coordinate value of a point on the excavation surface of the heading machine on a coordinate system of the heading machine is obtained according to the stress balance of the rope-shaped object, and the position and the posture of the heading machine can be obtained according to the coordinate value of the point on the excavation surface of the heading machine on the geodetic coordinate and an angle sensor on the heading machine. Therefore, the mode is simple to operate, is not limited by the environment and is very convenient to use.
Claims (8)
1. A shaft tunnelling position appearance measuring device which characterized in that includes:
one end of the rope-shaped object is fixed at a wellhead fixing point at a wellhead, and the other end of the rope-shaped object is divided into a first branch section, a second branch section and a third branch section, wherein the first branch section is connected with a first fixing point on the heading machine, the second branch section is connected with a second fixing point on the heading machine, and the third branch section is connected with a third fixing point on the heading machine; the second fixed point, the third fixed point and a reference point are both positioned on the horizontal plane of the heading machine, the reference point is a projection point of the wellhead fixed point vertically projected to the horizontal plane of the heading machine, the first fixed point is positioned below the horizontal plane of the heading machine, and the first branch section can be vertical to the horizontal plane of the heading machine when the rope-shaped object is stressed in a balanced manner;
the dynamometer is arranged on the first branch section, the second branch section and the third branch section;
the angle sensor is arranged on the heading machine;
and the calculation module is used for calculating the coordinate value of the reference point in a heading machine coordinate system according to the detection value of the dynamometer and then obtaining the position and the posture of the heading machine by combining the detection value of the angle sensor and the coordinate value of the reference point in a geodetic coordinate system.
2. The shaft tunneling pose measuring apparatus according to claim 1, wherein the calculation module comprises: the first angle calculating unit is used for calculating an included angle between the horizontal component force of the rope and the second branch section according to the measured values of the dynamometers on the second branch section and the third branch section and the included angle between the second branch section and the third branch section; the second angle calculation unit is used for calculating an included angle between the rope-shaped object and the first branch section according to the measured values of the dynamometers on the first branch section, the second branch section and the third branch section and the included angle between the second branch section and the third branch section; the heading machine coordinate calculation unit is used for calculating a coordinate value of the reference point on a heading machine coordinate system according to an included angle between the horizontal component of the rope and the second branch section, an included angle between the rope and the first branch section and the length of the rope; and the pose calculation unit is used for calculating the position and the posture of the heading machine according to the coordinate value of the reference point on the heading machine coordinate system, the coordinate value of the reference point on the geodetic coordinate system and the detection value of the angle sensor.
3. The shaft boring pose measuring apparatus according to claim 2, wherein the first angle calculating unit passes
Calculating an included angle between the horizontal component of the rope and the second branch section, wherein F2As measured by a dynamometer on said second branch, F3Is the measured value of the dynamometer on the third branch section, beta is the included angle between the second branch section and the third branch section, and theta isAnd the rope-shaped horizontal component force and the included angle between the second branch sections.
4. The shaft boring pose measurement apparatus according to claim 2, wherein the second angle calculation unit passes through
Calculating the included angle between the rope-shaped object and the first branch section, wherein F1As measured by a dynamometer on said first leg, F2As measured by a dynamometer on said second branch, F3The measured value of the dynamometer on the third branch section, beta is an included angle between the second branch section and the third branch section, theta is an included angle between the horizontal component of the rope and the second branch section, and alpha is an included angle between the rope and the first branch section; f4Is the horizontal component force of the rope, F5Is the force to which the rope is subjected.
5. A shaft driving pose measuring method using the shaft driving pose measuring apparatus according to claim 1, comprising the steps of:
(1) fixing one end of the rope-shaped object to a wellhead fixing point at a wellhead, respectively connecting the first branch section, the second branch section and the third branch section with the first fixing point, the second fixing point and the third fixing point, adjusting the tensile force of the rope-shaped object to enable the rope-shaped object to be balanced in stress, and enabling the other end of the rope-shaped object to be located on the same horizontal plane with the second fixing point and the third fixing point;
(2) acquiring detection values of the dynamometer on the first branch section, the second branch section and the third branch section and the angle sensor;
(3) and calculating the coordinate value of the reference point in a heading machine coordinate system according to the detection value of the dynamometer, and then obtaining the position and the posture of the heading machine by combining the detection value of the angle sensor and the coordinate value of the reference point in a geodetic coordinate system.
6. The shaft boring pose measurement method according to claim 5, wherein the step (3) comprises the substeps of:
(31) calculating an included angle between the horizontal component force of the rope and the second branch section according to the measured values of the dynamometers on the second branch section and the third branch section and the included angle between the second branch section and the third branch section;
(32) calculating the included angle between the rope-shaped object and the first branch section according to the measured values of the dynamometers on the first branch section, the second branch section and the third branch section and the included angle between the second branch section and the third branch section;
(33) calculating the coordinate value of the reference point on the heading machine coordinate system according to the included angle between the horizontal component of the rope and the second branch section, the included angle between the rope and the first branch section and the length of the rope;
(34) and calculating the position and the posture of the heading machine according to the coordinate value of the reference point on the heading machine coordinate system, the coordinate value of the reference point on the geodetic coordinate system and the detection value of the angle sensor.
7. The shaft boring pose measurement method according to claim 6, wherein the step (31) is performed by
Calculating an included angle between the horizontal component of the rope and the second branch section, wherein F2As measured by a dynamometer on said second branch, F3The measured value of the dynamometer on the third branch section, beta is an included angle between the second branch section and the third branch section, and theta is an included angle between the horizontal component of the rope shape and the second branch section.
8. The shaft boring pose measurement method according to claim 6, wherein the step (32) is performed by
Calculating the included angle between the rope-shaped object and the first branch section, wherein F1As measured by a dynamometer on said first leg, F2As measured by a dynamometer on said second branch, F3The measured value of the dynamometer on the third branch section, beta is an included angle between the second branch section and the third branch section, theta is an included angle between the horizontal component of the rope and the second branch section, and alpha is an included angle between the rope and the first branch section; f4Is the horizontal component force of the rope, F5Is the force to which the rope is subjected.
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| CN202110890990.0A CN113670239A (en) | 2021-08-04 | 2021-08-04 | Shaft tunneling pose measuring device and method |
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2021
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