CN114322956A - Tunnel excavation laser pointing measurement system and measurement method - Google Patents
Tunnel excavation laser pointing measurement system and measurement method Download PDFInfo
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Abstract
The invention relates to a system and a method for measuring the laser direction in roadway excavation, belonging to the technical field of an electrocardio dynamic monitoring device; the technical problem to be solved is as follows: the improvement of a hardware structure and a measurement method of a roadway driving laser pointing measurement system is provided; the technical scheme for solving the technical problem is as follows: the adjusting part comprises a vertical support and a horizontal support, and the top of the vertical support is connected with a top plate anchor rod preset in a roadway top plate through a damping nut; the vertical support is fixedly connected with the horizontal support through the cross sleeve, so that the horizontal support can vertically lift and swing left and right on the vertical support; the horizontal bracket is also provided with a screw rod sliding table, the extending end of the screw rod sliding table is provided with a screw rod driving motor, a rotating platform is arranged on the screw rod sliding table, the screw rod driving motor can drive the rotating platform to slide back and forth on the screw rod sliding table, and the rotating platform is internally provided with a rotating driving motor for driving the rotating platform to rotate horizontally; the invention is applied to the tunneling places.
Description
Technical Field
The invention discloses a tunneling laser pointing measurement system and a tunneling laser pointing measurement method, and belongs to the technical field of electrocardio dynamic monitoring devices.
Background
In the early stage of the operation of tunneling, a laser direction indicator is required to be installed to determine the direction of a tunneling tunnel, the currently used fixed laser direction indicator is a self-made calibration instrument, a cross support is particularly fixed on a roof anchor rod, and the adjustment or fine adjustment is mainly carried out through the fixed support and an adjusting knob; in addition, the laser direction indicator is generally installed on a top plate by adopting a self-made frame, the height of the laser direction indicator is 2.5-3.5m, the laser direction indicator needs to be manually adjusted to be operated by ascending a height, the direction observation workload is large, the observation efficiency is low, and the safety risk exists; in addition, the tunneling direction is corrected by manually adjusting the laser direction indicator, the workload is large, the working intensity is high, and a driver of the tunneling machine is required to manually observe at any time so as to accurately follow the laser direction point of the laser direction indicator to carry out tunneling construction; along with the improvement of the quality and efficiency requirements of the mine roadway tunneling project, the automatic tunneling work of the tunneling machine is required, and the tunneling work of the tunneling machine is urgently required to be completed by adopting an automatic control method so as to reduce the working strength of field workers and improve the tunneling efficiency.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to solve the technical problems that: the improvement of a hardware structure and a measurement method of a roadway driving laser pointing measurement system is provided.
In order to solve the technical problems, the invention adopts the technical scheme that: a roadway driving laser pointing measurement system comprises an adjusting part for emitting laser and a receiving part provided with an irradiation target, wherein the adjusting part comprises a vertical support and a horizontal support, and the top of the vertical support is connected and fixed with a top plate anchor rod preset in a roadway top plate through a damping nut;
the vertical support is fixedly connected with the horizontal support through the cross sleeve, so that the horizontal support can vertically lift and swing left and right on the vertical support;
the horizontal bracket is also provided with a screw rod sliding table, the extending end of the screw rod sliding table is provided with a screw rod driving motor, a rotary platform is arranged on the screw rod sliding table, the screw rod driving motor can drive the rotary platform to slide back and forth on the screw rod sliding table, and the inside of the rotary platform is also provided with a rotary driving motor for driving the rotary platform to rotate horizontally;
the laser direction indicator is arranged on the base through a magnet, two sides of the base are respectively arranged on the rotary platform through fixed shafts, and a vertical driving motor used for twisting the fixed shafts is further arranged on the outer sides of the fixed shafts;
the screw rod driving motor, the rotary driving motor and the vertical driving motor are all internally provided with a motor wireless communication module, and the motor wireless communication modules are all in wireless connection with a control host arranged in a roadway through a wireless network;
the receiving part is specifically a heading machine provided with a crawler belt, a pair of horizontal moving targets are arranged on a heading machine body in parallel, each horizontal moving target comprises a detection target, the detection targets are arranged on slide rails driven by a stepping motor through target seat slide blocks, the slide rails of the two horizontal moving targets are arranged on the upper side of the heading machine body in parallel, and the stepping motor is arranged on the side wall of the heading machine body;
the inside of the development machine is also provided with a control circuit board and an inclination angle sensor, and the control circuit board is integrated with a microcontroller and a wireless communication module;
the microcontroller is connected with the signal output end of the detection target through a lead;
the microcontroller is also connected with the stepping motor, the inclination angle sensor and the wireless communication module through leads respectively;
the wireless communication module is in wireless connection with the control host through a wireless network.
The cross sleeve specifically comprises a vertical cylinder and a horizontal cylinder, and the cylinder wall on one side of the vertical cylinder and the cylinder wall on one side of the horizontal cylinder are welded during manufacturing, so that a cross structure is formed, the vertical support penetrates into the vertical cylinder, and the horizontal support penetrates into the horizontal cylinder;
the vertical position of the vertical bracket is adjusted by arranging a vertical locking knob on the vertical cylinder;
the front and back positions of the horizontal bracket are adjusted by arranging a horizontal locking knob on the horizontal cylinder.
A left and right adjusting knob for adjusting the left and right offset of the laser is arranged at the top of the laser direction indicator;
the front end of the laser direction indicator is provided with a laser emitting port;
and the rear end of the laser direction indicator is provided with an upper and lower adjusting knob for adjusting the upper and lower offsets of the laser.
The control host is internally provided with a control circuit board, a central controller and a communication module are integrated on the control circuit board, and the communication module is respectively in data connection with the monitoring server and the monitoring terminal through a wireless network.
A roadway driving laser pointing measurement method comprises the following steps:
the method comprises the following steps: arranging a heading machine of a receiving part in a roadway to be tunneled, installing a laser direction indicator on a roadway top plate on the rear side of the heading machine through a vertical support and a horizontal support, and specifically arranging the laser direction indicator at the central line position of the roadway top plate, wherein the laser emission angle of the laser direction indicator is consistent with the tunneling direction of the roadway;
step two: a pair of horizontal moving targets are installed on a tunneling machine body, detection targets of the horizontal moving targets are vertically installed on a target seat sliding block, the target seat sliding block is installed on a sliding rail arranged on the upper side of the tunneling machine body, and the two horizontal moving targets are arranged in parallel;
step three: the control host sends a signal to control the tunneling machine to start tunneling operation, and sends control signals to the screw rod driving motor, the rotary driving motor and the vertical driving motor respectively to adjust the installation position and the laser emission angle of the laser direction indicator so that laser beams emitted by the laser direction indicator can be simultaneously shot on detection targets of two horizontal moving targets;
the detection target acquires a coordinate position of a current laser beam on the detection target through a laser capture circuit board, coordinate position data comprise a left position (Ax, Bx) and a right position (Ay, By), and the detection target sends the coordinate position data to a microcontroller through a lead for further processing;
step four: controlling an inclination angle sensor to simultaneously acquire the current tunneling pitch angle data of the tunneling machine, and sending the pitch angle data to a microcontroller through a lead by the inclination angle sensor for further processing;
step five: presetting a distance parameter in the calculation parameters of the microcontroller of the heading machine, and defining:
the laser direction indicator emits laser beams to reach the first horizontal movement target by a distance L1, and the distance between the two horizontal movement targets is L0;
and then calculating the pose measurement data of the current heading machine by combining the received laser coordinate data, wherein the pose measurement data comprises the following steps:
the calculation formula of the pitch angle Yaw is as follows:
the heading angle Pitch is calculated as:
roll angle Roll data are measured data of the tilt angle sensor;
the formula for the horizontal displacement dx is:
the formula for the height displacement dy is:
the depth displacement dz is calculated as:
dz=L1；
in the coordinate system of the above formula, an X axis is defined as the width of a roadway driving surface, a Y axis is defined as the height of the roadway driving surface, and a Z axis is defined as the depth of the roadway driving direction;
ax and Bx are x coordinates of the positions of the points where the laser beams strike the first and second horizontal movement targets, respectively;
ay and By are the y-coordinates of the positions of the points where the laser beams impinge on the first and second horizontal movement targets, respectively.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the structure of the existing mining laser direction indicator is improved, full-manual calibration is improved into a semi-automatic calibration mode, the inclined angle of the laser direction indicator is controlled by setting the horizontal and vertical driving motors of the improved measuring device, and the controller feeds back control parameters to the motors in the whole process to perform accurate control, so that the adjustment precision of the laser direction indicator can be improved, and the observation precision is effectively improved; in addition, the two horizontal moving type laser targets are additionally arranged on the heading machine body, so that the position and the posture of the current heading machine are measured in the whole time period in the working process of the heading machine, the posture state compensation of the heading machine in the working process can be realized, the posture state compensation is fed back to the monitoring computer, the automatic heading work of the heading machine is finally realized, the positioning precision is high, and the heading efficiency can be effectively improved.
Drawings
The invention is further described below with reference to the accompanying drawings:
FIG. 1 is a schematic structural diagram of a tunneling laser measurement system according to the present invention;
FIG. 2 is a connecting structure diagram of the vertical support and the roadway roof according to the present invention;
FIG. 3 is a schematic view of the mounting structure of the laser pointer of the present invention;
FIG. 4 is a schematic circuit diagram of an adjusting part according to the present invention;
FIG. 5 is a schematic circuit diagram of a receiving section according to the present invention;
FIG. 6 is a diagram of a model for measuring the laser pointing pitch angle according to the present invention;
FIG. 7 is a diagram of a model for measuring the laser pointing course angle according to the present invention;
FIG. 8 is a flow chart of the steps of the tunneling laser measuring method of the present invention;
in the figure: the device comprises a vertical support 1, a horizontal support 2, a top plate anchor rod 3, a screw rod sliding table 4, a screw rod driving motor 5, a rotating platform 6, a damping nut 7, a rotating driving motor 21, a laser direction indicator 8, a base 31, a fixing shaft 32, a vertical driving motor 22, a control host 41, a vertical cylinder 11, a horizontal cylinder 12, a vertical locking knob 13, a horizontal locking knob 14, a left and right adjusting knob 33, a laser emitting port 34 and an up and down adjusting knob 35, wherein the vertical support 2 is a vertical support, the top plate anchor rod 3 is a top plate anchor rod, the screw rod sliding table 5 is a screw rod driving motor, the vertical driving motor 6 is a rotating platform, the damping nut 7 is a damping nut, the rotating driving motor 21 is a laser direction indicator 8, the base 31 is a base, the fixing shaft 32 is a vertical driving motor, the vertical driving motor is a control host 41, the vertical cylinder 11 is a vertical cylinder 12, the horizontal cylinder 13 is a vertical locking knob, the horizontal locking knob 14 is a horizontal locking knob, the left and right adjusting knob, the laser emitting port is a laser emitting port 34;
102 is a detection target, 103 is a backing plate slide block, 104 is a stepping motor, 105 is a slide rail, 106 is an inclination angle sensor, 107 is a microcontroller, and 108 is a wireless communication module.
Detailed Description
As shown in fig. 1 to 8, the invention specifically provides a mining laser pointing measurement system capable of being remotely operated, specifically, a set of screw rod sliding table and a rotary platform are installed on the basis that a cross observation bracket is manufactured by a measurement adjusting part, and a laser pointing instrument is installed on the rotary platform, so that the laser pointing instrument can swing left and right and rotate 360 degrees; the control host is connected with each driving motor through a communication line to remotely control the work of the screw rod sliding table and the rotary platform, observation personnel can finish the work of adjusting and correcting the laser direction indicator to a preset direction by standing on the ground by using the device, and the tunneling angle is finally determined after multiple adjustments.
Further, in order to realize high-precision measurement, a cross support is fixed on a tunnel top plate through a top plate anchor rod, a control host is installed in the tunnel top plate or a monitoring room according to the change of tunnel environment, in order to realize the semi-automatic control function of the laser direction instrument, locking knobs on a vertical cylinder and a horizontal cylinder are adjusted manually, so that the pointed height and angle of the laser are roughly positioned, the posture of the laser direction instrument on a rotary platform is further controlled through a remote control lead screw driving motor, a rotary driving motor and a vertical driving motor, the transmitting direction of the laser can be finely adjusted through manually finely adjusting a left adjusting knob, a right adjusting knob, a vertical adjusting knob and a vertical adjusting knob on the laser direction instrument, the correct tunneling direction of the tunnel is obtained after the adjustment and the measurement of the azimuth angle of the laser for many times, the whole process is roughly adjusted by manual field, and the motors are remotely controlled to finely adjusted, and the control host computer analyzes, processes and stores the adjusting data, and synchronously uploads the measuring and calculating results to the server and the monitoring terminal.
The invention also provides a heading machine working along with laser pointing, wherein a pair of horizontally moving laser targets which are arranged in parallel are respectively arranged at the front and the back of the machine body of the heading machine, and when the heading machine is used, laser beams of a laser pointing instrument are remotely adjusted to strike the two laser targets; when a certain photosensitive diode receives illumination in a certain frequency spectrum range, the controller scans the voltage change of the diodes on ROW (ROW) and COLUMN (COLUMN) lines connected with the photosensitive diode according to different illumination intensities and different on-resistances of the diodes, and acquires the position of a laser point receiving point according to the voltage difference;
a heading machine controller is arranged in the heading machine of the receiving part, the controller is in bidirectional communication with the two horizontal moving laser targets through a communication wire, and the controller is also connected with the inclination angle sensor through a wire;
and an inclination angle sensor is also arranged in the heading machine of the receiving part and used for measuring the roll angle of the heading machine and sending the obtained angle data to the heading machine controller through a lead.
The horizontal moving target comprises detection targets for receiving laser irradiation, each detection target consists of a photosensitive diode and a corresponding controller to form a laser capture circuit board, the detection targets are required to be arranged on a horizontal guide rail in order to ensure that laser beams are irradiated on the two detection targets in the advancing process of the heading machine, the detection targets can move on the guide rail in parallel by controlling a stepping motor, and the moving distance and the current position of the detection targets on the guide rail can be calculated and obtained by a motor encoder in the controller.
The invention aims to realize the automatic cutting function of the heading machine on the section of a roadway and measure the heading position and the body attitude parameter of the heading machine in real time, and obtains the central line and the waist line of the roadway pointed by a laser direction indicator by additionally arranging two laser targets which move horizontally on the heading machine, and analyzes and processes the collected data by combining the body size of the heading machine and an inclination angle sensor arranged on the body to obtain the corresponding position and attitude parameter of the heading machine, thereby providing basic data for realizing the automatic control of the heading machine and improving the heading efficiency, the safety and the roadway flatness of the heading machine.
In order to realize the receiving processing of data, a server is arranged in a roadway, a control host is connected with a laser direction instrument and a heading machine in a data mode based on a wireless network, when the system is used, the control host judges whether two current horizontal moving targets receive the irradiation of laser beams or not, after the two horizontal moving targets capture laser points, a microcontroller calculates corresponding pose data according to a preset algorithm script and sends corresponding calculation results to a data storage module of the microcontroller to be stored, meanwhile, the calculation data can be sent to an upper computer on the ground through an external communication bus, managers further process the data, and corresponding management and statistical functions can be realized.
It should be noted that, regarding the specific structure of the present invention, the connection relationship between the modules adopted by the present invention is determined and can be realized, except for the specific description in the embodiment, the specific connection relationship can bring the corresponding technical effect, and the technical problem proposed by the present invention is solved on the premise of not depending on the execution of the corresponding software program, the models and the mutual connection modes of the components, modules and specific components appearing in the present invention, and the conventional using method and the expectable technical effect brought by the above technical features, except for the specific description, all belong to the disclosed contents in the patents, journal articles, technical manuals, technical dictionaries, textbooks, or the prior art such as the conventional technology, the common general knowledge in the art, which can be acquired by the skilled in the art before the application date, or belong to the prior art such as the conventional technology, the common general knowledge in the art, and do not need to be described in detail, so that the technical scheme provided by the present invention is clear and can be realized, Is complete and realizable, and can reproduce or obtain corresponding entity products according to the technical means.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. The utility model provides a tunnelling laser pointing measurement system, includes the adjustment portion that is used for transmitting laser and is provided with the receiving part that shines the mark target, its characterized in that: the adjusting part comprises a vertical support (1) and a horizontal support (2), and the top of the vertical support (1) is fixedly connected with a top plate anchor rod (3) preset in a roadway top plate through a damping nut (7);
the vertical support (1) is fixedly connected with the horizontal support (2) through the cross sleeve, so that the horizontal support (2) can vertically lift and swing left and right on the vertical support (1);
the horizontal support (2) is further provided with a screw rod sliding table (4), the extending end of the screw rod sliding table (4) is provided with a screw rod driving motor (5), the screw rod sliding table (4) is provided with a rotary platform (6), the screw rod driving motor (5) can drive the rotary platform (6) to slide back and forth on the screw rod sliding table (4), and the rotary platform (6) is further internally provided with a rotary driving motor (21) for driving the rotary platform to rotate horizontally;
the laser pointing instrument (8) is further mounted on the rotating platform (6), the laser pointing instrument (8) is particularly arranged on the base (31) through a magnet, two sides of the base (31) are respectively mounted on the rotating platform (6) through fixing shafts (32), and vertical driving motors (22) used for twisting the fixing shafts are further arranged on the outer sides of the fixing shafts (32);
the screw rod driving motor (5), the rotary driving motor (21) and the vertical driving motor (22) are internally provided with motor wireless communication modules, and the motor wireless communication modules are all in wireless connection with a control host (41) arranged in a roadway through a wireless network;
the receiving part is specifically a heading machine provided with a crawler belt, a pair of horizontal moving targets are arranged on the body of the heading machine in parallel, each horizontal moving target comprises a detection target (102), the detection targets (102) are arranged on sliding rails (105) driven by stepping motors (104) through target seat sliding blocks (103), the sliding rails (105) of the two horizontal moving targets are arranged on the upper side of the body of the heading machine in parallel, and the stepping motors (104) are arranged on the side wall of the body of the heading machine;
a control circuit board and an inclination angle sensor (106) are further arranged inside the heading machine, and a microcontroller (107) and a wireless communication module (108) are integrated on the control circuit board;
the microcontroller (107) is connected with the signal output end of the detection target (102) through a lead;
the microcontroller (107) is also connected with the stepping motor (104), the inclination angle sensor (106) and the wireless communication module (108) through leads respectively;
the wireless communication module (108) is wirelessly connected with the control host (41) through a wireless network.
2. The tunneling laser pointing measurement control device according to claim 1, characterized in that: the cross sleeve specifically comprises a vertical cylinder (11) and a horizontal cylinder (12), and during manufacturing, the cylinder wall on one side of the vertical cylinder (11) and the cylinder wall on one side of the horizontal cylinder (12) are welded to form a cross structure, then the vertical support (1) penetrates into the vertical cylinder (11), and the horizontal support (2) penetrates into the horizontal cylinder (12);
the vertical position of the vertical bracket (1) is adjusted by arranging a vertical locking knob (13) on the vertical cylinder (11);
the front and back positions of the horizontal bracket (2) are adjusted by arranging a horizontal locking knob (14) on the horizontal cylinder (12).
3. The tunneling laser pointing measurement control device according to claim 2, characterized in that: a left and right adjusting knob (33) for adjusting the left and right offset of the laser is arranged at the top of the laser direction indicator (8);
the front end of the laser direction indicator (8) is provided with a laser emitting port (34);
and an up-down adjusting knob (35) used for adjusting the up-down offset of the laser is arranged at the rear end of the laser direction indicator (8).
4. The tunneling laser pointing measurement control device according to claim 3, characterized in that: the control host (41) is internally provided with a control circuit board, a central controller and a communication module are integrated on the control circuit board, and the communication module is respectively in data connection with the monitoring server and the monitoring terminal through a wireless network.
5. A roadway driving laser pointing measurement method is characterized in that: the method comprises the following steps:
the method comprises the following steps: arranging a receiving part tunneling machine in a roadway to be tunneled, installing a laser direction indicator (8) on a roadway top plate on the rear side of the tunneling machine through a vertical support (1) and a horizontal support (2), specifically arranging the laser direction indicator (8) at the center line position of the roadway top plate, wherein the laser emission angle of the laser direction indicator (8) is consistent with the tunneling direction of the roadway;
step two: a pair of horizontal moving targets are installed on a heading machine body, detection targets (102) of the horizontal moving targets are vertically installed on a target seat sliding block (103), the target seat sliding block (103) is installed on a sliding rail (105) arranged on the upper side of the heading machine body, and the two horizontal moving targets are arranged in parallel;
step three: the control host (41) sends a signal to control the heading machine to start heading operation, and the control host (41) respectively sends control signals to the screw rod driving motor (5), the rotary driving motor (21) and the vertical driving motor (22) to adjust the installation position and the laser emission angle of the laser direction indicator (8), so that laser beams emitted by the laser direction indicator (8) can be simultaneously shot on the detection targets (102) of the two horizontal moving targets;
the detection target (102) acquires a coordinate position of a current laser beam on the detection target (102) through a laser capture circuit board, coordinate position data comprise a left position (Ax, Bx), a right position (Ax), an upper position (Ay), a lower position (By), and the detection target (102) sends the coordinate position data to a microcontroller (107) through a lead for further processing;
step four: controlling an inclination angle sensor (106) to simultaneously acquire the current tunneling pitch angle data of the tunneling machine, and sending the pitch angle data to a microcontroller (107) by the inclination angle sensor (106) through a lead for further processing;
step five: presetting a distance parameter in the calculation parameters of a heading machine microcontroller (107), and defining:
the laser direction indicator (8) emits laser beams to reach the first horizontal moving target by a distance L1, and the distance between the two horizontal moving targets is L0;
and then calculating the pose measurement data of the current heading machine by combining the received laser coordinate data, wherein the pose measurement data comprises the following steps:
the calculation formula of the pitch angle Yaw is as follows:
the heading angle Pitch is calculated as:
roll angle Roll data are measured data of the tilt sensor (6);
the formula for the horizontal displacement dx is:
the formula for the height displacement dy is:
the depth displacement dz is calculated as:
dz=L1；
in the coordinate system of the above formula, an X axis is defined as the width of a roadway driving surface, a Y axis is defined as the height of the roadway driving surface, and a Z axis is defined as the depth of the roadway driving direction;
ax and Bx are x coordinates of the positions of the points where the laser beams strike the first and second horizontal movement targets, respectively;
ay and By are the y-coordinates of the positions of the points where the laser beams impinge on the first and second horizontal movement targets, respectively.
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