CN114689012A - Vertical guiding system and guiding method for attitude measurement of vertical heading machine - Google Patents

Vertical guiding system and guiding method for attitude measurement of vertical heading machine Download PDF

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Publication number
CN114689012A
CN114689012A CN202210489599.4A CN202210489599A CN114689012A CN 114689012 A CN114689012 A CN 114689012A CN 202210489599 A CN202210489599 A CN 202210489599A CN 114689012 A CN114689012 A CN 114689012A
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vertical
heading machine
axis
gyroscope
guide system
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CN114689012B (en
Inventor
吴志洋
杨正凡
丁晓辉
杨甜甜
王慈航
王龙驹
郭素阳
徐胜
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Tianhe Mechanical Equipment Manufacturing Co Ltd
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Tianhe Mechanical Equipment Manufacturing Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/002—Active optical surveying means
    • G01C15/008—Active optical surveying means combined with inclination sensor
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
    • G01C15/10—Plumb lines
    • G01C15/105—Optical plumbing

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Gyroscopes (AREA)

Abstract

The invention provides a vertical guide system and a guide method for measuring the attitude of a vertical heading machine.A vertical shaft heading machine is provided with a measuring channel for transmitting the emission light of a vertical collimator and a laser range finder, the emission direction of the vertical collimator vertically faces downwards to a laser detection target, and the laser range finder measures the vertical distance between a working platform of the guide system and the vertical collimator; the X axes of the laser detection target and the anti-seismic detector are consistent with the north-seeking direction on the gyroscope, the X axis of the laser detection target rotates anticlockwise by 90 degrees to be defined as a Y axis, and a coordinate system of the vertical guide system is established. According to the invention, a measuring channel is opened on the vertical heading machine for the transmission light of the vertical collimator and the laser range finder to pass through, and the gyroscope is used for measuring the self-rotation angle of the heading machine, so that the absolute position of the heading machine during starting can be measured, and the retest of the X-axis pitch angle and the Y-axis pitch angle of the anti-seismic clinometer can be realized according to the roll angle and the pitch angle on the gyroscope.

Description

Vertical guiding system and guiding method for attitude measurement of vertical heading machine
Technical Field
The invention relates to a heading machine, in particular to a vertical heading machine.
Background
The heading machines are generally classified into a horizontal heading machine and a vertical shaft heading machine, and a vertical shaft guide system is an important system for monitoring the position and posture of the hard rock vertical heading machine in real time during the construction process of the vertical shaft heading machine. The system can be used for mastering the position and the posture of the vertical tunneling machine in real time, so that the vertical tunneling machine can accurately tunnel according to a preset line, and the vertical shaft is ensured to be accurately communicated. At present, the guide system of the shaft development machine is very few. At present, the following heading machine attitude measurement technical scheme is mainly adopted: according to the first scheme, the horizontal displacement offset of the axis of the vertical heading machine is measured by using a displacement measurement system, the heading angle offset of the axis of the vertical shaft heading machine is measured by using an attitude measurement system, but the problem of autorotation of the heading machine in actual work is not considered, the working performance or the service life of some equipment is weakened because the autorotation angle of the heading machine is not corrected in time, the measurement of the horizontal displacement offset is influenced by the autorotation angle of the heading machine, and a large error can occur in the horizontal displacement offset measured according to the scheme. And in the second scheme, the double photosensitive targets and the double-shaft inclinometer are used for acquiring related data and calculating to obtain the current inclination pitching attitude, the offset and the rolling angle of the heading machine, but the double photosensitive targets have high requirements on installation synchronism, the synchronism of light spot change is difficult to guarantee in a complex environment, and the offset and the rolling angle of the heading machine cannot be accurately calculated finally without considering errors of manually installing measuring equipment.
Disclosure of Invention
The purpose of the invention is as follows: the vertical guide system and the vertical guide method for measuring the attitude of the vertical heading machine are provided, can compensate installation errors, do not need to consider factors such as complex environment and have universal applicability.
The technical scheme is as follows: a vertical guide system for measuring the attitude of a vertical heading machine comprises a vertical shaft heading machine arranged in a vertical shaft hole, a vertical collimator arranged at the hole opening of the vertical shaft hole, a guide system working platform fixed in the vertical shaft heading machine, a laser detection target arranged on the guide system working platform of the vertical shaft heading machine, a laser distance meter, a gyroscope, an anti-seismic clinometer, a data transmission unit and a data processing unit, wherein the laser detection target, the laser distance meter, the gyroscope and the anti-seismic clinometer are respectively connected with the data transmission unit, and the data transmission unit is connected with the data processing unit;
the vertical shaft heading machine is provided with a measuring channel for transmitting the emission light of the vertical collimator and the laser range finder to pass through, the emission direction of the vertical collimator vertically faces downwards to the laser detection target, and the laser range finder measures the vertical distance between the guide system working platform and the vertical collimator; the X-axis of the laser detection target and the X-axis of the anti-seismic detector are consistent with the north-pointing direction of the gyroscope, the X-axis of the laser detection target rotates 90 degrees counterclockwise to be defined as a Y-axis, and a coordinate system of the vertical guide system is established.
Furthermore, the plummet is installed on adjustable support and is realized the removal of two vertical directions on the horizontal plane.
Furthermore, the adjustable support comprises a back plate fixed on the wall of the hole, a sliding plate attached to the back plate and connected in a horizontal sliding manner, two supporting arms and a fixing plate, wherein one ends of the two supporting arms are fixed on the sliding plate and extend out horizontally, the fixing plate is connected with the other ends of the two supporting arms, sliding grooves are formed in the supporting arms, and fixing bolts of the vertical collimator slide in the sliding grooves.
Furthermore, a reflecting plate facing the laser range finder is further arranged on the adjustable support.
Further, the guide system working platform is horizontally arranged and has a smooth surface.
A vertical guiding method for measuring the attitude of a vertical heading machine comprises the following steps:
(1) when the vertical shaft heading machine goes into the well for the first time, defining the north direction of the gyroscope as the initial position of the vertical shaft heading machine;
(2) the anti-seismic clinometer is consistent with the coordinate system of the vertical guide system, so that the pitching angles in the X-axis and Y-axis directions can be measured, and the vertical heading machine is adjusted according to the pitching angles of the X-axis and the Y-axis to be kept in a horizontal state;
(3) adjusting the vertical collimator to enable the laser beam emitted by the vertical heading machine to be just shot at the positive center of the laser detection target when the vertical heading machine is in a horizontal state;
(4) at the initial moment, the central coordinates of the light spot on the laser detection target are obtained as
Figure 100002_DEST_PATH_IMAGE001
The X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometer are respectively
Figure 100002_DEST_PATH_IMAGE002
And
Figure 100002_DEST_PATH_IMAGE003
the self-rotation angle of the vertical tunneling machine measured by the gyroscope is
Figure 100002_DEST_PATH_IMAGE004
Angle of rolling
Figure 100002_DEST_PATH_IMAGE005
And pitch angle
Figure 100002_DEST_PATH_IMAGE006
The distance from the laser range finder to the reflector is
Figure 100002_DEST_PATH_IMAGE007
Wherein
Figure 100002_DEST_PATH_IMAGE008
，
Figure 100002_DEST_PATH_IMAGE009
；
Obtaining the coordinates of the light spots of the heading machine in the horizontal state according to the X-axis pitch angle and the Y-axis pitch angle at the initial moment:
Figure 100002_DEST_PATH_IMAGE010
，
Figure 100002_DEST_PATH_IMAGE011
i.e. obtaining the coordinates in the horizontal state as
Figure 100002_DEST_PATH_IMAGE012
；
According to the data of the gyroscope in the initial state, solving the self-rotation angle error at the initial moment as follows:
Figure 100002_DEST_PATH_IMAGE013
(ii) a And further obtaining the offset error of the heading machine at the initial moment as follows:
Figure 100002_DEST_PATH_IMAGE014
，
Figure 100002_DEST_PATH_IMAGE015
；
(5) the center coordinates of the light spot of the plumb aligner on the laser detection target are obtained at the continuous working time of the guide system
Figure 100002_DEST_PATH_IMAGE016
Acquiring the pitch angles of the X axis and the Y axis of the anti-seismic inclinometer at the moment respectively
Figure 100002_DEST_PATH_IMAGE017
，
Figure 100002_DEST_PATH_IMAGE018
Acquiring the self-rotation angle of the vertical tunneling machine measured by the gyroscope at the moment
Figure 100002_DEST_PATH_IMAGE019
Obtaining the distance from the laser range finder to the reflector at the moment
Figure 100002_DEST_PATH_IMAGE020
；
Figure 100002_DEST_PATH_IMAGE021
Is a horizontal projection coordinate of the central coordinate of the light spot on the laser detection target at the initial moment,
Figure 100002_DEST_PATH_IMAGE022
to measure the horizontal projection coordinates of the spot center coordinates on the laser target at the time of the measurement,
Figure 100002_DEST_PATH_IMAGE023
the horizontal projection coordinate of the spot center coordinate on the laser detection target of the heading machine under the condition of no offset:
obtaining current rotation angle by gyroscope
Figure 4803DEST_PATH_IMAGE019
Angle of rolling
Figure 100002_DEST_PATH_IMAGE024
And pitch angle
Figure 100002_DEST_PATH_IMAGE025
Compensating the error value of the rotation angle, and measuring the actual rotation angle of the development machine
Figure 100002_DEST_PATH_IMAGE026
；
② at the moment, the air conditioner is in a closed state,
Figure 100002_DEST_PATH_IMAGE027
or
Figure 100002_DEST_PATH_IMAGE028
Judging that the gyroscope or the anti-seismic inclinometer has a fault, and checking equipment;
thirdly, pitching angle of X axis and pitching angle of Y axis according to anti-seismic clinometerElevation angle can be calculated to obtain the projection of the center coordinates of the light spot of the heading machine in the horizontal state
Figure 436790DEST_PATH_IMAGE022
Wherein
Figure 100002_DEST_PATH_IMAGE029
，
Figure 100002_DEST_PATH_IMAGE030
；
Fourthly, the coordinate of the spot center without offset under the horizontal state is
Figure 91893DEST_PATH_IMAGE023
Can be prepared by
Figure 100002_DEST_PATH_IMAGE031
Is used as the center of a circle,
Figure 100002_DEST_PATH_IMAGE032
is a circle and cross of radius
Figure 100002_DEST_PATH_IMAGE033
The straight lines intersect to obtain:
Figure 100002_DEST_PATH_IMAGE034
solve to obtain two points intersecting with the circle
Figure 100002_DEST_PATH_IMAGE035
And
Figure 100002_DEST_PATH_IMAGE036
；
fifthly, because the pitching attitude, the self-rotation angle and the offset of the heading machine are measured in real time in the excavation process, the variation is very small, and if the variation is small, the variation is small
Figure 100002_DEST_PATH_IMAGE037
，
Figure 674053DEST_PATH_IMAGE036
Discarding;
sixthly, is composed of
Figure 455802DEST_PATH_IMAGE022
And
Figure 747106DEST_PATH_IMAGE023
the offset between the heading machine at the current measurement moment and the heading machine at the initial moment can be obtained as follows:
Figure 100002_DEST_PATH_IMAGE038
，
Figure 100002_DEST_PATH_IMAGE039
and compensating the offset error to obtain the actual offset of the heading machine at the moment as follows:
Figure 100002_DEST_PATH_IMAGE040
,
Figure 100002_DEST_PATH_IMAGE041
；
seventhly, the distance between the laser distance meter and the reflector at the moment is obtained
Figure 827189DEST_PATH_IMAGE020
And the vertical tunneling machine tunnels the wells until the time is as follows:
Figure 100002_DEST_PATH_IMAGE042
。
according to the scheme, the vertical heading machine is provided with the measuring channel for the light emitted by the vertical collimator and the laser range finder to pass through, the gyroscope is used for measuring the self-rotation angle of the heading machine, the absolute position of the heading machine during starting can be measured, the repeated measurement of the X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometer can be realized according to the roll angle and the pitch angle of the gyroscope, and if the difference between the pitch angle data of the gyroscope and the pitch angle data of the anti-seismic inclinometer exceeds a preset value in the actual measurement process, the gyroscope or the inclinometer is judged to have a fault, and the alarm and the overhaul are carried out in time. Therefore, the invention does not need to consider factors such as complex environment and the like, has low installation requirement, is suitable for more complex working condition environment, has universal applicability, compensates errors caused by factors such as manual installation and debugging and the like, and has more accurate and reliable measuring result.
Drawings
FIG. 1 is a schematic view of the construction of the vertical guide system of the present invention;
FIG. 2 is a schematic view of an adjustable support;
FIG. 3 is a schematic view of a guidance system coordinate system;
FIG. 4 is a flow chart of a vertical steering method of the present invention;
fig. 5 is a projection diagram of the central coordinates of the light spot when the guiding system works.
Detailed Description
A vertical guide system for measuring the attitude of a vertical heading machine is shown in figure 1 and comprises a vertical heading machine 12, a vertical collimator 2, a reflector 1, a laser detection target 3, a laser range finder 4, an anti-seismic clinometer 5, a gyroscope 6, a data transmission unit 7 and a data processing unit 8 which work in a vertical shaft hole 11.
An adjustable support 9 is arranged at the opening of the vertical shaft hole 11, and the vertical collimator 2 and the reflector 1 are both arranged on the adjustable support 9. As shown in fig. 2, the adjustable bracket 9 includes a back plate 91, a sliding plate 92, two supporting arms 93, and a fixing plate 94. One side of the back plate 91 is fixed to the wall of the hole, and the other side is slidably connected to the sliding plate 92. Specifically, two sliding grooves are formed in the sliding plate 92, two bolts are arranged on the back plate 91 in a matched manner, and the sliding plate 92 can horizontally slide along the wall of the hole by the bolts moving in the sliding grooves correspondingly. Two horizontally extending support arms 93 are fixed to the sliding plate 92 at one end and are fixedly connected at the other end by a fixing plate 94, and the fixing plate 94 is used for maintaining the distance between the two support arms 93 constant and stable. The support arms 93 are provided with sliding grooves, and the fixing bolts of the vertical collimator slide in the sliding grooves. Thus, by the movement of the slide plate 92 and the movement of the collimator in the slide slot of the support arm 93, the collimator 2 can be moved in two directions perpendicular to the plane for adjusting the position of the light spot it emits.
A horizontal guide system working platform 13 with a smooth surface is arranged in the shaft boring machine 12, and the laser detection target 3, the laser range finder 4, the anti-seismic clinometer 5 and the gyroscope 6 are arranged on the guide system working platform 13. The light emission direction of the vertical collimator 2 vertically faces downwards to the laser detection target 3, the laser emission direction of the laser range finder 4 vertically faces upwards to the reflector 1, laser scattering light beams can be enhanced by the reflector 1, remote measurement is realized, and the distance from the guide system working platform 13 to the reflector 1 can be measured. A measuring channel 10 is provided from the upper surface of the shaft boring machine 12 to the guide system work platform 13 for the light of the collimator 2 and the laser range finder 4 to pass through.
The laser detection target 3, the laser range finder 4, the gyroscope 6 and the anti-seismic clinometer 5 are respectively connected with the data transmission unit 7, and the data transmission unit 7 is connected with the data processing unit 8. In the embodiment, the data transmission unit 7 is a Moxa server, and the laser detection target 3, the laser range finder 4, the gyroscope 6 and the anti-seismic inclinometer 5 realize the upper end transmission of the data image through an RS485 network port; the data processing unit 8 is a PC, the PC is connected with the Moxa server, the received data is calculated, the real-time pitching attitude, the self-rotation angle and the offset of the heading machine 12 are obtained, and the real-time pitching attitude, the self-rotation angle and the offset are displayed on a monitoring interface of the vertical guidance system.
The X axis of the laser detection target 3 coincides with the north-seeking direction on the gyroscope 6, and a coordinate system of the vertical guide system is established by defining that the X axis of the laser detection target 3 rotates 90 degrees counterclockwise as the Y axis, as shown in fig. 3. The X axis of the anti-seismic inclinometer 5 is consistent with the north-pointing direction of the gyroscope 6, the Y axis is defined by rotating the X axis of the anti-seismic inclinometer 5 by 90 degrees in a counterclockwise direction, namely, the X axis is consistent with the coordinate system of the vertical guide system defined above, and the pitching angles in the X axis direction and the Y axis direction can be measured.
A vertical guiding method for attitude measurement of a vertical heading machine, as shown in fig. 4, comprises the following steps:
(1) when the vertical shaft heading machine 12 goes down the well for the first time, defining the north direction of the gyroscope 6 as the initial position of the vertical shaft heading machine 12;
(2) acquiring the pitch angle of the X-axis direction and the Y-axis direction of the anti-seismic inclinometer 5 installed on the system working platform 13, and adjusting the vertical tunneling machine 12 to keep the vertical tunneling machine in a horizontal state according to the pitch angle of the X-axis direction and the Y-axis direction;
(3) when the vertical heading machine 12 is in a horizontal state, the position of the plummet 2 on the adjustable bracket 9 is moved back and forth, left and right, so that the laser beam emitted by the plummet is just shot at the center of the laser detection target 3;
(4) at the initial moment, the central coordinates of the light spot on the laser detection target 3 are obtained as
Figure 32666DEST_PATH_IMAGE001
The X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometer 5 are respectively
Figure 904807DEST_PATH_IMAGE002
And
Figure 367012DEST_PATH_IMAGE003
the self-rotation angle of the vertical development machine 12 measured by the gyroscope 6 is
Figure 590183DEST_PATH_IMAGE004
Rolling angle of the roller
Figure 530457DEST_PATH_IMAGE005
And pitch angle
Figure 522684DEST_PATH_IMAGE006
The laser range finder 4 measures the distance from the reflector 1 to
Figure 919905DEST_PATH_IMAGE007
Wherein
Figure 364793DEST_PATH_IMAGE008
，
Figure 108758DEST_PATH_IMAGE009
；
The coordinates of the light spots of the heading machine 12 in the horizontal state can be obtained according to the X-axis pitch angle and the Y-axis pitch angle at the initial moment:
Figure DEST_PATH_IMAGE043
；
the gyroscope 6 can detect the rotation angle of the heading machine 12, and the rotation angle error at the initial moment is solved according to the data of the gyroscope 6 in the initial state:
Figure 424333DEST_PATH_IMAGE013
(ii) a Further, the offset error of the heading machine 12 at the initial time is obtained as follows:
Figure 228341DEST_PATH_IMAGE014
，
Figure 659060DEST_PATH_IMAGE015
；
(5) the center coordinates of the light spot of the collimator 2 on the laser detection target 3 are obtained at the continuous working time of the guide system
Figure 206716DEST_PATH_IMAGE016
The pitch angles of the X axis and the Y axis of the anti-seismic inclinometer 5 at the moment are respectively obtained as
Figure 907956DEST_PATH_IMAGE017
，
Figure 148444DEST_PATH_IMAGE018
The rotation angle of the vertical heading machine 12 measured at that time of the gyroscope 6 is obtained as
Figure 567924DEST_PATH_IMAGE019
The distance measured by the laser range finder 4 from the reflector 1 at the moment is obtained as
Figure 653692DEST_PATH_IMAGE020
(ii) a In FIG. 5
Figure 475017DEST_PATH_IMAGE021
Is a horizontal projection coordinate of the central coordinate of the light spot on the laser detection target at the initial moment,
Figure 119363DEST_PATH_IMAGE022
to measure the horizontal projection coordinates of the spot center coordinates on the laser target at the time of the measurement,
Figure 26139DEST_PATH_IMAGE023
the horizontal projection coordinate of the spot center coordinate on the laser detection target of the heading machine under the condition of no offset:
current rotation angle obtained by gyroscope 6
Figure 650018DEST_PATH_IMAGE019
Angle of rolling
Figure 591430DEST_PATH_IMAGE024
And pitch angle
Figure 908141DEST_PATH_IMAGE025
Compensating the error value of the rotation angle, and measuring the actual rotation angle of the development machine 12 as
Figure 302214DEST_PATH_IMAGE026
；
② at the moment, the air conditioner is in a closed state,
Figure 995363DEST_PATH_IMAGE027
or
Figure 758658DEST_PATH_IMAGE028
Judging that the gyroscope 6 or the anti-seismic inclinometer 5 has a fault, and returning data to the PC terminal to prompt manual equipment checking;
thirdly, the projection of the center coordinates of the light spots of the heading machine 12 in the horizontal state can be calculated according to the X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometer 5
Figure 511850DEST_PATH_IMAGE022
Wherein
Figure 127639DEST_PATH_IMAGE029
，
Figure 624480DEST_PATH_IMAGE030
；
Fourthly, the coordinate of the spot center without offset under the horizontal state is
Figure 274904DEST_PATH_IMAGE023
Can be prepared by
Figure 667839DEST_PATH_IMAGE031
Is used as the center of a circle,
Figure 535039DEST_PATH_IMAGE032
is a circle and cross of radius
Figure 304411DEST_PATH_IMAGE033
The straight lines intersect to obtain: :
Figure 74921DEST_PATH_IMAGE034
solve to obtain two points intersecting with the circle
Figure 638758DEST_PATH_IMAGE035
And
Figure 494718DEST_PATH_IMAGE036
；
fifthly, because the pitching attitude, the self-rotation angle and the offset of the heading machine 12 are measured in real time during the heading process, the change amount is very small, and if the change amount is small, the change amount is small
Figure 333361DEST_PATH_IMAGE037
Then, then
Figure 692799DEST_PATH_IMAGE036
Discarding;
sixthly, is composed of
Figure 191651DEST_PATH_IMAGE022
And
Figure 3749DEST_PATH_IMAGE023
the offset between the heading machine at the current measurement moment and the heading machine at the initial moment can be obtained as follows:
Figure 646083DEST_PATH_IMAGE038
，
Figure 125606DEST_PATH_IMAGE039
and compensating the offset error to obtain the actual offset of the heading machine at the moment as follows:
Figure 296824DEST_PATH_IMAGE040
,
Figure 861798DEST_PATH_IMAGE041
；
the distance from the laser range finder 4 to the reflector 1 at the moment is obtained
Figure 42243DEST_PATH_IMAGE020
And then, the vertical heading machine 12 tunnels the well depth until the moment:
Figure 609229DEST_PATH_IMAGE042
。

Claims (6)

1. the utility model provides a vertical guide system for vertical entry driving machine attitude measurement which characterized in that: the device comprises a vertical shaft heading machine arranged in a vertical shaft hole, a vertical collimator arranged at the opening of the vertical shaft hole, a guide system working platform fixed in the vertical shaft heading machine, a laser detection target arranged on the guide system working platform of the vertical shaft heading machine, a laser range finder, a gyroscope, an anti-seismic clinometer, a data transmission unit and a data processing unit, wherein the laser detection target, the laser range finder, the gyroscope and the anti-seismic clinometer are respectively connected with the data transmission unit, and the data transmission unit is connected with the data processing unit;
the vertical shaft heading machine is provided with a measuring channel for transmitting the emission light of the vertical collimator and the laser range finder to pass through, the emission direction of the vertical collimator vertically faces downwards to the laser detection target, and the laser range finder measures the vertical distance between the guide system working platform and the vertical collimator; the X axes of the laser detection target and the anti-seismic detector are consistent with the north-seeking direction on the gyroscope, the X axis of the laser detection target rotates anticlockwise by 90 degrees to be defined as a Y axis, and a coordinate system of the vertical guide system is established.
2. A vertical guide system for attitude measurement of a vertical entry machine according to claim 1, wherein: the plummet is installed on adjustable support and is realized the removal of two vertical directions on the horizontal plane.
3. A vertical guide system for attitude measurement of a vertical entry machine according to claim 2, wherein: the adjustable support comprises a back plate fixed on the wall of the hole, a sliding plate attached to the back plate and connected in a horizontal sliding mode, two supporting arms and a fixing plate, wherein one ends of the two supporting arms are fixed on the sliding plate and extend out horizontally, the fixing plate is connected with the other ends of the two supporting arms, sliding grooves are formed in the supporting arms, and fixing bolts of the plummet slide in the sliding grooves.
4. A vertical guide system for attitude measurement of a vertical heading machine as claimed in claim 2 wherein: and a reflector facing the laser range finder is also arranged on the adjustable bracket.
5. A vertical guide system for attitude measurement of a vertical entry machine according to claim 1, wherein: the guide system working platform is horizontally arranged and has a smooth surface.
6. A vertical guiding method for measuring the attitude of a vertical heading machine is characterized by comprising the following steps: the method comprises the following steps:
(1) when the vertical shaft heading machine goes into the well for the first time, defining the north direction of the gyroscope as the initial position of the vertical shaft heading machine;
(2) the anti-seismic clinometer is consistent with the coordinate system of the vertical guide system, so that the pitching angles in the X-axis and Y-axis directions can be measured, and the vertical heading machine is adjusted according to the pitching angles of the X-axis and the Y-axis to be kept in a horizontal state;
(3) adjusting the vertical collimator to enable the laser beam emitted by the vertical heading machine to be just shot at the positive center of the laser detection target when the vertical heading machine is in a horizontal state;
(4) at the initial moment, the central coordinates of the light spot on the laser detection target are obtained as
Figure DEST_PATH_IMAGE001
The X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometer are respectively
Figure DEST_PATH_IMAGE002
And
Figure DEST_PATH_IMAGE003
the self-rotation angle of the vertical tunneling machine measured by the gyroscope is
Figure DEST_PATH_IMAGE004
Angle of rolling
Figure DEST_PATH_IMAGE005
And pitch angle
Figure DEST_PATH_IMAGE006
The distance from the laser range finder to the reflector is
Figure DEST_PATH_IMAGE007
Wherein
Figure DEST_PATH_IMAGE008
，
Figure DEST_PATH_IMAGE009
；
Obtaining the coordinates of the light spots of the heading machine in the horizontal state according to the X-axis pitch angle and the Y-axis pitch angle at the initial moment:
Figure DEST_PATH_IMAGE010
，
Figure DEST_PATH_IMAGE011
i.e. byObtaining the coordinates in the horizontal state as
Figure DEST_PATH_IMAGE012
；
Solving the self-rotation angle error at the initial moment according to the data of the gyroscope in the initial state as follows:
Figure DEST_PATH_IMAGE013
(ii) a And further obtaining the offset error of the heading machine at the initial moment as follows:
Figure DEST_PATH_IMAGE014
，
Figure DEST_PATH_IMAGE015
；
(5) the center coordinates of the light spot of the plumb aligner on the laser detection target are obtained at the continuous working time of the guide system
Figure DEST_PATH_IMAGE016
Acquiring the pitch angles of the X axis and the Y axis of the anti-seismic inclinometer at the moment respectively
Figure DEST_PATH_IMAGE017
，
Figure DEST_PATH_IMAGE018
Acquiring the self-rotation angle of the vertical tunneling machine measured by the gyroscope at the moment
Figure DEST_PATH_IMAGE019
Obtaining the distance from the laser range finder to the reflector at the moment
Figure DEST_PATH_IMAGE020
；
Figure DEST_PATH_IMAGE021
For laser detection of central coordinates of light spot on target at initial timeThe horizontal projection coordinates of (a) are,
Figure DEST_PATH_IMAGE022
to measure the horizontal projection coordinates of the spot center coordinates on the laser target at the time of the day,
Figure DEST_PATH_IMAGE023
the horizontal projection coordinate of the spot center coordinate on the laser detection target of the heading machine under the condition of no offset is as follows:
obtaining current rotation angle by gyroscope
Figure 611550DEST_PATH_IMAGE019
Angle of rolling
Figure DEST_PATH_IMAGE024
And pitch angle
Figure DEST_PATH_IMAGE025
Compensating the error value of the rotation angle, and measuring the actual rotation angle of the development machine
Figure DEST_PATH_IMAGE026
；
② at the moment, the air conditioner is in a closed state,
Figure DEST_PATH_IMAGE027
or
Figure DEST_PATH_IMAGE028
Judging that the gyroscope or the anti-seismic inclinometer has a fault, and checking equipment;
thirdly, the projection of the center coordinates of the facula under the horizontal state of the heading machine can be calculated according to the X-axis pitch angle and the Y-axis pitch angle of the anti-seismic inclinometer
Figure 381929DEST_PATH_IMAGE022
In which
Figure DEST_PATH_IMAGE029
，
Figure DEST_PATH_IMAGE030
；
Fourthly, the coordinate of the spot center without offset under the horizontal state is
Figure 739967DEST_PATH_IMAGE023
Can be prepared by
Figure DEST_PATH_IMAGE031
Is used as the center of a circle,
Figure DEST_PATH_IMAGE032
is a circle and cross of radius
Figure DEST_PATH_IMAGE033
The straight lines intersect to obtain:
Figure DEST_PATH_IMAGE034
solve to obtain two points intersecting with the circle
Figure DEST_PATH_IMAGE035
And
Figure DEST_PATH_IMAGE036
；
fifthly, because the pitching attitude, the self-rotation angle and the offset of the heading machine are measured in real time in the excavation process, the variation is very small, and if the variation is small, the variation is small
Figure DEST_PATH_IMAGE037
，
Figure 646612DEST_PATH_IMAGE036
Discarding;
sixthly, is composed of
Figure 159633DEST_PATH_IMAGE022
And
Figure 433619DEST_PATH_IMAGE023
the offset between the heading machine at the current measurement moment and the heading machine at the initial moment can be obtained as follows:
Figure DEST_PATH_IMAGE038
，
Figure DEST_PATH_IMAGE039
and compensating the offset error to obtain the actual offset of the heading machine at the moment as follows:
Figure DEST_PATH_IMAGE040
,
Figure DEST_PATH_IMAGE041
；
seventhly, the distance between the laser distance meter and the reflector at the moment is obtained
Figure 798610DEST_PATH_IMAGE020
And the vertical tunneling machine tunnels the wells until the time is as follows:
Figure DEST_PATH_IMAGE042
。
CN202210489599.4A 2022-05-07 2022-05-07 Vertical guiding system and guiding method for attitude measurement of vertical heading machine Active CN114689012B (en)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08338721A (en) * 1995-06-09 1996-12-24 Kido Kensetsu Kogyo Kk Posture measuring instrument of shield machine for pipe with small diameter
US20030018430A1 (en) * 2001-04-23 2003-01-23 Quentin Ladetto Pedestrian navigation method and apparatus operative in a dead reckoning mode
CN111272156A (en) * 2020-05-07 2020-06-12 中国铁建重工集团股份有限公司 Automatic measurement equipment, method and system for determining attitude of vertical shaft heading machine
CN114320305A (en) * 2022-01-05 2022-04-12 浙江宁海抽水蓄能有限公司 Optical vision shaft excavation guiding system and guiding method

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08338721A (en) * 1995-06-09 1996-12-24 Kido Kensetsu Kogyo Kk Posture measuring instrument of shield machine for pipe with small diameter
US20030018430A1 (en) * 2001-04-23 2003-01-23 Quentin Ladetto Pedestrian navigation method and apparatus operative in a dead reckoning mode
CN111272156A (en) * 2020-05-07 2020-06-12 中国铁建重工集团股份有限公司 Automatic measurement equipment, method and system for determining attitude of vertical shaft heading machine
CN114320305A (en) * 2022-01-05 2022-04-12 浙江宁海抽水蓄能有限公司 Optical vision shaft excavation guiding system and guiding method

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