CN117890917A - Drill jumbo blast hole laser ranging and positioning method - Google Patents
Drill jumbo blast hole laser ranging and positioning method Download PDFInfo
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- CN117890917A CN117890917A CN202410077352.0A CN202410077352A CN117890917A CN 117890917 A CN117890917 A CN 117890917A CN 202410077352 A CN202410077352 A CN 202410077352A CN 117890917 A CN117890917 A CN 117890917A
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- 238000005422 blasting Methods 0.000 claims description 5
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Abstract
The invention discloses a drill jumbo blast hole laser ranging and positioning method, which comprises the following steps: step one: continuously adjusting the car body in a position interval of effectively operating and drilling the blast holes by adopting a drill jumbo on the section of the mine tunnel according to the range of a preset blast hole position diagram, enabling the axis of the car body to coincide with the ground survey line at the top of the mine tunnel, and preprocessing all blast hole position points in the position interval of the target drilling blast hole. After judging whether the overlapping points are optimal or not by carrying out accurate processing on all the overlapping points in the target overlapping area, converting the vertical distance between the laser transmitter and the virtual positioning surface into the vertical distance between the laser ranging target and the virtual positioning surface, and further determining that the center position of the drill rod of the drilling trolley is the position of the blast hole to be drilled according to the vertical distance, thereby playing a more accurate role in positioning the blast hole by laser ranging.
Description
Technical Field
The invention relates to the technical field of laser ranging, in particular to a drill jumbo blast hole laser ranging positioning method.
Background
The drilling trolley is also called a drilling trolley, is a drilling device for tunnel and underground engineering construction by adopting a drilling and blasting method, and can move and support a plurality of drilling machines to simultaneously drill holes. Mainly comprises a rock drill, a drill boom (a bearing, positioning and propelling mechanism of the rock drill), a frame of a steel structure, a running mechanism and other necessary auxiliary equipment, and equipment added according to engineering requirements. When the drilling and blasting method is used for excavating tunnels, favorable use conditions are provided for the drilling trolley, and the combination of the drilling trolley and the ballasting equipment can accelerate the construction speed, improve the labor productivity and improve the labor conditions.
Currently, according to a blast hole engineering design drawing, a worker marks the position of a blast hole on a section of a mine channel by red paint, and then operates a drill jumbo to drill the blast hole. Because the section of the mine channel is uneven, the section state is very complex, the position accuracy of the blast hole is affected, and the time and the labor are wasted.
The method adopted in the prior art is that the distance from the laser generator to the positioning section is measured, then the moving distance of the surface of the laser beam bracket is calculated according to the actual hole position and the corresponding hole position on the laser beam bracket through a proportional relation, and the singlechip controls the laser beam bracket to move so as to achieve the purpose of positioning. However, the actual positioning sections are uneven, the state is very complex, the positioning error is large, and the accuracy of the position of the blast hole is directly affected.
Disclosure of Invention
The invention aims to provide a drill jumbo blast hole laser ranging and positioning method for solving the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a drill jumbo blast hole laser ranging and positioning method comprises the following steps:
Step one: continuously adjusting a car body in a position interval of effectively operating and drilling the blast holes by adopting a drill jumbo on the section of the mine tunnel according to the range of a preset blast hole position diagram, enabling the axis of the car body to coincide with the ground survey line at the top of the mine tunnel, and preprocessing all blast hole position points in the position interval of the target drilling blast hole;
Step two: after preprocessing all blasthole position points in a target drilling blasthole position interval, comparing deviation values between each group of blasthole design position points and vertical projection points of a laser in a roadway section by using blasthole design position points designed by a blasting concept, then establishing a laser coordinate system by taking a laser emitter as an origin with the smallest deviation value as an optimal deviation value, and adding or subtracting the optimal deviation value from each coordinate value to convert the blasthole design position points in the group of the optimal deviation values into the laser coordinate system;
Step three: according to a laser coordinate system, calculating deflection angles alpha and beta of laser in the horizontal direction and the vertical direction according to the center coordinates of a position point designed through a blast hole and the offset distance between a laser ranging target and the center of a drill rod of a drilling trolley, wherein a calculation formula is as follows:
In the above formula, x represents the abscissa of the blast hole under a laser coordinate system; y represents the ordinate of the blast hole under the laser coordinate system; l represents the vertical distance between the laser transmitter and the virtual positioning surface; the virtual positioning surface is a plane perpendicular to the ground measuring axis of the roadway and is positioned between the body of the rock drilling trolley and the section of the roadway;
step four: transmitting deflection angles alpha and beta of laser in the horizontal direction and the vertical direction to a drill jumbo controller in a signal mode through a signal converter, and driving an omnibearing cradle head on the drill jumbo by using the drill jumbo controller, wherein the omnibearing cradle head drives a laser transmitter to deflect corresponding angles in the horizontal direction and the vertical direction;
Step five: the method comprises the steps of controlling a drilling trolley to continuously adjust a trolley body in an effective overlapping area, enabling a laser ranging target to gradually overlap with an optimal overlapping point found in a laser beam area emitted by a laser emitter, and accurately processing all overlapping points in the target overlapping area;
Step six: after judging whether the optimal coincidence point is the optimal coincidence point, converting the vertical distance between the laser transmitter and the virtual positioning surface into the vertical distance between the laser ranging target and the virtual positioning surface, and further according to the vertical distance, determining that the center position of the drill rod of the drilling trolley is the position of the blast hole to be drilled.
Preferably, the preprocessing is performed for all the blast hole position points in the target drilling blast hole position interval in the step one, and the method comprises the following steps:
S1, uniformly selecting test working conditions of n different blast hole position points;
S2, taking out test working conditions of different blast hole position points in the S1, and respectively recording the test working conditions as working conditions A.
S3, an industrial laser ranging sensor is adopted and comprises a laser transmitter, a laser receiver and a signal processing circuit, wherein the industrial laser ranging sensor designates a corresponding blast hole position point through multiple laser emission, and receives corresponding laser signals reflected by a laser target to realize laser ranging (namely, the laser is a vertical projection point of the laser on the section of a roadway);
And S4, marking the laser ranging (namely, the vertical projection point of the laser on the section of the roadway) realized by each group as sample data, and updating the sample data into a sample database A for storage.
Preferably, the equipment required by the drilling trolley for drilling the blast holes in the method comprises the following steps:
The industrial laser ranging sensor is arranged on the omnibearing cradle head and realizes the horizontal and vertical rotation of the industrial laser ranging sensor;
the laser ranging target is arranged on a bracket at the front end of the drill jumbo propelling beam and is used for receiving laser signals and reflecting the laser signals;
The omnibearing cradle head is suspended and fixed under the central axis of the ceiling of the drill jumbo operation room, two stepping motors for controlling the horizontal direction and the vertical direction are arranged in the omnibearing cradle head, and the omnibearing cradle head is connected with the drill jumbo controller and is used for receiving control signals of the drill jumbo controller, and the industrial laser ranging sensor is controlled to rotate by controlling the rotation of the two stepping motors in the horizontal direction and the vertical direction of the omnibearing cradle head.
Preferably, the method for precisely processing all coincident points in the target coincident region in the fifth step comprises the following steps:
s1, uniformly selecting test working conditions of n different coincident points;
s2, taking out test working conditions of different coincident points in the S1, and respectively recording the test working conditions as working conditions A.
S3, in the overlapping area, the corresponding overlapping point is designated by adopting the laser transmitter to emit laser beams for a plurality of times, corresponding laser signal points reflected by the laser targets are received as sample data to be marked, and the sample data are updated into the sample database B to be stored.
Preferably, a simulation coincidence model is established according to each group of laser signal points, a corresponding curve to be coincident is obtained according to the simulation coincidence model, the curve to be coincident of each group is compared with a standard optimized coincidence curve, a deviation degree difference value is obtained, and the deviation is further led to the early warning signal feedback information control library.
Preferably, the signal obtained from the information control library is analyzed, judged and decided, and the method specifically comprises the following steps: presetting a permissible deviation parameter value, comparing the actually obtained deviation value with a preset deviation parameter value, judging that the deviation value is not the optimal coincidence curve if the deviation value exceeds or is lower than the deviation parameter value, otherwise, judging that the deviation value is the optimal coincidence curve, namely the optimal coincidence point
Advantageous effects
Compared with the prior art, the invention provides a laser ranging and positioning method for a drill jumbo blast hole, which has the following beneficial effects:
1. According to the drill jumbo blast hole laser ranging and positioning method, blast hole design position points in the group of optimal deviation values are converted into a laser coordinate system by establishing the laser coordinate system, the deflection angles of laser in the horizontal direction and the vertical direction are calculated according to the center coordinates of the blast hole design position points and the offset distance between a laser ranging target and the center of a drill rod of the drill jumbo according to the laser coordinate system, and an operator drives a laser emitter to deflect corresponding angles in the horizontal direction and the vertical direction according to the deflection angles, so that a good foundation effect is provided for laser ranging and positioning.
2. According to the drill jumbo borehole laser ranging and positioning method, after whether the alignment points are optimal alignment points or not is judged by performing accurate processing on all alignment points in the target alignment area, the vertical distance between the laser emitter and the virtual positioning surface is converted into the vertical distance between the laser ranging target and the virtual positioning surface, and then according to the vertical distance, the center position of a drill rod of the drill jumbo can be determined to be the position of the borehole to be drilled, so that the effect of more accurately ranging and positioning the borehole laser is achieved.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a drill jumbo blast hole laser ranging and positioning method, which comprises the following steps:
Step one: continuously adjusting the car body in a position interval for effectively operating and drilling the blast holes by adopting a drill jumbo on the section of the mine tunnel according to the range of a preset blast hole position diagram, enabling the axis of the car body to coincide with the ground survey line at the top of the mine tunnel, and preprocessing all blast hole position points in the position interval for target drilling the blast holes;
Step two: after preprocessing all blasthole position points in a target drilling blasthole position interval, comparing deviation values between each group of blasthole design position points and vertical projection points of a laser in a roadway section by using blasthole design position points designed by a blasting concept, then establishing a laser coordinate system by taking a laser emitter as an origin with the smallest deviation value as an optimal deviation value, and adding or subtracting the optimal deviation value from each coordinate value to convert the blasthole design position points in the group of the optimal deviation values into the laser coordinate system;
Step three: according to a laser coordinate system, calculating deflection angles alpha and beta of laser in the horizontal direction and the vertical direction according to the center coordinates of a position point designed through a blast hole and the offset distance between a laser ranging target and the center of a drill rod of a drilling trolley, wherein a calculation formula is as follows:
In the above formula, x represents the abscissa of the blast hole under a laser coordinate system; y represents the ordinate of the blast hole under the laser coordinate system; l represents the vertical distance between the laser transmitter and the virtual positioning surface; the virtual positioning surface is a plane perpendicular to the ground measuring axis of the roadway and is positioned between the body of the rock drilling trolley and the section of the roadway;
step four: transmitting deflection angles alpha and beta of laser in the horizontal direction and the vertical direction to a drill jumbo controller in a signal mode through a signal converter, and driving an omnibearing cradle head on the drill jumbo by using the drill jumbo controller, wherein the omnibearing cradle head drives a laser transmitter to deflect corresponding angles in the horizontal direction and the vertical direction;
Step five: the drilling trolley is controlled to continuously adjust the trolley body in the effective overlapping area, so that the laser ranging target gradually overlaps with the optimal overlapping point found in the laser beam area emitted by the laser emitter, and all the overlapping points in the target overlapping area are accurately processed;
Step six: after judging whether the optimal coincidence point is the optimal coincidence point, converting the vertical distance between the laser transmitter and the virtual positioning surface into the vertical distance between the laser ranging target and the virtual positioning surface, and further according to the vertical distance, determining that the center position of the drill rod of the drilling trolley is the position of the blast hole to be drilled.
Preprocessing all blasthole position points in the target drilling blasthole position interval in the first step, wherein the method comprises the following steps of:
S1, uniformly selecting test working conditions of n different blast hole position points;
S2, taking out test working conditions of different blast hole position points in the S1, and respectively recording the test working conditions as working conditions A.
S3, an industrial laser ranging sensor is adopted and comprises a laser transmitter, a laser receiver and a signal processing circuit, wherein the industrial laser ranging sensor designates a corresponding blast hole position point through multiple laser emission, and receives corresponding laser signals reflected by a laser target to realize laser ranging (namely, the laser is a vertical projection point of the laser on the section of a roadway);
And S4, marking the laser ranging (namely, the vertical projection point of the laser on the section of the roadway) realized by each group as sample data, and updating the sample data into a sample database A for storage.
The equipment required by drilling the blast holes by the drilling trolley in the method comprises the following steps:
The industrial laser ranging sensor is arranged on the omnibearing cradle head and realizes the horizontal and vertical rotation of the industrial laser ranging sensor;
the laser ranging target is arranged on a bracket at the front end of the drill jumbo propelling beam and is used for receiving laser signals and reflecting the laser signals;
The omnibearing cradle head is suspended and fixed under the central axis of the ceiling of the drill jumbo operation room, two stepping motors for controlling the horizontal direction and the vertical direction are arranged in the omnibearing cradle head, and the omnibearing cradle head is connected with the drill jumbo controller and is used for receiving control signals of the drill jumbo controller, and the industrial laser ranging sensor is controlled to rotate by controlling the rotation of the two stepping motors in the horizontal direction and the vertical direction of the omnibearing cradle head.
And (3) performing accurate processing on all overlapping points in the target overlapping region in the step five, wherein the method comprises the following steps:
s1, uniformly selecting test working conditions of n different coincident points;
s2, taking out test working conditions of different coincident points in the S1, and respectively recording the test working conditions as working conditions A.
S3, in the overlapping area, the corresponding overlapping point is designated by adopting the laser transmitter to emit laser beams for a plurality of times, corresponding laser signal points reflected by the laser targets are received as sample data to be marked, and the sample data are updated into the sample database B to be stored.
And establishing a simulation coincidence model according to each group of laser signal points, acquiring corresponding curves to be coincident according to the simulation coincidence model, comparing each group of curves to be coincident with a standard optimized coincidence curve to obtain a deviation degree difference value, and further deviating from the early warning signal feedback information control library.
Analyzing, judging and making a decision according to signals obtained by the information control library, wherein the method comprises the following steps of: and presetting a permissible deviation parameter value, comparing the actually obtained deviation value with a preset deviation parameter value, and judging that the deviation value is not the optimal coincidence curve if the deviation value exceeds or is lower than the deviation parameter value, otherwise, judging that the deviation value is the optimal coincidence curve, namely the optimal coincidence point.
Through design accurate processing, judge whether all coincident points in the target coincidence region are the optimal coincident point, after judging, turn into the perpendicular distance between virtual locating surface to the laser range finding target with the perpendicular distance between the virtual locating surface of laser emitter, and then according to perpendicular distance, then can confirm drill jumbo drilling rod central point and be to bore the big gun hole position promptly to the effect of more accurate to big gun hole laser range finding location has been played.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (6)
1. The laser ranging and positioning method for the drill jumbo blast hole is characterized by comprising the following steps of:
Step one: continuously adjusting a car body in a position interval of effectively operating and drilling the blast holes by adopting a drill jumbo on the section of the mine tunnel according to the range of a preset blast hole position diagram, enabling the axis of the car body to coincide with the ground survey line at the top of the mine tunnel, and preprocessing all blast hole position points in the position interval of the target drilling blast hole;
Step two: after preprocessing all blasthole position points in a target drilling blasthole position interval, comparing deviation values between each group of blasthole design position points and vertical projection points of a laser in a roadway section by using blasthole design position points designed by a blasting concept, then establishing a laser coordinate system by taking a laser emitter as an origin with the smallest deviation value as an optimal deviation value, and adding or subtracting the optimal deviation value from each coordinate value to convert the blasthole design position points in the group of the optimal deviation values into the laser coordinate system;
Step three: according to a laser coordinate system, calculating deflection angles alpha and beta of laser in the horizontal direction and the vertical direction according to the center coordinates of a position point designed through a blast hole and the offset distance between a laser ranging target and the center of a drill rod of a drilling trolley, wherein a calculation formula is as follows:
In the above formula, x represents the abscissa of the blast hole under a laser coordinate system; y represents the ordinate of the blast hole under the laser coordinate system; l represents the vertical distance between the laser transmitter and the virtual positioning surface; the virtual positioning surface is a plane perpendicular to the ground measuring axis of the roadway and is positioned between the body of the rock drilling trolley and the section of the roadway;
step four: transmitting deflection angles alpha and beta of laser in the horizontal direction and the vertical direction to a drill jumbo controller in a signal mode through a signal converter, and driving an omnibearing cradle head on the drill jumbo by using the drill jumbo controller, wherein the omnibearing cradle head drives a laser transmitter to deflect corresponding angles in the horizontal direction and the vertical direction;
Step five: the method comprises the steps of controlling a drilling trolley to continuously adjust a trolley body in an effective overlapping area, enabling a laser ranging target to gradually overlap with an optimal overlapping point found in a laser beam area emitted by a laser emitter, and accurately processing all overlapping points in the target overlapping area;
Step six: after judging whether the optimal coincidence point is the optimal coincidence point, converting the vertical distance between the laser transmitter and the virtual positioning surface into the vertical distance between the laser ranging target and the virtual positioning surface, and further according to the vertical distance, determining that the center position of the drill rod of the drilling trolley is the position of the blast hole to be drilled.
2. The drill jumbo blast hole laser ranging and positioning method according to claim 1, characterized in that: preprocessing all blasthole position points in the target drilling blasthole position interval in the first step, wherein the method comprises the following steps of:
S1, uniformly selecting test working conditions of n different blast hole position points;
S2, taking out test working conditions of different blast hole position points in the S1, and respectively recording the test working conditions as working conditions A.
S3, an industrial laser ranging sensor is adopted and comprises a laser transmitter, a laser receiver and a signal processing circuit, wherein the industrial laser ranging sensor designates a corresponding blast hole position point through multiple laser emission, and receives corresponding laser signals reflected by a laser target to realize laser ranging (namely, the laser is a vertical projection point of the laser on the section of a roadway);
And S4, marking the laser ranging (namely, the vertical projection point of the laser on the section of the roadway) realized by each group as sample data, and updating the sample data into a sample database A for storage.
3. The drill jumbo blast hole laser ranging and positioning method according to claim 1, characterized in that: the equipment required by the drilling trolley for drilling the blast holes in the method comprises the following steps:
The industrial laser ranging sensor is arranged on the omnibearing cradle head and realizes the horizontal and vertical rotation of the industrial laser ranging sensor;
the laser ranging target is arranged on a bracket at the front end of the drill jumbo propelling beam and is used for receiving laser signals and reflecting the laser signals;
The omnibearing cradle head is suspended and fixed under the central axis of the ceiling of the drill jumbo operation room, two stepping motors for controlling the horizontal direction and the vertical direction are arranged in the omnibearing cradle head, and the omnibearing cradle head is connected with the drill jumbo controller and is used for receiving control signals of the drill jumbo controller, and the industrial laser ranging sensor is controlled to rotate by controlling the rotation of the two stepping motors in the horizontal direction and the vertical direction of the omnibearing cradle head.
4. The drill jumbo blast hole laser ranging and positioning method according to claim 1, characterized in that: and (3) performing accurate processing on all overlapping points in the target overlapping region in the step five, wherein the method comprises the following steps:
s1, uniformly selecting test working conditions of n different coincident points;
s2, taking out test working conditions of different coincident points in the S1, and respectively recording the test working conditions as working conditions A.
S3, in the overlapping area, the corresponding overlapping point is designated by adopting the laser transmitter to emit laser beams for a plurality of times, corresponding laser signal points reflected by the laser targets are received as sample data to be marked, and the sample data are updated into the sample database B to be stored.
5. The laser ranging and positioning method for the blast holes of the drill jumbo as claimed in claim 4, wherein the method comprises the following steps: and establishing a simulation coincidence model according to each group of laser signal points, acquiring corresponding curves to be coincident according to the simulation coincidence model, comparing each group of curves to be coincident with a standard optimized coincidence curve to obtain a deviation degree difference value, and further deviating from the early warning signal feedback information control library.
6. The drill jumbo blast hole laser ranging and positioning method according to claim 5, wherein the method comprises the following steps: analyzing, judging and making a decision according to the signals obtained by the information control library, wherein the method comprises the following steps of: and presetting a permissible deviation parameter value, comparing the actually obtained deviation value with a preset deviation parameter value, and judging that the deviation value is not the optimal coincidence curve if the deviation value exceeds or is lower than the deviation parameter value, otherwise, judging that the deviation value is the optimal coincidence curve, namely the optimal coincidence point.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202410077352.0A CN117890917A (en) | 2024-01-19 | 2024-01-19 | Drill jumbo blast hole laser ranging and positioning method |
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| CN202410077352.0A CN117890917A (en) | 2024-01-19 | 2024-01-19 | Drill jumbo blast hole laser ranging and positioning method |
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