CN211900602U - Ray-based heading machine navigation system - Google Patents
Ray-based heading machine navigation system Download PDFInfo
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- CN211900602U CN211900602U CN202020496200.1U CN202020496200U CN211900602U CN 211900602 U CN211900602 U CN 211900602U CN 202020496200 U CN202020496200 U CN 202020496200U CN 211900602 U CN211900602 U CN 211900602U
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- 230000005641 tunneling Effects 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 10
- 238000009412 basement excavation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
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Abstract
The utility model provides a entry driving machine navigation based on ray relates to colliery entry driving machine navigation technical field. The system comprises a light receiving sensor, an inclination angle sensor, a light ray instrument, an alarm indicating device and a signal processing module; the method comprises the steps that a linear ray instrument emitting linear rays is used for guiding, a light receiving sensor is mounted on the tunneling machine to sense the light to judge deviation of the advancing direction, an inclination angle sensor is used for sensing a front inclination angle and a rear inclination angle to judge the pitching condition of the tunneling machine, the light receiving sensor and the inclination angle sensor are connected with a signal processing module, when the tunneling machine deviates from a set track, the signal processing module triggers an alarm indicating device and transmits a deviation signal to a tunneling machine control system, and therefore navigation and posture control of the tunneling machine is achieved.
Description
Technical Field
The utility model relates to a colliery entry driving machine navigation technical field especially relates to an entry driving machine navigation based on ray.
Background
At present, the deviation problem of the tunneling machine in the tunnel during the tunneling process is a key problem of tunneling the tunnel, and the navigation and orientation precision directly influences the flatness, the tunneling efficiency and the working quality of the tunneling tunnel.
At present, the main mode of underground construction in China is to provide guiding assistance by using a laser direction indicator and judge by manpower, but whether the heading machine deviates from a set route cannot be accurately judged, working surface dust is large in the heading process, light rays of a working site are poor, great difficulty is brought to heading control, the labor intensity of workers is large, the production efficiency is low, and the phenomena of roadway overtaking and undersampling are serious.
SUMMERY OF THE UTILITY MODEL
Not enough to prior art, the utility model provides a entry driving machine navigation based on ray.
The utility model adopts the technical proposal that:
a ray-based heading machine navigation system comprises a light ray receiving sensor, an inclination angle sensor, a light ray instrument, an alarm indicating device and a signal processing module;
the light receiving sensors comprise a light receiving sensor 1, a light receiving sensor 2, a light receiving sensor 3 and a light receiving sensor 4 which are respectively connected with the input end of the signal processing module, the light receiving sensor 1 and the light receiving sensor 2 are arranged on the top of the heading machine along the advancing direction of the heading machine, the height difference exists between the light receiving sensor 1 and the light receiving sensor 2, and the light receiving sensor 3 and the light receiving sensor 4 are respectively arranged on two sides of a tail vehicle body of the heading machine;
the inclination angle sensor is connected with the input end of the signal processing module and is arranged on the top of the development machine;
the light ray instrument comprises a light ray instrument 1 and a light ray instrument 2 which are respectively arranged on two sides of the top of a starting point roadway of the heading machine in a set advancing route direction;
the alarm indicating device is connected with the output end of the signal processing device, the signal processing module receives output signals of the light sensor and the inclination angle sensor and compares the output signals with a set value, and a processing result is transmitted to the heading machine control system and the alarm indicating device.
The alarm indicating device comprises an upper side indicating device 1, an upper side indicating device 2, a lower side indicating device 1, a lower side indicating device 2 and an inclination angle indicating device, output signals of the light receiving sensor 1, the light receiving sensor 2, the light receiving sensor 3, the light receiving sensor 4 and the inclination angle sensor are judged respectively, and alarm indication is carried out when the output signals exceed a set value.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
in the working process of the heading machine, the light receiving sensor and the inclination angle sensor are used for navigation, whether the heading machine deviates from the set track or not is known in time, direction adjustment is carried out in time, heading guiding accuracy is guaranteed, and error rate is reduced.
Drawings
Fig. 1 is a block diagram of a heading machine navigation system based on rays according to an embodiment of the present invention.
Fig. 2 is the utility model discloses a tunnel boring machine's light receiving sensor and inclination sensor's mounted position back view.
Wherein 1-light receiving sensor 1; 2-light receiving sensor 2; 3-light receiving sensor 3; 4-light receiving sensor 4;
fig. 3 is the utility model discloses tunnelling machine's light receiving sensor and inclination sensor's mounted position top view.
Wherein 5-tilt angle sensor;
fig. 4 is the utility model discloses the light ray frame's of tunnelling terminal surface of tunnelling machine schematic diagram.
6-ray apparatus 1; 7-ray apparatus 2; 8-vertical ray 1; 9-horizontal ray of light; 10-perpendicular ray 2;
fig. 5 is a flowchart of the working process of the signal processing module according to the embodiment of the present invention.
Detailed Description
The following describes the embodiments of the present invention in detail with reference to the accompanying drawings.
A ray-based heading machine navigation system is shown in figure 1 and comprises a light ray receiving sensor, an inclination angle sensor, a light ray instrument, an alarm indicating device and a signal processing module;
in the embodiment, the light receiving sensor adopts a photosensor TEMT6000, the tilt sensor adopts GUD90, and the light ray instrument adopts a laser emitter HA366050 DD;
the light receiving sensors comprise a light receiving sensor 1, a light receiving sensor 2, a light receiving sensor 3 and a light receiving sensor 4 which are respectively connected with the input end of the signal processing module, the light receiving sensor 1 and the light receiving sensor 2 are arranged on the top of the heading machine along the advancing direction of the heading machine, the height difference exists between the light receiving sensor 1 and the light receiving sensor 2, and the light receiving sensor 3 and the light receiving sensor 4 are respectively arranged on two sides of a tail vehicle body of the heading machine;
the inclination angle sensor is connected with the input end of the signal processing module and is arranged on the top of the development machine;
the light ray instrument comprises a light ray instrument 1 and a light ray instrument 2 which are respectively arranged on two sides of the top of a starting point roadway of the heading machine in a set advancing route direction;
as shown in fig. 4, in the excavation roadway, manual mapping is performed, a light ray apparatus is installed on the roof, light rays emitted by the light ray apparatus 1 installed on the left side irradiate the end face of the excavation roadway, vertical light rays 1 irradiate on the left side of the end face of the roadway, horizontal light rays irradiate above the end face of the roadway, light rays emitted by the light ray apparatus 2 installed on the right side irradiate the end face of the excavation roadway, and vertical light rays 2 irradiate on the right side of the end face of the roadway, so that a light ray frame is formed on the end face of the excavation roadway, an excavation track is determined, the excavator works in the light ray frame, and the vertical light rays 1 and the vertical light rays 2 respectively irradiated by the light ray apparatus 1 and the light ray apparatus 2 are kept parallel.
The alarm indicating device is connected with the output end of the signal processing device and is arranged on a heading machine control system, and the signal processing module receives and processes the signals of the light sensor and the inclination angle sensor and transmits the processing result to the heading machine and the alarm indicating device. The alarm indicating device comprises an upper side indicating device 1, an upper side indicating device 2, a lower side indicating device 1, a lower side indicating device 2 and an inclination angle indicating device, output signals of the light receiving sensor 1, the light receiving sensor 2, the light receiving sensor 3, the light receiving sensor 4 and the inclination angle sensor are judged respectively, and alarm indication is carried out when the output signals exceed a set value.
As shown in fig. 2 and 3, in the tunneling process, the heading machine advancing direction is taken as the positive direction, when the heading machine deviates from the set track to the left, the light receiving sensor 3 receives the light signal of the vertical light ray 1, and the alarm indicating device gives a prompt. When the heading machine deviates from the set track rightwards, the light receiving sensor IV 4 receives the light signal of the vertical light ray 1, and the alarm indicating device gives a prompt. Because the light ray above the tunneling roadway irradiates the end face of the roadway from the middle position between the light receiving sensor 1 and the light receiving sensor 2, when the tunneling machine deviates downwards from the set track, the light receiving sensor 1 can receive the signal of the horizontal light ray, and the alarm indicating device can remind; when the heading machine deviates upwards from the set track, the light receiving sensor 2 can also receive the signal of the horizontal light ray, and the alarm indicating device can remind. If the heading machine generates a pitching condition in the heading process, the inclination angle sensor can receive the inclination angle signal, and the alarm indicating device can remind. Therefore, in the working process of the heading machine, once the heading machine exceeds the set track range or the pitching phenomenon occurs, the alarm indicating device can remind a worker, the worker can know the deviation direction of the heading machine and the pitching condition of the heading machine according to the reminding of the corresponding alarm indicating device, and can correspondingly adjust through the control system of the heading machine, so that the accurate navigation and positioning of the heading direction and the heading attitude can be realized.
As shown in fig. 5, the light signal detected by the light receiving sensor and the inclination angle signal detected by the inclination angle sensor are both transmitted to the signal processing module, the signal processing module is simultaneously connected with the alarm indicating device and the heading machine control system, when the heading machine deviates from a preset track in the heading process, the signal processing module transmits the signal to the sensor alarm indicating device, and a worker can timely adjust the heading machine according to the corresponding alarm indicating device which gives a prompt, so that the heading work is guaranteed to be smoothly completed.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be understood by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combinations of the above-mentioned features, but also covers other embodiments formed by any combination of the above-mentioned features or their equivalents without departing from the spirit of the present disclosure. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (2)
1. The utility model provides a entry driving machine navigation based on ray which characterized in that: the device comprises a light receiving sensor, an inclination angle sensor, a light ray instrument, an alarm indicating device and a signal processing module;
the light receiving sensors comprise a light receiving sensor 1, a light receiving sensor 2, a light receiving sensor 3 and a light receiving sensor 4 which are respectively connected with the input end of the signal processing module, the light receiving sensor 1 and the light receiving sensor 2 are arranged on the top of the heading machine along the advancing direction of the heading machine, the height difference exists between the light receiving sensor 1 and the light receiving sensor 2, and the light receiving sensor 3 and the light receiving sensor 4 are respectively arranged on two sides of a tail vehicle body of the heading machine;
the inclination angle sensor is connected with the input end of the signal processing module and is arranged on the top of the development machine;
the light ray instrument comprises a light ray instrument 1 and a light ray instrument 2 which are respectively arranged on two sides of the top of a starting point roadway of the heading machine in a set advancing route direction;
the alarm indicating device is connected with the output end of the signal processing device, the signal processing module receives output signals of the light sensor and the inclination angle sensor and compares the output signals with a set value, and a processing result is transmitted to the heading machine control system and the alarm indicating device.
2. A ray-based navigation system of a heading machine according to claim 1, wherein the alarm indicating means comprises an upper indicating means 1, an upper indicating means 2, a lower indicating means 1, a lower indicating means 2 and an inclination angle indicating means, and outputs of the light receiving sensor 1, the light receiving sensor 2, the light receiving sensor 3, the light receiving sensor 4 and the inclination angle sensor are judged respectively, and an alarm indication is made when the output exceeds a set value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020496200.1U CN211900602U (en) | 2020-04-08 | 2020-04-08 | Ray-based heading machine navigation system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020496200.1U CN211900602U (en) | 2020-04-08 | 2020-04-08 | Ray-based heading machine navigation system |
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| Publication Number | Publication Date |
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| CN211900602U true CN211900602U (en) | 2020-11-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202020496200.1U Expired - Fee Related CN211900602U (en) | 2020-04-08 | 2020-04-08 | Ray-based heading machine navigation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111336982A (en) * | 2020-04-08 | 2020-06-26 | 辽宁工程技术大学 | Mining equipment attitude detection device and method based on optical signals |
| CN113027478A (en) * | 2021-04-15 | 2021-06-25 | 太原理工大学 | Rail heading device |
| CN116857432A (en) * | 2023-06-21 | 2023-10-10 | 金中天水利建设有限公司 | Pipe jacking device and pipe jacking construction method thereof |
-
2020
- 2020-04-08 CN CN202020496200.1U patent/CN211900602U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111336982A (en) * | 2020-04-08 | 2020-06-26 | 辽宁工程技术大学 | Mining equipment attitude detection device and method based on optical signals |
| CN113027478A (en) * | 2021-04-15 | 2021-06-25 | 太原理工大学 | Rail heading device |
| CN116857432A (en) * | 2023-06-21 | 2023-10-10 | 金中天水利建设有限公司 | Pipe jacking device and pipe jacking construction method thereof |
| CN116857432B (en) * | 2023-06-21 | 2024-03-22 | 金中天水利建设有限公司 | Pipe jacking device and pipe jacking construction method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201110 |