CN216052188U - Guiding device of shaft heading machine - Google Patents
Guiding device of shaft heading machine Download PDFInfo
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- CN216052188U CN216052188U CN202121913886.0U CN202121913886U CN216052188U CN 216052188 U CN216052188 U CN 216052188U CN 202121913886 U CN202121913886 U CN 202121913886U CN 216052188 U CN216052188 U CN 216052188U
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Abstract
The utility model relates to the technical field of heading machine guiding, in particular to a vertical shaft heading machine guiding device, which comprises: an angle and distance measuring device for locating the center coordinates of a heading machine, the angle and distance measuring device comprising: the device comprises a laser radar scanner arranged on the shield tail of the heading machine, a double-shaft inclinometer arranged on the shield body of the heading machine in parallel with the laser radar scanner, a positioning auxiliary part used for controlling the rear view positioning by the laser radar scanner and the double-shaft inclinometer, and an upper computer connected with the laser radar scanner and the double-shaft inclinometer and used for receiving and processing guide data. The utility model has simple structure and novel and reasonable design, realizes the comprehensive functions of angle measurement and distance measurement by utilizing the laser radar and the double-shaft inclinometer, and realizes the rear intersection of the total station by combining the positioning auxiliary piece as a control rear view point, thereby determining the central coordinate of the shield tail of the development machine and having better application prospect.
Description
Technical Field
The utility model relates to the technical field of heading machine guiding, in particular to a vertical shaft heading machine guiding device.
Background
In recent years, with the successive discovery of some large coal mines and the construction and construction of various tunnels, shafts are used as ventilation and material carrying passages in the construction of coal mines, tunnels and the like, and are increasingly widely used in the construction and construction. However, unlike the tunneling machine for lateral tunneling, the tunneling machine tunnels vertically downward, the measurement and control of the tunneling attitude are both difficult due to the field environment and the tunneling depth, and especially, the automatic determination of the position and the attitude of the tunneling machine is one of the core problems of the vertical shaft tunneling machine.
In the existing scheme, although a chinese patent application with publication number CN 203081453U discloses a practical utility model of a shaft shield guiding system based on image recognition, the practical utility model comprises an imaging plate, a CCD camera, a laser source, an inclinometer and a computer; imaging plate, CCD camera and inclinometer are from last to being fixed in shaft shield structure machine down on, the laser instrument is fixed in on the mounting bracket of shaft mouth, the computer with CCD camera and inclinometer are connected. When the system works, the laser source is utilized to vertically emit laser downwards, the center of the imaging plate is basically coincided with the laser, the CCD camera is utilized to shoot a laser image formed on the imaging plate, the useful information in the image is analyzed by taking the computer image recognition technology as the basic principle, the deviation information is obtained by extracting the image, and the shield tail gap of the vertical shaft shield machine is calculated, so that the accuracy of the vertical shaft shield construction is improved, and the automatic measurement of the vertical shaft shield machine is realized. However, the laser emitter is fixed above the wellhead, and as the tunneling depth increases, the laser emitter is farther away from the imaging plate, the intensity of a light spot formed on the imaging plate by the laser emitter is gradually reduced, which increases the processing difficulty of the image acquired by the camera, and is more susceptible to interference, the processing effect is poor, and the accuracy is reduced; therefore, the method is only suitable for projects with shallow shaft tunneling depth and good stratum conditions, once the projects with deep depth and poor bottom layer conditions are encountered, a great amount of dust or water vapor is generated in the tunneling process of the tunneling machine, a layer of dust is accumulated on the imaging plate along with the increase of the tunneling depth and the lapse of time, if the dust is not cleared in time, the light spot intensity is directly influenced, and even the camera cannot acquire and process images, so that the defect is obvious.
Disclosure of Invention
Therefore, the utility model provides a guiding device of a shaft heading machine, which realizes the comprehensive functions of angle measurement and distance measurement by utilizing a laser radar scanner and a double-shaft inclinometer, realizes the rear intersection of a total station by taking a positioning auxiliary part as a control rear view point, further positions the central coordinate of the shield tail of the heading machine, is not influenced by the depth of a tunnel, can greatly reduce the working strength and improve the construction efficiency.
According to the design scheme provided by the utility model, the guide device of the shaft heading machine comprises: an angle and distance measuring device for locating the center coordinates of a heading machine, the angle and distance measuring device comprising: the device comprises a laser radar scanner arranged on the shield tail of the heading machine, a double-shaft inclinometer arranged on the shield body of the heading machine in parallel with the laser radar scanner, a positioning auxiliary part used for controlling the rear view positioning by the laser radar scanner and the double-shaft inclinometer, and an upper computer connected with the laser radar scanner and the double-shaft inclinometer and used for receiving and processing guide data.
As the guiding device of the shaft development machine, the laser radar scanner is fixedly arranged in the center of a tail shield of the development machine, and the mounting plane of the laser radar scanner is vertical to the shaft line of the development machine.
As the shaft boring machine guide device of the present invention, further, the positioning aid comprises: the suspension wires and the two suspension rods are respectively suspended to the two sides of the tail part of the main machine of the tunneling machine through the suspension wires; one end of the suspension wire is fixed at the position of a wellhead, and the other end of the suspension wire is fixed with the suspension rod.
As the guide device of the shaft development machine, a stable reinforcing block is additionally arranged at the lower part of the suspender.
As the guiding device of the shaft boring machine, the suspender is a steel bar; the stable reinforcing block is a plumb bob; the suspension wires are steel wires.
As the guide device of the shaft boring machine, a U-shaped steel wire rope pulley for installing suspension wires is further arranged at the position of a well head.
The utility model has the beneficial effects that:
the utility model has simple structure and novel and reasonable design, realizes the comprehensive functions of angle measurement and distance measurement by utilizing the laser radar and the double-shaft inclinometer, and realizes the rear intersection of the total station by combining the positioning auxiliary piece as a control rear view point, thereby determining the central coordinate of the shield tail of the development machine. Furthermore, the hanging rod of the suspension positioning auxiliary part can be replaced to the lower changing station, and is not influenced by the depth of the tunnel; the scanning frame rate of the high-precision long-distance 2D single-line laser radar is high, the anti-interference capability to field dust is high, the working strength can be greatly reduced, the construction efficiency is improved, and the method has a good application prospect.
Description of the drawings:
fig. 1 is a structural schematic diagram of a guide device of a shaft heading machine in the embodiment;
fig. 2 is a schematic diagram of the working principle of the laser radar scanner in the embodiment.
In the figure, reference numeral 1 denotes a heading machine, reference numeral 2 denotes a laser radar scanner, reference numeral 3 denotes a biaxial inclinometer, reference numeral 4 denotes a boom, and reference numeral 5 denotes a suspension wire.
The specific implementation mode is as follows:
the present invention will be described in further detail below with reference to the accompanying drawings and technical solutions, and embodiments of the present invention will be described in detail by way of preferred examples, but the embodiments of the present invention are not limited thereto.
An embodiment of the present invention, as shown in fig. 1, provides a guiding device of a shaft boring machine, including: an angle and distance measuring device for positioning the central coordinates of a heading machine 1, the angle and distance measuring device comprising: the device comprises a laser radar scanner 2 arranged on the shield tail of the heading machine 1, a double-shaft inclinometer 3 arranged on the shield body of the heading machine 1 in parallel with the laser radar scanner 2, a positioning auxiliary part used for controlling the rear view positioning by the laser radar scanner 2 and the double-shaft inclinometer 3, and an upper computer connected with the laser radar scanner 2 and the double-shaft inclinometer 3 and used for receiving and processing guiding data. Utilize laser radar and biax inclinometer 3 to realize angle measurement and range finding combined function, combine the location auxiliary member to realize total powerstation rear meeting as control rear view to decide out the central coordinate of 1 shield tail of entry driving machine, laser radar scanner 2 and 3 accessible networks of biax inclinometer carry out data interaction with the host computer, easy operation, the realization of being convenient for.
As a guiding device of the shaft heading machine in the embodiment of the utility model, further, the laser radar scanner 2 is fixedly installed at the center of the tail shield of the heading machine 1, and the installation plane of the laser radar scanner is vertical to the axis of the heading machine 1, so that the radar scanning range can be ensured.
As the guiding device of the shaft boring machine in the embodiment of the present invention, further, the positioning auxiliary member includes: the suspension wires 5 and the two suspension rods 4 are respectively suspended to the two sides of the tail of the main machine of the development machine 1 through the suspension wires 5; one end of the suspension wire 5 is fixed at the position of a wellhead, and the other end is fixed with the suspension rod 4. According to the actual application requirements, the auxiliary hanging rod 4 can be replaced to hang and position in the lower changing station, and is not influenced by the depth of the tunnel; the scanning frame rate of the high-precision long-distance 2D single-line laser radar is high, the anti-interference capability to field dust is high, the working strength can be greatly reduced, the construction efficiency is improved, and the method has a good application prospect. Furthermore, the lower part of the suspender 4 is additionally provided with a stable reinforcing block, so that the verticality and the stability of the suspender 4 are ensured, and the suspender can move downwards along with the tunneling progress.
As the guiding device of the shaft boring machine, the suspender 4 is made of a steel bar; the stable reinforcing block is a plumb bob; the suspension wires 5 are steel wires. The steel wire can adopt high-strength steel wire, and the steel bar can adopt the smooth surface steel bar with the length of 3 m. Furthermore, the upper and lower parts of the steel wire are respectively adhered with a measuring reflection sheet, and the geodetic plane coordinates of the two steel wires are measured at the wellhead to be transmitted to the underground to serve as two control points. Further, a U-shaped steel wire rope pulley for installing a suspension wire 5 is arranged at the position of the wellhead, so that the suspension height of the suspension rod 4 can be adjusted conveniently.
The working process can be described as follows: firstly, manually measuring the plane coordinates of the two suspenders 4; the lidar scans 2 booms 4 to obtain the slant distance between the radar centre and the 2 booms 4, respectively. Referring to FIG. 2, A-C and B-D are the boot supporting directions of the development machine 1; P-Q is the scanning range limit after the laser radar is installed; alpha and beta are two direction dip angles of the inclinometer; m and N are two hanger rods 4. The angle of inclination instrument and the laser radar are fixedly installed, alpha and beta respectively face the direction of two supporting shoes, after the laser scanner and the angle of inclination instrument are fixedly installed, the angle a and the angle b are known, and the angle c = a- < b can be calculated in real time. Knowing alpha, beta and < c, the pitch angle theta = alpha cos < c + beta sin < c of O-M relative to the horizontal plane can be calculated in real time; the laser radar can measure OM and ON slant distances L1 and L2 in real time, and further obtain the horizontal distances n and m of OM and ON. Acquiring the included angle between the connecting line of the radar center and 2 suspenders 4 and the direction of an inclinometer alpha or beta by using the scanning range angle and the initial installation angle of the laser radar; the pitch angle of the connecting line of the radar center and the 2 suspenders 4 can be obtained by combining the alpha or beta angle of the inclinometer read in real time, so that the flat distance between the radar center and the 2 suspenders 4 is obtained; obtaining the coordinate of the center of the radar according to the plane coordinates and the two parallel distances of the 2 suspenders 4; therefore, the posture of the tail shield of the heading machine 1 is obtained, and the cutter head posture can be calculated by combining the inclination angles of the inclinometer in two directions and the length of the shield body. The laser radar scanner 2 is used for obtaining angles and distances, the imaging model is used for enabling the distance of a laser beam to suddenly change at the position of the suspender 4, point cloud data on the suspender 4 are obtained, the attitude deviation and the trend of a cutter head and a tail of the heading machine 1 can be rapidly determined by the laser radar scanner 2 and the double-shaft inclinometer 3, and a control basis is provided for controlling the heading of the shaft heading machine 1. The main machine of the development machine 1 moves downwards in a stepping mode, the laser radar measuring range is within the length range of the suspender 4, and the suspender 4 does not need to be manually adjusted to move downwards. When the tunneling depth is deep, in order to ensure the stability of the steel wire, a control point can be arranged on the well wall, and the suspension position of the steel wire can be moved downwards in a stepped mode to avoid influence on the stability of the suspender 4 due to the overlong length of the steel wire. The laser radar is a high-precision long-distance 2D single-line laser radar, the distance measurement precision can reach the mm level, the scanning frame rate is high, the anti-interference capability to field dust is high, and the field measurement requirement can be met.
The term "and/or" herein means that three relationships may exist. For example, a and/or B may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the description and claims of this application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not necessarily denote a limitation of quantity. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Exemplary embodiments of the present invention have been described in detail with reference to the preferred embodiments, however, it will be understood by those skilled in the art that various changes and modifications may be made to the specific embodiments described above and various combinations of the technical features and structures proposed by the present invention may be made without departing from the concept of the present invention, and the scope of the present invention is defined by the appended claims. The foregoing description of specific exemplary embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the utility model and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the utility model and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the utility model be defined by the claims and their equivalents.
Claims (6)
1. A shaft boring machine guide comprising: an angle and distance measuring device for positioning the central coordinates of a heading machine, characterized in that the angle and distance measuring device comprises: the device comprises a laser radar scanner arranged on the shield tail of the heading machine, a double-shaft inclinometer arranged on the shield body of the heading machine in parallel with the laser radar scanner, a positioning auxiliary part used for controlling the rear view positioning by the laser radar scanner and the double-shaft inclinometer, and an upper computer connected with the laser radar scanner and the double-shaft inclinometer and used for receiving and processing guide data.
2. A shaft boring machine guide according to claim 1 wherein the lidar scanner is fixedly mounted in the centre of the tail shield of the boring machine in a plane perpendicular to the axis of the boring machine.
3. A shaft boring machine guide as claimed in claim 1, wherein the positioning aid comprises: the suspension wires and the two suspension rods are respectively suspended to the two sides of the tail part of the main machine of the tunneling machine through the suspension wires; one end of the suspension wire is fixed at the position of a wellhead, and the other end of the suspension wire is fixed with the suspension rod.
4. A shaft boring machine guide according to claim 3 wherein a stabilising stiffener is attached to the lower part of the boom.
5. A shaft boring machine guide according to claim 4 wherein the boom is a steel bar; the stable reinforcing block is a plumb bob; the suspension wires are steel wires.
6. A shaft boring machine guide according to claim 3 wherein a U-shaped wire rope pulley for mounting suspension wires is provided at the wellhead location.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121913886.0U CN216052188U (en) | 2021-08-16 | 2021-08-16 | Guiding device of shaft heading machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121913886.0U CN216052188U (en) | 2021-08-16 | 2021-08-16 | Guiding device of shaft heading machine |
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| Publication Number | Publication Date |
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| CN216052188U true CN216052188U (en) | 2022-03-15 |
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| CN202121913886.0U Active CN216052188U (en) | 2021-08-16 | 2021-08-16 | Guiding device of shaft heading machine |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116295313A (en) * | 2023-05-22 | 2023-06-23 | 太原理工大学 | Real-time positioning system of heading machine |
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2021
- 2021-08-16 CN CN202121913886.0U patent/CN216052188U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116295313A (en) * | 2023-05-22 | 2023-06-23 | 太原理工大学 | Real-time positioning system of heading machine |
| CN116295313B (en) * | 2023-05-22 | 2023-07-18 | 太原理工大学 | Real-time positioning system of heading machine |
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