RU7197U1 - SYSTEM OF AUTOMATIC CONTROL AND MANAGEMENT OF MOTION OF THE SHIELD TUNNEL TRANSMISSION COMPLEX - Google Patents

Abstract

1. A system for automatic monitoring and control of the movement of a shield tunneling complex, comprising a device for generating and transmitting a light beam, a photodetector, a programming device, storage devices, a coordinate determination unit, a roll control device, a control unit, an indication unit, and a light generating and transmission device the beam is connected to a photodetector which is connected to a coordinate determination unit connected to a control unit, characterized in that, with In order to increase the accuracy and reliability of work by increasing the level of automation, an analog-to-digital converter, a task and indication unit of the distance traveled, a digital-to-analog converter, an actuator block, and a photodetector, an analog-to-digital converter, a programming device, a task and indication unit are introduced into it the distance traveled and the digital-to-analog converter are interconnected in series, the analog-to-digital converter is connected to the input of the display unit and to the output of the control unit, respectively, the other output of the control unit and the input of the display unit are connected respectively to the input and output of the task unit and display the distance traveled, the display unit is connected to the control unit, the output of the digital-to-analog converter is connected to the inputs of the actuator unit, which is connected to the photodetector via a feedback circuit to the device and through the roll control device - to the analog-to-digital converter, the other output of the digital-to-analog converter is connected to the input of the device

Description

AUTOMATIC CONTROL SYSTEM AND CONTROL / MOVEMENT OF THE SHIELD TUNNEL TRANSMISSION COMPLEX.

The invention relates to the construction and mining, in particular to shield tunneling junctions and is intended for continuous determination of the position of the tunneling shield in plan and profile and for automatic guiding of the shield in the design direction, setting the laser beam on straight and curved sections of the route.

Known devices containing a tunneling shield, a laser direction indicator, aperture, a transparent screen with a coordinate grid and a reflector. (Ashpiz S.I. Experience with the use of the navigation device 1 ЩИИС for determining the position of tunneling shields on the highway. Orgtransstroy, M., 1973)

The laser beam, reflected from the mirror on the screen, characterizes the deflection of the front part (knife) of the shield. The 6th coordinate grid is visualized and the regulation of the dampings is carried out manually, by rotating the horizontal aiming micrometer, vertical navo micrometer, and comparing the deviations of the center of the ring in the back (tail) shield of the shield with the data obtained from the extrapolation of the deviations of the shield axis presented on the screen.

The specified system has low accuracy and high laboriousness of the work of production personnel.

Closest to the claimed system is the prototype tunneling system of the UK patent application No. 2135053, MKI 6010 7/06 with a priority of February 13

- 2 1984 on a Method and device for measuring the position of a shield tunneling complex, comprising a device for generating and transmitting a sound, a photodetector, a programming device, memory devices, a coordinate determination unit, a roll control device, a control unit, an indication unit and a power supply.

The disadvantage of the prototype is the low accuracy and reliability due to the need to manually move the photodetector, in addition, due to an insufficient level of automation, the ability to predict the movement of the tunnel shield in the design direction is limited.

The aim of the invention is to increase the accuracy and reliability by increasing the level of automation. This goal is achieved by the fact that the system contains a device for generating and transmitting a laser beam, a photodetector, a programming device, memory devices, a coordinate determination unit, a roll control device, a control unit, an indication unit, while the device for generating and transmitting a laser beam is connected to a photodetector a device that is connected to the coordinate determination unit, an analog-to-digital converter, a unit for specifying and displaying the distance traveled, a digital-to-analog conversion ovatel unit actuators, the photodetector, an analog-digital converter, a programming device, tasks and display unit distance traveled and digital-to-analog converter connected Meddi

a serial, analog-to-digital converter connected

to the input of the display unit and to the control unit

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the input and output of the reference and display unit of the distance traveled, the display unit is connected to the control unit, the output of the cigro-analog converter is connected to the input of the actuator unit, which is connected via feedback to the photodetector and, through the roll control device, to the analog-to-digital converter ; the other output of the digital-to-analog converter is connected to the input of the light beam forming and transmitting device, the device for forming and transmitting the light contains an optical quantum generator, a modulator, a diaphragm, and a deflection unit located on the optical axis of the beam, of the optical optical quantum generator, the modulator is connected to the input devices for forming and transmitting light, the photodetector contains: a block of photosensors, a preliminary amplifier, a block of main amplifiers, a double T-shaped bridge, bl approx. phase-sensitive transformers, comparison unit 1-1, thyristor switches, electric motor, measurement unit and signaling unit, which is connected to the input of the comparison unit and to the output of the phase-sensitive rectifier unit, and the outputs of the deviation measuring unit are made intermittent and connected to the output of the photodetecting device; the unit for setting and inciting the distance traveled includes pushbuttons, logic elements, binary counters, register, decimal counters, decoders and indicator lights, while the outputs of the register and indicator lights are connected to the outputs of the unit, setting and indicating the distance traveled, and binary counters, decimal counters, decoders and light indicators are made dv}, gkkanalny w, respectively, for the knife and tail of the tunneling shield.

The relevance of the invention is illustrated by the line:; ami, in figure 1 kotoreg -

The automatic control system and shravleshad with the movement of the shield tunnel of tunneling complexes contains a device for generating and transmitting a laser beam I, a photodetector 2, a coordinate determination unit 3, a roll control device 4, an analog-to-digital converter 5, an indication block b, a control unit 7, a programming device 8 , operational storage device 9, programmable storage device 10, unit for setting and displaying the distance traveled in the profile, in plan and roll of the shield II, digital-to-analog conversion the body 12, the block of executive mechanisms 13, the object of etching (tunnel shield) 14. The device for generating and transmitting a laser beam contains an optical quantum generator (laser preserver) 15, a modulator 16, aperture 17, a deflection unit 18. Photodetector 2 contains a block of photosensors ( photodiode array) 19, preamplifier 20, main unit: 2Ij and 212 amplifiers, Double T-shaped bridge 22, phase-sensitive rectifiers 23, comparators 24j and 242 bl: comparison eyes, 25-g thyristor switches, 25, double-winding electric motors Atelier 26, deviation display unit 27, and alarm unit 28. The set and display unit for the distance traveled 11 contains pushbutton switches 29j, 29p, 29c, logic elements I 30j, ZoR, ZoD, binary counters 31-g, 322, Р® histr 32 , decimal counters ZZu, 332, decoders 34-g, 342, light indicators 35-g, 35r. The coordinate determination unit 3 is made on operational amplifiers and inverters. The control unit 7 is made on two pairs of operational amplifiers to generate imra, influences, respectively, in plan and in profile (not shown). Block 27 is a threshold element (zero is an organ).

- 4 for power supply (not shown).

The coil of the electromagnetic relay is the collector load of the transistor (not shown), on the base of which the signal from the programmer 8 is added.

Programming device 8 is an on-board electronic controlled machine created on the basis of the C5-I2 Electronics microcomputer, the capabilities of which are expanded by the inclusion of additional functional memory modules: operative memory of this device (RAM) 9 with a volume of 2048 16-bit words and a programmable one. a memory device (RPZU) 10, containing two blocks with a total volume of 2048 16-bit words, as well as increasing the number of digital inputs / outputs, voltage levels {: of which are consistent with TTL- circuits.

The deflection unit of the beam 18 is designed to deviate in plan when driving curved sections of the tunnel. The deflection mechanism consists of a prism in a cage, the axis of which is fixed in the cylindrical neck of the conical axis. The rotation of the device, and therefore the deflection of the beam, is carried out by means of a screw. The direction of movement of the shield is set by the laser direction indicator 15 type UN113-5U.

The beam modulator, made electromechanical, contains a synchronous motor, on the shaft of which is mounted a disk with holes for the passage of the laser beam, and a switch (not shown).

- 6 The control device of the roll of the shield 4 is made on the elements of the tracking measuring system containing an electrolytic sensor, an amplifier and a reversible electric motor (not shown).

The block of actuators 13 contains the actuator of the jacks, the actuator of the ailerons and the actuator of the deflecting shoe.

The system operates as follows.

It performs the functions of tracking the position of the tunnel shield 14 in plan and profile, taking into account its rotation around its longitudinal axis, provides signals about the position of the axis of the shield to incentive devices, logically processes the signals of the shield position and gives commands to the shield controls (jacks , ailerons, deflecting shoes) required giving him advancement on the highway.

The beam of the optical quantum generator 15 is oriented in a predetermined direction by the deflection unit 18 along the diaphragm 1. A modulator 16 is used to modulate the beam.

The receiving device 2 has a matrix 19 with four photocells, which, together with the coordinate determination unit, acts as a matrix with crosswise located photodiodes, moves behind the beam with deviations of the shield 14. The displacement of the matrix, and therefore the axis of the tunnel shield 14., relative to a given direction is fixed with using inductive sensors (not shown) of the deviation indication unit 27 and after logical processing in the programming device 8, it is issued to blocks II and 6, and through blocks 7.8 and II systematic way shield stabilization by outputting them information about the position and the shield of the rooms include jacks.

- 7 -

When working in curved sections of the tunnel, the beam is deflected by block 18 and device 2, and amendments are made to the measurement of the coordinates of the knife and tail of the shield 14. The deviation of the tail and knife points of the axis of the shield complex is converted by an analog-to-digital converter 5 into digital form and fed to the programming device 8. Information from the roll control device 4, converted into a digital code, supplements the source data array for the onboard micro-computer control unit 8. From control unit 7 and from control unit 7, indication and indication the traveled distance II system sets the required mode of operation of the shield tunneling complex:

a) movement in a straight line

b) movement along the first transition curve, where the radius of curvature varies from from to a certain predetermined value;

c) movement along a circular path;

g) movement along the second transition curve, where the radius of curvature varies from a certain given value doo,

Further, using automatic control of the shield position by blocks 5,7D8 and devices 2,8, 9,10, the system detects the deviation value, while remembering the direction of the beam deflection. Then it moves the photoelectric matrix 19 of the receiving device 2 after the beam until all four photodiodes are illuminated by the beam.

Due to the movement of the matrix 19, the signal from the sensors of the indicating deviation unit 27 changes, which track the movement of the matrix in horizontal and vertical planes. Analog

The signals from these sensors are fed through an analog-to-digital converter 5 to the programming device 8.

SMH2U.

- 8 Then, with the aid of the roll control device 4, a quantity is measured and the sign of the angle of heel is determined. Information about the roll, converted into ayah-dyny converter 5 into a digital code, also enters the programming device 8, which, through the unit for specifying and indicating the distance traveled II and the digital-to-analog converter 12, provides control actions to the block of actuators 13.

The roll control device 4 operates on the basis of the tachogenerator, that is, the value of the angle of rotation of the motor shaft is proportional to the roll angle.

If the shield 14 begins to shift from a given direction, then not all the photodiodes of the receiving device 2 will be illuminated by a beam. Then the corresponding input will receive a negative signal. In this case, the negative signal at the input of the corresponding element will disappear (for example, the comparison unit 24j, 242) and the motor 26 will begin to move the matrix 19 with photodiodes to the side of the beam, and as soon as the photodiode is illuminated by the beam., The input of the analog-to-digital converter 5 will appear positive signal and engine 26 will stop.

Thus, the system monitors the beam and sets the matrix photodiode in such a position that they are all illuminated by the beam. As a result of the change in the sign of the signal using the thyristor switches 25J, 252, all the photodiodes of the matrix 19 are lit and, thus, tracking is restored.

To read the information, the microprogramming device 8 sends to block II a signal from the ST that records information; accumulated by the binary counter 30j, 302, ® register 32, and then sends an Ift signal (read).

If the knife or tail point of the axis of the shield complex deviated from the design path by more than 100 mm, then you will hear a sound and light signal from the signaling unit 28, numbers of the switched on partitions, the total moment of forces of which is closest in magnitude and direction to the correcting moment , the coordinates of the knife and tail points of the axis of the shield 14 are provided in the form of reference information to the display unit II. Next, a control action on the execution mechanisms 13 is issued and the system returns to its initial state.

The system of automatic control and motion control of the shield shield tunnel, slip allows the passage of curved sections of the tunnel from 29 m to 78 m with curve radii from 300 m to 1200 m, respectively. Without deflecting the beam, only introducing amendments to the measurement of the shield coordinates, it is possible to pass sections of the tunnel from 14 m to 28 m with curve radii from 300 m to 1200 m, respectively. The presence of a device that has been upgraded1ad, a task unit and an indication of the distance traveled, etc., makes it possible to optimally move l in space and easily set the desired direction of the shield movement in automatic mode (without operator asthia), Appe; rat,} fistole automatically:; “Complexes can be used without significant constructive attachment on shield mining tunnels of various types.

The electronic module of the system is a housing of an angular sorm, which contains functionally complete and structurally separate devices, such as a programming device 8, as well as blocks 6,7,3,11, device 4 and others.

Claims (4)

1. A system for automatic monitoring and control of the movement of a shield tunneling complex, comprising a device for generating and transmitting a light beam, a photodetector, a programming device, storage devices, a coordinate determination unit, a roll control device, a control unit, an indication unit, and a light generating and transmission device the beam is connected to a photodetector which is connected to a coordinate determination unit connected to a control unit, characterized in that, with In order to increase the accuracy and reliability of work by increasing the level of automation, an analog-to-digital converter, a task and indication unit of the distance traveled, a digital-to-analog converter, an actuator block, and a photodetector, an analog-to-digital converter, a programming device, a task and indication unit are introduced into it the distance traveled and the digital-to-analog converter are interconnected in series, the analog-to-digital converter is connected to the input of the display unit and to the output of the control unit, respectively, the other output of the control unit and the input of the display unit are connected respectively to the input and output of the task unit and display the distance traveled, the display unit is connected to the control unit, the output of the digital-to-analog converter is connected to the inputs of the actuator unit, which is connected to the photodetector via a feedback circuit to the device and through the roll control device - to the analog-to-digital converter, the other output of the digital-to-analog converter is connected to the input of the device Island formation and transmission of the light beam.  2. The system according to claim 1, characterized in that the device for generating and transmitting a light beam contains an optical quantum generator, a modulator, a diaphragm and a beam deflection unit located on the optical axis of the beam of the specified optical quantum generator, the electrical input of the modulator is connected to the input of the device the formation and transmission of a light beam.  3. The system according to claim 1, characterized in that the photodetector comprises a photosensor unit, a preamplifier, a double T-shaped bridge, a phase-sensitive rectifier unit, a comparison unit, a thyristor switch, an electric motor, a deviation measuring unit, and an alarm unit, the alarm unit is connected to the inputs of the comparison unit, and the outputs of the deviation measurement unit are symmetrical and connected to the output of the photodetector. 4. The system according to claim 1, characterized in that the unit for setting and indicating the distance traveled comprises push-button switches, logical elements AND, binary counters, register decimal counters, decoders and light indicators, while the outputs of the register and light indicators are connected to the outputs the unit for setting and indicating the distance traveled, and binary counters, decimal counters, decoders and light indicators are made dual-channel.