CN104075664A - Shaft deformation rapid scanning and obtaining device - Google Patents
Shaft deformation rapid scanning and obtaining device Download PDFInfo
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- CN104075664A CN104075664A CN201410311489.4A CN201410311489A CN104075664A CN 104075664 A CN104075664 A CN 104075664A CN 201410311489 A CN201410311489 A CN 201410311489A CN 104075664 A CN104075664 A CN 104075664A
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Abstract
A shaft deformation rapid scanning and obtaining device comprises a scanning module, a fixing and connecting module, a positioning and posture fixing module, a control module and a protection module. A circuit control method related to the device mainly includes servo motor control and sensor control. Firstly, all the modules are well connected, then the shaft section is scanned, the scanning start position of the scanning module is recorded, the shaft deformation rapid scanning and obtaining device falls to the height of the next section, to be scanned, of a shaft, and the steps are repeated. Finally, the positions of the sections, at different heights, of the shaft are obtained, three-dimensional coordinates are solved, and a three-dimensional model of the shaft is established. The steps are repeated at the next moment so that a three-dimensional model of the shaft at the moment can be established. The deformation situation of the shaft during the time period can be obtained by obtaining the difference of the three-dimensional models, established two times, of the shaft. The shaft deformation rapid scanning and obtaining device can conduct rapid scanning to obtain the deformation situation of the shaft and is high in accuracy, low in labor intensity, large in obtained information amount and capable of being used in the complex environment inside the shaft.
Description
Technical field
the present invention relates to a kind of device, especially a kind of can rapid scanning and measure the shaft deformation rapid scanning acquisition device of pit shaft deformation.
Background technology
pit shaft is the main passage of coal production, and its normal operation is directly connected to the safety in production of mine, and especially major-minor well is being undertaken the transport task of mine.The normal operation that wants to guarantee pit shaft is with regard to understanding the deformation of pit shaft, in time pit shaft is keeped in repair.Current domestic monitoring shaft deformation mainly adopts geometric method and sensor method, but no matter is geometric method or sensor method, all needs to select in advance observation station, and labour intensity is very large.Sensor method, when Deformation Monitoring, must suppose that the periphery of measured point can not relatively move with sensor, causes its precision not high.Meanwhile, due to the impact of steam in pit shaft or other environmental factors, also can cause the precision of measuring to reduce.In addition, adopt current monitoring method can only monitor the distortion of a small amount of point on pit shaft section, if monitor a plurality of sections, must need to increase observation station, the increase that labour intensity will be at double.
Summary of the invention
in order to solve the problem that method precision is low, labour intensity large, obtaining information amount is few of existing measurement pit shaft deformation, the invention provides the device that a kind of shaft deformation rapid scanning based on laser scanning obtains.This device can not only obtain shaft deformation situation by rapid scanning, and its precision is high, labour intensity is little, obtaining information amount is large, and can under the inner complex environment of pit shaft, use.
the technical solution adopted for the present invention to solve the technical problems is:
one, the structure of this shaft deformation quick obtaining device comprises: scan module, fixing and link block, location and determine appearance module, control module, protection module; Wherein scan module mainly consists of laser displacement sensor, beam reflection platform, servo control system; After equipment energising, start and stop by control module gated sweep module, when control module is sent enabled instruction, sensor sends laser, via arriving after the flat mirror reflects on beam reflection platform after shaft in wall again via in former route return laser light device sensor, sensor collects The Cloud Terrace to the distance of shaft in wall, by data line, is back in computing machine and record, and 360 ° of rotations that servomotor is controlled The Cloud Terrace reach the object of the whole shaft in wall section of sensor measurement with this; Fixing and link block mainly consists of stuck-module and the link block with scale sign, be placed on pit shaft porch, with the link block of scale sign on the one hand for being connected and fixed module and scan module, the upright position at pit shaft for reading scan module on the other hand; Location and determine this module of appearance module and mainly formed by gyrostabilized platform, electronic compass, this part is by the start and stop of computer control scanister and the data of gyroscope, electronic compass, laser sensor are recorded and processed; Protection module is for placing battery, Long-distance Control line, mainly circular protective cover and some bar shapeds protection bonding jumpers of being fixed on outside protective cover, consists of;
two, the circuit connecting mode of this shaft deformation quick obtaining device is: the circuit control mode that this device relates to mainly comprises control and the sensor control of servomotor; Laser range sensor is used Britain very still to have ZLDS10 series, and this series laser sensor has encapsulated, and having its data-interface of power interface can communicate by letter with extraneous by 232,422 and 485 converters; Use in the process of laser sensor, the red line of sensor and brown line respectively with being just connected with negative of 24V stabilized voltage supply, green line is signal ground; Data port is connected and communicates with control module serial ports by RS232 converter, after sensor switches on power, by the measurement start and stop of control module software control sensor; Servo control system mainly comprises power supply, non-fuse breaker, electromagnetic contactor, driver, motion control card, host computer and motor; In Fig. 4,220V three-phase alternating current is connected with non-fuse breaker (NFB), electromagnetic contactor (MC) input end is connected with NFB, R, S, T end that output terminal is connected to motor servo driver are connected, driver L1, L2 end is connected with U, the V end of MC input end simultaneously, the power interface of the U of driver, V, W access motor (M), the CN2 port of driver is connected with the encoder interfaces of motor;
three, the principle of work of this shaft deformation quick obtaining device is:
1. connect control module, scan module, location and determine appearance module, and utilize fixing and link block by scan module, location and determine appearance module, protection module and put into safely pit shaft, carry out the preliminary work before scanning;
2. utilize agitating device to control the coupling arrangement with scale, by scan module, location and determine the section place that appearance module, protection module are placed on first scanning of pit shaft, record now scale mark reading a; Then by control module gated sweep module, scan this pit shaft section, and record the initial scan position of scan module;
3. again by the coupling arrangement of agitating device accommodation zone scale, make scan module, positioning and orientation module and protection module drop to the next height b that needs scanning section of pit shaft, by control module gated sweep module, scan this pit shaft section, and record the initial scan position of scan module; Repeat successively above-mentioned steps and can obtain the position of differing heights section pit shaft; According to the Coordinate calculation method of putting on above-mentioned scanning pit shaft section, can try to achieve the three-dimensional coordinate of scanning pit shaft section, thereby set up the three-dimensional model of pit shaft;
4. in the next moment, repeat above-mentioned steps, can set up the three-dimensional model of this moment pit shaft; By the pit shaft three-dimensional model to twice foundation, make difference and can obtain the deformation of pit shaft within this time period;
5. repeat above-mentioned steps, can obtain pit shaft at deformation in the same time not;
four, the Coordinate calculation method of putting on scanning pit shaft section: calculate the coordinate of putting on pit shaft section, need know some the angle with the distance of known point and 2 lines and known direction, on this basis, can utilize polar coordinates method to calculate the coordinate of putting on pit shaft section; Point on pit shaft paving and the distance of known point can be measured by laser displacement sensor, and 2 lines and known direction angle can obtain by step angle;
the invention has the beneficial effects as follows: this device can not only rapid scanning obtains the deformation of pit shaft, and its precision is high, labour intensity is little, obtaining information amount is large, and can under the inner complex environment of pit shaft, use.
Accompanying drawing explanation
below in conjunction with drawings and Examples, the present invention is further described.
fig. 1 is measuring equipment schematic diagram of the present invention.
fig. 2 is scan module schematic diagram of the present invention.
fig. 3 is system chart of the present invention.
fig. 4 is servo control system figure of the present invention.
in Fig. 1,1. stationary installation, 2. pit shaft, 3. protection module, 4. electronic compass, 5. agitating device, 6. with the coupling arrangement of scale, 7. scan module, 8. gyrostabilized platform.
in Fig. 2,9. transmitting light beam, 10. sensor, 11. folded light beams, 12. eyeglass support plates, 13. level crossings, 14. turntables, 15. servomotors.
Embodiment
one, this shaft deformation quick obtaining device comprises: comprise stationary installation 1, pit shaft 2, protection module 3, electronic compass 4, agitating device 5, the coupling arrangement 6 with scale, scan module 7, gyrostabilized platform 8, transmitting light beam 9, sensor 10, folded light beam 11, eyeglass support plate 12, level crossing 13, turntable 14 servomotors 15; Scan module 7, fixing and link block, location and determine appearance module, control module, protection module 3; Wherein scan module 7 mainly consists of laser displacement sensor 10, beam reflection platform, servomotor 15 control system; After equipment energising, start and stop by control module gated sweep module 7, when control module is sent enabled instruction, sensor 10 sends laser, via arriving after level crossing 13 reflection on beam reflection platform after pit shaft 2 inwalls again via in former route return laser light device sensor 10, sensor 10 collects The Cloud Terrace to the distance of pit shaft 2 inwalls, by data line, be back in computing machine and record, 360 ° of rotations that servomotor 15 is controlled The Cloud Terrace reach with this object that sensor 10 is measured whole pit shaft 2 inwall sections; Fixing and link block mainly consists of stuck-module and the link block with scale sign, be placed on pit shaft 2 porch, with the link block of scale sign on the one hand for being connected and fixed module and scan module 7, the upright position at pit shaft 2 for reading scan module 7 on the other hand; Location and determine this module of appearance module and mainly formed by gyrostabilized platform 8, electronic compass 4, this part is by the start and stop of computer control scanister and the data of gyroscope, electronic compass 4, laser sensor 10 are recorded and processed; Protection module 3 is for placing battery, Long-distance Control line, mainly circular protective cover and some bar shapeds protection bonding jumpers of being fixed on outside protective cover, consists of;
two, the circuit connecting mode of this shaft deformation quick obtaining device is: the circuit control mode that this device relates to mainly comprises control and sensor 10 controls of servomotor 15; Laser range sensor 10 is used Britain very still to have ZLDS10 series, and this series laser sensor 10 has encapsulated, and having its data-interface of power interface can communicate by letter with extraneous by 232,422 and 485 converters; Use in the process of laser sensor 10, the red line of sensor 10 and brown line respectively with being just connected with negative of 24V stabilized voltage supply, green line is signal ground; Data port is connected and communicates with control module serial ports by RS232 converter, after sensor 10 switches on power, by the measurement start and stop of control module software control sensor 10; Servomotor 15 control system mainly comprise power supply, non-fuse breaker, electromagnetic contactor, driver, motion control card, host computer and motor; In Fig. 4,220V three-phase alternating current is connected with non-fuse breaker (NFB), electromagnetic contactor (MC) input end is connected with NFB, R, S, T end that output terminal is connected to servomotor 15 drivers are connected, driver L1, L2 end is connected with U, the V end of MC input end simultaneously, the power interface of the U of driver, V, W access motor (M), the CN2 port of driver is connected with the encoder interfaces of motor;
three, the principle of work of this shaft deformation quick obtaining device is:
1. connect control module, scan module 7, location and determine appearance module, and utilize fixing and link block by scan module 7, locate and determine appearance module, protection module 3 is put into safely pit shaft 2, carries out the preliminary work before scanning;
2. utilize agitating device 5 to control the coupling arrangement 6 with scale, by scan module 7, location and determine the section place that appearance module, protection module 3 are placed on pit shaft 2 first scannings, record now scale mark reading a; Then by control module gated sweep module 7, scan these pit shaft 2 sections, and record the initial scan position of scan module 7;
3. again by the coupling arrangement 6 of agitating device 5 accommodation zone scales, make scan module 7, positioning and orientation module and protection module 3 drop to the next height b that needs scanning section of pit shaft 2, by control module gated sweep module 7, scan these pit shaft 2 sections, and record the initial scan position of scan module 7; Repeat successively above-mentioned steps and can obtain the position of differing heights section pit shaft 2; According to the Coordinate calculation method of putting on above-mentioned scanning pit shaft 2 sections, can try to achieve the three-dimensional coordinate of scanning pit shaft 2 sections, thereby set up the three-dimensional model of pit shaft 2;
4. in the next moment, repeat above-mentioned steps, can set up the three-dimensional model of this moment pit shaft 2; By pit shaft 2 three-dimensional models to twice foundation, make difference and can obtain the deformation of pit shaft 2 within this time period;
5. repeat above-mentioned steps, can obtain pit shaft 2 in distortion condition in the same time not.
Claims (2)
1.
shaft deformation quick obtaining device, comprises stationary installation (1), pit shaft (2), protection module (3), electronic compass (4), agitating device (5), the coupling arrangement (6) with scale, scan module (7), gyrostabilized platform (8), transmitting light beam (9), sensor (10), folded light beam (11), eyeglass support plate (12), level crossing (13), turntable (14) servomotor (15); It is characterized in that: scan module (7), fixing and link block, location and determine appearance module, control module, protection module (3); Scan module (7) mainly consists of laser displacement sensor (10), beam reflection platform, servo control system (15); Fixing and link block mainly consists of stuck-module and the link block with scale sign; Locate and determine this module of appearance module and mainly by gyro (8) stable platform, electronic compass (4), formed; Protection module (3) is mainly comprised of circular protective cover and some bar shapeds protection bonding jumpers of being fixed on outside protective cover; Laser range sensor (10) has its data-interface of power interface, can communicate by letter with extraneous by 232,422 and 485 converters; Use in the process of laser sensor (10), the red line of sensor (10) and brown line respectively with being just connected with negative of 24V stabilized voltage supply, green line is signal ground; Data port is connected and communicates with control module serial ports by RS232 converter, after sensor (10) switches on power, by the measurement start and stop of control module software control sensor (10); 220V three-phase alternating current is connected with non-fuse breaker (NFB), electromagnetic contactor (MC) input end is connected with NFB, R, S, T end that output terminal is connected to motor servo driver (15) are connected, driver L1, L2 end is connected with U, the V end of MC input end simultaneously, the power interface of the U of driver, V, W access motor (M), the CN2 port of driver is connected with the encoder interfaces of motor.
2.
shaft deformation quick obtaining device, is characterized in that: connect and utilize fixing and link block after each module by scan module (7), location and determine appearance module, the safe pit shaft (2) of putting into of protection module (3); Utilize agitating device to control (5) with the coupling arrangement of scale, by scan module (7), location and determine the section place that appearance module, protection module (3) are placed on first scanning of pit shaft (2), record now scale mark reading a, then by control module gated sweep module (7), scan this pit shaft (2) section, and record the initial scan position of scan module (7); Then by the coupling arrangement (6) of agitating device (5) accommodation zone scale, make scan module (7), positioning and orientation module and protection module (3) drop to the next height b that needs scanning section of pit shaft (2), by control module gated sweep module (7), scan this pit shaft (2) section, and record the initial scan position of scan module (7); Repeat successively above-mentioned steps and can obtain the position of differing heights section pit shaft (2); According to the Coordinate calculation method of putting on above-mentioned scanning pit shaft (2) section, can try to achieve the three-dimensional coordinate of scanning pit shaft (2) section, thereby set up the three-dimensional model of pit shaft (2); In the next moment, repeat above-mentioned steps, can set up the three-dimensional model of this moment pit shaft (2); By being made to difference, the pit shaft of twice foundation (2) three-dimensional model can obtain the deformation of pit shaft (2) within this time period; Repeat above-mentioned steps, can obtain pit shaft (2) at deformation in the same time not.
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| CN201410311489.4A CN104075664A (en) | 2014-07-02 | 2014-07-02 | Shaft deformation rapid scanning and obtaining device |
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| CN201410311489.4A CN104075664A (en) | 2014-07-02 | 2014-07-02 | Shaft deformation rapid scanning and obtaining device |
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Cited By (7)
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| CN105547089A (en) * | 2015-12-08 | 2016-05-04 | 湖南大麓科技有限公司 | Underground pipeline detection system |
| CN106949844A (en) * | 2017-04-18 | 2017-07-14 | 新汶矿业集团有限责任公司 | A kind of pit shaft borehole wall deformation automatic measuring instrument and its method of work |
| CN111288911A (en) * | 2020-02-12 | 2020-06-16 | 长安大学 | Rescue well deformation monitoring method based on rescue capsule |
| CN111595272A (en) * | 2020-05-30 | 2020-08-28 | 阶梯项目咨询有限公司 | Device and method for measuring and calculating area of pitched roof |
| CN111964602A (en) * | 2020-08-17 | 2020-11-20 | 安徽省特种设备检测院 | Method for detecting deformation of small-diameter underground gas storage well shaft |
| CN112033317A (en) * | 2020-09-02 | 2020-12-04 | 中煤科工集团西安研究院有限公司 | Method for online measurement of three-dimensional data of escape hole of manned lifting cabin |
| CN114739311A (en) * | 2022-06-15 | 2022-07-12 | 安徽大学 | Multi-sensor-based rapid deformation monitoring equipment and method for shaft |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105547089A (en) * | 2015-12-08 | 2016-05-04 | 湖南大麓科技有限公司 | Underground pipeline detection system |
| CN106949844A (en) * | 2017-04-18 | 2017-07-14 | 新汶矿业集团有限责任公司 | A kind of pit shaft borehole wall deformation automatic measuring instrument and its method of work |
| CN111288911A (en) * | 2020-02-12 | 2020-06-16 | 长安大学 | Rescue well deformation monitoring method based on rescue capsule |
| CN111595272A (en) * | 2020-05-30 | 2020-08-28 | 阶梯项目咨询有限公司 | Device and method for measuring and calculating area of pitched roof |
| CN111964602A (en) * | 2020-08-17 | 2020-11-20 | 安徽省特种设备检测院 | Method for detecting deformation of small-diameter underground gas storage well shaft |
| CN112033317A (en) * | 2020-09-02 | 2020-12-04 | 中煤科工集团西安研究院有限公司 | Method for online measurement of three-dimensional data of escape hole of manned lifting cabin |
| CN112033317B (en) * | 2020-09-02 | 2022-04-22 | 中煤科工集团西安研究院有限公司 | Method for online measurement of three-dimensional data of escape hole of manned lifting cabin |
| CN114739311A (en) * | 2022-06-15 | 2022-07-12 | 安徽大学 | Multi-sensor-based rapid deformation monitoring equipment and method for shaft |
| CN114739311B (en) * | 2022-06-15 | 2022-09-20 | 安徽大学 | Multi-sensor-based rapid deformation monitoring equipment and method for shaft |
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