CN116006185A - Embedded automatic guiding system for miniature pipe jacking machine - Google Patents
Embedded automatic guiding system for miniature pipe jacking machine Download PDFInfo
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- CN116006185A CN116006185A CN202211553495.1A CN202211553495A CN116006185A CN 116006185 A CN116006185 A CN 116006185A CN 202211553495 A CN202211553495 A CN 202211553495A CN 116006185 A CN116006185 A CN 116006185A
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention discloses an embeddable automatic guiding system for a miniature push bench, which comprises: the system comprises a multi-element measuring module, a control center module and a terminal control module which are sequentially connected, wherein the multi-element measuring module is used for measuring multi-element parameters of the miniature push bench and outputting the multi-element parameters to the outside; the control center module is used for receiving the multielement parameters and forwarding the multielement parameters to the terminal control module; the terminal control module is used for carrying out parameter analysis on the multiple parameters and outputting a fuzzy control instruction to the control center module so that the control center module can carry out gesture control on the miniature pipe jacking machine head according to the fuzzy control instruction. The invention can realize the automatic control of the machine head gesture of the miniature pipe pushing jack through the adjustment of multiple parameters.
Description
Technical Field
The invention relates to the technical field of miniature push bench, in particular to an embeddable automatic guiding system for a miniature push bench.
Background
To miniature push bench aircraft nose gesture automatic guidance, the miniature push bench aircraft nose gesture laser measuring apparatu in patent CN202023178648.8, through the setting of first spring and second spring, make this laser measuring apparatu possess stability height, effect that measurement accuracy is high, through the cooperation setting of supporting shoe and inclinometer, can realize keeping the device horizontal position throughout in the use, make the laser source avoid the influence of external vibrations. Due to the fact that the camera and the light target are arranged, laser measuring light spot position information can be conveniently collected, and the camera is connected with an external computer in an electrified mode, so that the gesture of a head of the pipe jacking machine can be timely adjusted, the effects of improving measuring precision and reducing interference of vibration on the measuring precision are achieved, and the purposes of simple structure and high practicality are achieved. However, the device occupies a larger internal space of the push bench, and because the device is additionally provided with a steel structure slideway in structural requirement, the regular shape of the push bench is destroyed, so that the push bench is not stable enough in the jacking process and is easy to deviate.
Although the patent CN202022788102.8 captures the laser target image by the built-in camera, the internal structure of the push bench is not considered complex, the built-in camera lens is easily affected, once the built-in camera fails, the device is paralyzed, and the device has high requirement for network signals for transmitting images and is easily limited by the network.
In addition, the measurement methods commonly used at present are: manual measurement, laser measurement, gyro compass, automatic tracking total station measurement, etc., but these measurement methods are difficult to apply to the measurement of miniature push bench. For example, the gyroscope equipment is large in size, cannot be mounted on a machine head at present, is high in total station cost, is not found on the machine head of the miniature push bench through document retrieval, is provided with a laser measuring device for measuring the machine head gesture of the miniature push bench, and is lack of an automatic guide system for comprehensively measuring the horizontal and vertical errors, jacking distance and azimuth of the miniature push bench in the prior art.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. Therefore, an object of the present invention is to provide an embeddable automatic guiding system for a micro push bench, which can realize automatic control of the head posture of the micro push bench.
In order to achieve the above purpose, the invention is realized by the following technical scheme:
an embeddable automatic guidance system for a miniature push bench, comprising:
the multi-element measuring module is used for measuring multi-element parameters of the miniature push bench and outputting the multi-element parameters to the outside;
the control center module is connected with the multi-element measuring module and is used for receiving the multi-element parameters and forwarding the multi-element parameters to the terminal control module;
the terminal control module is connected with the control center module and is used for carrying out parameter analysis on the multiple parameters and outputting a fuzzy control instruction to the control center module so that the control center module can carry out gesture control on the miniature push bench head according to the fuzzy control instruction.
Optionally, the multiple parameters include a horizontal vertical deviation parameter, a jacking distance parameter, an inclination angle parameter, a rotation angle parameter and a yaw angle parameter of the miniature push bench.
Optionally, the multivariate measurement module comprises:
the laser measuring unit is connected with the control center module and is used for measuring the horizontal and vertical deviation parameters of the miniature push bench;
the jacking distance measuring unit is connected with the control center module and is used for measuring jacking distance parameters of the miniature push bench;
the dip angle measuring unit of the push bench is connected with the control center module and is used for measuring dip angle parameters of the miniature push bench;
and the gyro orientation device is connected with the control center module and is used for measuring the rotation angle parameter and the yaw angle parameter of the miniature push bench.
Optionally, the laser measurement unit includes:
the laser transmitter is arranged opposite to an active target arranged at the tail end of the head of the miniature push bench and is arranged outside the miniature push bench, and the laser transmitter is used for transmitting a laser signal to the active target;
and the laser detection sensor is used for detecting the laser signal and comparing the detected position of the laser signal with a target position to obtain the horizontal and vertical deviation parameter of the miniature push bench.
Optionally, the jacking distance measurement unit includes:
the measuring wheel is arranged at the door sealing position of the working well where the miniature pipe pushing jack is positioned;
the jacking distance measuring sensor is loaded on the measuring wheel and rotates along with the measuring wheel, and the jacking distance measuring sensor is used for detecting jacking distance parameters of the miniature push bench.
Optionally, the dip angle measurement unit of the push bench includes:
the electronic leveling instrument comprises an electronic leveling instrument and an indium tile ruler, wherein the setting direction of the indium tile ruler is perpendicular to the horizontal line direction of the electronic leveling instrument, and the electronic leveling instrument detects the inclination angle parameter of the miniature push bench through the inclination of the indium tile ruler.
Optionally, the gyroscopic orientation device includes: the gyroscope orientation device is used for measuring the rotation angle parameter and the yaw angle parameter of the miniature push bench through the inclinometer and the gyroscope.
Optionally, a horizontal platform is arranged in the miniature push bench, and the push bench dip angle measurement unit, the gyroscope orientation instrument and the control center module are all arranged on the horizontal platform.
Optionally, the terminal control module is a PLC terminal control module, and the terminal control module has an automatic operation mode and a manual operation mode.
The invention has at least the following technical effects:
(1) The invention combines the multi-element measuring module and the motor of the PLC terminal control module, so that the instantaneous adjustment and automatic control of multiple parameters of the push bench are more sensitive and accurate, and the invention can realize the comprehensive measurement of the parameters such as horizontal and vertical errors, jacking distance, azimuth and the like of the push bench and realize the automatic control of the machine head gesture of the miniature push bench.
(2) The invention can be popularized and applied to various machine type push bench, all internal elements are carried on the horizontal platform, and the packaging module can be further optimized in the future, so that the automatic navigation control of the push bench can be realized only by installing the packaging module in the push bench, and the internal space limitation of the push bench can be avoided.
(3) The invention adopts the gyro orientation device, which not only has small volume, light weight and low cost, but also has the advantages of high reliability, all-solid-state device, large overload impact resistance and the like, and avoids the influence of external factors on internal elements.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a block diagram of an embeddable automatic guide system for a micro push bench according to an embodiment of the present invention;
FIG. 2 is a block diagram of a multi-component measurement module according to an embodiment of the present invention;
fig. 3 is a schematic structural view of an embeddable automatic guiding system for a micro push bench according to an embodiment of the present invention.
Detailed Description
The present embodiment is described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
The embeddable automatic guide system for a micro push bench of the present embodiment is described below with reference to the accompanying drawings.
FIG. 1 is a block diagram of an embeddable automatic guide system for a micro push bench according to an embodiment of the present invention. As shown in fig. 1, the embeddable automatic guide system 10 for a mini push bench includes: a multi-component measurement module 11, a control hub module 12 and a terminal control module 13.
The multi-element measuring module 11 is used for measuring multi-element parameters of the miniature push bench and outputting the multi-element parameters to the outside; the control center module 12 is connected with the multi-element measuring module 11, and the control center module 12 is used for receiving multi-element parameters and forwarding the multi-element parameters to the terminal control module 13; the terminal control module 13 is connected with the control center module 12, and the terminal control module 13 is used for carrying out parameter analysis on multiple parameters and outputting a fuzzy control instruction to the control center module 12 so that the control center module 12 can carry out gesture control on the miniature push bench head according to the fuzzy control instruction. The multi-element parameters comprise a horizontal vertical deviation parameter, a jacking distance parameter, an inclination angle parameter, a rotation angle parameter and a yaw angle parameter of the miniature push bench.
In this embodiment, the multi-element measurement module 11 sends the measured parameters of the horizontal and vertical deviation, the jacking distance, the inclination angle and the like of the micro push bench to the control center module 12, the control center module 12 receives the parameters and forwards the parameters to the terminal control module 13, and the terminal control module 13 analyzes the received multi-element parameters and outputs a fuzzy control instruction to the control center module 12 according to the analysis result. After receiving the fuzzy control instruction, the control center module 12 performs gesture control on the micro pipe pushing machine head according to the fuzzy control instruction, so that automatic gesture control on the micro pipe pushing machine head can be realized.
As shown in fig. 2, the multivariate measurement module 11 includes: a laser measuring unit 111, a jacking distance measuring unit 112, a push bench inclination measuring unit 113 and a gyro orientation instrument 114. Each measuring unit is connected with the control center module 12, wherein the laser measuring unit 111 is used for measuring the horizontal and vertical deviation parameters of the miniature push bench; the jacking distance measuring unit 112 is used for measuring jacking distance parameters of the miniature push bench; the dip angle measuring unit 113 of the push bench is used for measuring dip angle parameters of the miniature push bench; the gyro directional device 114 is used to measure the rotation angle parameter and yaw angle parameter of the micro push bench.
Wherein, be provided with the horizontal platform in the miniature push bench, push bench inclination measuring unit 113, gyroscope orientation appearance 114 and control center module 12 all set up on horizontal platform 14.
As shown in fig. 3, the laser measurement unit 111 includes: a laser emitter 1111 and a laser detection sensor (not shown in the figure). The laser transmitter 1111 is arranged opposite to the active target 1112 arranged at the tail end of the head of the micro pipe pushing machine, and is arranged outside the micro pipe pushing machine, and the laser transmitter 1111 is used for transmitting a laser signal to the active target 1112; the laser detection sensor is used for detecting laser signals and comparing the detected laser signals with target positions to obtain horizontal and vertical deviation parameters of the miniature push bench.
Specifically, a laser transmitter 1111 may be installed in the working well and maintained in communication with the active target 1112 of the grating grid at the end of the push bench. After the laser detection sensor captures the red laser beam, the position of the laser spot is displayed with the center point of the active target 1112 as a reference. For example, the signal values on the active target 1112 of the grating grid can be converted to screen interface image information for actual measurement to obtain the laser spot position by data transmission and network visualization. Accordingly, the laser detection sensor may detect the horizontal and vertical deviation parameters from the target position and then convert the horizontal and vertical deviation parameters into electrical signals for transmission to the control hub module 12.
With continued reference to fig. 3, the jacking distance measuring unit 112 includes: a measuring wheel 1121 and an advance distance measuring sensor (not shown in the figure). The measuring wheel 1121 is arranged at the door sealing position of the working well where the miniature pipe jacking machine is positioned; the jacking distance measuring sensor is loaded on the measuring wheel 1121 and rotates along with the measuring wheel 1121, and the jacking distance measuring sensor is used for detecting jacking distance parameters of the miniature push bench.
Specifically, a measuring wheel 1121 may be installed at the shaft seal door to measure the jacking distance of the micro push bench, and an electrical signal may be excited as the jacking distance measuring sensor loaded on the measuring wheel rotates, and may be converted into the jacking distance to be displayed, and the jacking distance measuring sensor may transmit the electrical signal to the control center module 12.
With continued reference to fig. 3, the push bench inclination angle measurement unit 113 includes: an electronic level 1131 and an indium tile blade 1132. The setting direction of the indium tile blade 1132 is perpendicular to the horizontal line direction of the electronic level 1131, and the electronic level 1131 detects the dip angle parameter of the micro push bench through the dip angle of the indium tile blade 1132.
Specifically, in order to avoid the influence of refraction on a laser signal, an electronic level expansion automatic measurement sensor can be utilized to detect the inclination angle parameter of the miniature push bench. As shown in fig. 3, a matched indium tile blade 1132 can be hung at the center of the tail end of the horizontal platform 14, and the indium tile blade 1132 can be kept in a vertical state with a horizontal line at any time, so that the electronic level 1131 can acquire the dip angle deviation parameter of the pipe jacking machine, and an automatic measuring sensor expanded by the electronic level reads the dip angle deviation parameter and converts the dip angle deviation parameter into an electric signal to be transmitted to the control center module 12.
With continued reference to fig. 3, gyro-director 114 includes: two inclinometers 1141 and a gyroscope 1142, and the gyroscope orientation device 114 measures the rotation angle parameter and the yaw angle parameter of the micro pipe pushing jack through the inclinometers 1141 and the gyroscopes 1142.
Specifically, a gyro orientation device 114 may be mounted inside the micro push bench for measuring the azimuth of the micro push bench, wherein the yaw angle of the push bench is determined with reference to the geographic north direction, and the inclination angle and the rotation angle of the push bench are determined with reference to the earth gravity line. In this embodiment, the gyro orientation device 114 is composed of a high-precision gyro 1142 and two high-precision inclinometers 1141, and these devices are placed on the horizontal platform 14 inside the micro push bench, so that the orientation device can accurately find the north direction when the push bench is inclined or deflected within the range of ±90°. After acquiring the azimuth parameters, the gyro-directional device 114 may transmit the azimuth parameters to the control hub module 12 in real time, so that the control hub module 12 transmits the azimuth parameters to the terminal control module 13.
In one embodiment of the present invention, the terminal control module 13 may be a PLC (Programmable Logic Controller ) terminal control module, and the terminal control module 13 has an automatic operation mode and a manual operation mode.
Specifically, the control center module 12 provided on the horizontal platform 14 may send the acquired parameters such as the horizontal and vertical deviation, the jacking distance, the dip angle, the rotation angle and the yaw angle of the push bench to the PLC terminal in the form of an electrical signal, so as to form a guiding system of the multi-element module, and realize automatic control of tunneling through an extended fuzzy control device thereof. In the fuzzy control process, the behavior of the fuzzy control unit is input in the form of rules, and the rules are the manifestation of human decisions and mainly come from the actual experience of experts and experienced operators in the field, the dynamic simulation research on the underground working of the heading machine and the analysis of jacking data. The terminal control module 13 outputs a fuzzy control instruction to the control center module 12 according to the analysis of the expanded fuzzy control unit, so that the control center module 12 performs gesture control on the head of the micro pipe-jacking machine according to the fuzzy control instruction. The fuzzy control unit expanded by the terminal control module 13 has two operation modes of automatic operation and manual operation, when the manual operation mode is selected, the fuzzy control unit only makes an operation suggestion without actual operation, and when the automatic operation mode is selected, the terminal control module 13 executes automatic deviation correcting operation.
In summary, the invention combines the multi-component measuring module and the motor of the PLC terminal control module, so that the multi-parameter instantaneous adjustment and automatic control of the push bench are more sensitive and accurate, the invention can realize comprehensive measurement of horizontal and vertical errors, jacking distance, azimuth and other parameters of the push bench, and realize automatic control of the machine head gesture of the miniature push bench, and the invention can be popularized and applied to various machine type push bench, all internal elements are carried on a horizontal platform, and the packaging module can be further optimized in the future, so that the automatic navigation control of the push bench can be realized only by installing the packaging module in the push bench, and the internal space limitation of the push bench can be avoided; in addition, the gyroscope orientation device is adopted, so that the gyroscope orientation device is small in size, light in weight, low in cost, high in reliability, and capable of resisting large overload impact, and the influence of external factors on internal elements is avoided.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
While the present invention has been described in detail through the foregoing description of the preferred embodiment, it should be understood that the foregoing description is not to be considered as limiting the invention. Many modifications and substitutions of the present invention will become apparent to those of ordinary skill in the art upon reading the foregoing. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (9)
1. An embeddable automatic guidance system for a miniature push bench, comprising:
the multi-element measuring module is used for measuring multi-element parameters of the miniature push bench and outputting the multi-element parameters to the outside;
the control center module is connected with the multi-element measuring module and is used for receiving the multi-element parameters and forwarding the multi-element parameters to the terminal control module;
the terminal control module is connected with the control center module and is used for carrying out parameter analysis on the multiple parameters and outputting a fuzzy control instruction to the control center module so that the control center module can carry out gesture control on the miniature push bench head according to the fuzzy control instruction.
2. The embeddable automatic guidance system of claim 1 wherein said plurality of parameters includes a horizontal vertical deviation parameter, a jacking distance parameter, a tilt angle parameter, a rotation angle parameter, and a yaw angle parameter of said miniature push bench.
3. The embeddable automatic guidance system for a mini-push bench of claim 2, wherein the multi-element measurement module comprises:
the laser measuring unit is connected with the control center module and is used for measuring the horizontal and vertical deviation parameters of the miniature push bench;
the jacking distance measuring unit is connected with the control center module and is used for measuring jacking distance parameters of the miniature push bench;
the dip angle measuring unit of the push bench is connected with the control center module and is used for measuring dip angle parameters of the miniature push bench;
and the gyro orientation device is connected with the control center module and is used for measuring the rotation angle parameter and the yaw angle parameter of the miniature push bench.
4. The embeddable automatic guide system for a mini-push bench of claim 3, wherein the laser measurement unit comprises:
the laser transmitter is arranged opposite to an active target arranged at the tail end of the head of the miniature push bench and is arranged outside the miniature push bench, and the laser transmitter is used for transmitting a laser signal to the active target;
and the laser detection sensor is used for detecting the laser signal and comparing the detected position of the laser signal with a target position to obtain the horizontal and vertical deviation parameter of the miniature push bench.
5. The embeddable automatic guide system for a mini-push bench of claim 3, wherein the push distance measurement unit comprises:
the measuring wheel is arranged at the door sealing position of the working well where the miniature pipe pushing jack is positioned;
the jacking distance measuring sensor is loaded on the measuring wheel and rotates along with the measuring wheel, and the jacking distance measuring sensor is used for detecting jacking distance parameters of the miniature push bench.
6. The embeddable automatic guide system for a miniature push bench of claim 3, wherein the push bench tilt measurement unit comprises:
the electronic leveling instrument comprises an electronic leveling instrument and an indium tile ruler, wherein the setting direction of the indium tile ruler is perpendicular to the horizontal line direction of the electronic leveling instrument, and the electronic leveling instrument detects the inclination angle parameter of the miniature push bench through the inclination of the indium tile ruler.
7. The embeddable, automatic steering system of claim 3, wherein the gyroscopic orientation comprises: the gyroscope orientation device is used for measuring the rotation angle parameter and the yaw angle parameter of the miniature push bench through the inclinometer and the gyroscope.
8. The embeddable automatic guide system of claim 3, wherein a horizontal platform is disposed within the miniature push bench, and wherein the push bench tilt angle measurement unit, the gyroscopic orientation and the control hub module are disposed on the horizontal platform.
9. The embeddable automatic guide system of claim 1 wherein the terminal control module is a PLC terminal control module having an automatic mode of operation and a manual mode of operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211553495.1A CN116006185A (en) | 2022-12-06 | 2022-12-06 | Embedded automatic guiding system for miniature pipe jacking machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211553495.1A CN116006185A (en) | 2022-12-06 | 2022-12-06 | Embedded automatic guiding system for miniature pipe jacking machine |
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| Publication Number | Publication Date |
|---|---|
| CN116006185A true CN116006185A (en) | 2023-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211553495.1A Pending CN116006185A (en) | 2022-12-06 | 2022-12-06 | Embedded automatic guiding system for miniature pipe jacking machine |
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| CN (1) | CN116006185A (en) |
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- 2022-12-06 CN CN202211553495.1A patent/CN116006185A/en active Pending
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