CN210862714U - Car body navigation positioning device and navigation system - Google Patents
Car body navigation positioning device and navigation system Download PDFInfo
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- CN210862714U CN210862714U CN201921578384.XU CN201921578384U CN210862714U CN 210862714 U CN210862714 U CN 210862714U CN 201921578384 U CN201921578384 U CN 201921578384U CN 210862714 U CN210862714 U CN 210862714U
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Abstract
The utility model belongs to the technical field of drill jumbo location navigation, a car body navigation positioner and navigation and method of special design, this system contains: contain automobile body navigation positioning device and master controller, the master controller confirms automobile body position and gesture in the tunnel according to total powerstation and biax inclinometer measured data, wherein, automobile body navigation positioning device contains: two prism groups used for measuring the total station, and a biaxial inclinometer used for determining a pitch angle and a roll angle of a vehicle body; each prism group comprises two prisms arranged on the same side of the vehicle body. The utility model discloses a location in the drill jumbo tunnel construction is accomplished in the cooperation of prism group, biax inclinometer and total powerstation to confirm position and the gesture of jumbo in the tunnel, accomplish tunnel automobile body navigation, positioning accuracy and quality in the effectual drill jumbo tunnel construction that improves improve the efficiency of construction, have stronger engineering application prospect.
Description
Technical Field
The utility model belongs to the technical field of drill jumbo location navigation, a automobile body navigation positioning device and navigation of special design.
Background
A rock drilling jumbo mainly comprises a rock drill, a drill boom (a bearing, positioning and propelling mechanism of the rock drill), a frame of a steel structure, a walking mechanism, other necessary accessory equipment and equipment added according to engineering requirements, and is rock drilling equipment for tunnel and underground engineering construction by adopting a drilling and blasting method. It can move and support multiple rock drills to drill holes simultaneously. At present tunnel drilling jumbo location navigation needs professional measurement personnel and cooperates the total powerstation to measure, requires the degree to personnel's specialty on the high side, takes trouble hard, and constantly needs personnel and platform truck to remove the cooperation in the measurement process, and degree of automation is not high, influences efficiency of construction and construction.
Disclosure of Invention
Therefore, the utility model provides a car body navigation positioning device and navigation improves positioning accuracy and the degree of accuracy in the drill jumbo construction, can furthest avoid artificial factor to influence, and degree of automation is high, guarantees construction quality and efficiency, has better engineering application prospect.
According to the utility model provides a design, a car body navigation positioner contains: two prism groups used for measuring the total station, and a biaxial inclinometer used for determining a pitch angle and a roll angle of a vehicle body; each prism group comprises two prisms arranged on the same side of the vehicle body.
As the utility model discloses navigation positioning device, further, every prism and biax inclinometer set up respectively on the measurement control point that corresponds, and every measurement control point is on the different horizontal planes of automobile body.
As the navigation positioning device of the utility model, furthermore, the measurement control points for installing the double-shaft inclinometer are arranged at the middle position of the front side of the vehicle body, and the measurement control points for installing the prism are respectively arranged at the left side and the right side of the vehicle body by taking the prism group as a group; one of the measurement control points of the prism in each prism group is arranged at the upper part of the side surface of the vehicle body, and the other measurement control point is arranged at the rear part of the side surface of the vehicle body.
Further, the utility model provides a drill jumbo automobile body navigation contains foretell automobile body navigation positioning device and master controller, and the master controller confirms automobile body position and gesture in the tunnel according to total powerstation and biax inclinometer measured data.
As the utility model discloses navigation, furtherly still contains the early warning device who is connected with the master controller for be greater than the situation of setting for the threshold value to the automobile body inclination and send out warning and/or shut down signal.
The utility model has the advantages that:
the utility model discloses a location in the drill jumbo tunnel construction is accomplished in the cooperation of prism group, biax inclinometer and total powerstation to confirm position and the gesture of jumbo in the tunnel, accomplish tunnel automobile body navigation, positioning accuracy and quality in the effectual drill jumbo tunnel construction that improves improve the efficiency of construction, have stronger engineering application prospect.
Description of the drawings:
FIG. 1 is a schematic view of a navigation system according to an embodiment;
FIG. 2 is a schematic diagram of the layout of measurement control points in the embodiment;
FIG. 3 is a schematic diagram of the operation principle of car body navigation in the embodiment.
In the figure, reference numeral 1 denotes a vehicle body, reference numeral 2 denotes a prism, and reference numeral 3 denotes a biaxial inclinometer.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the present invention clearer and more obvious, the present invention will be described in further detail with reference to the accompanying drawings and technical solutions.
The positioning navigation of the tunnel drilling jumbo has high requirements on professionals, and human factors inevitably have great influence on positioning precision and accuracy. Therefore, an intelligent vehicle body navigation method for tunnel rock drilling is imperative. Therefore, the embodiment of the utility model provides a drill jumbo automobile body navigation, it is shown with reference to fig. 1 to provide a drill jumbo automobile body navigation, contains automobile body navigation positioner and master controller, and the master controller confirms automobile body position and gesture in the tunnel according to total powerstation and biax inclinometer measured data to realize the automatic navigation in the tunnel drill jumbo construction operation, when guaranteeing the navigation quality, can improve the efficiency of tunnel tunnelling cycle greatly.
As the embodiment of the utility model provides an in the automobile body navigation, wherein, automobile body navigation positioner contains: two prism groups used for measuring the total station, and a biaxial inclinometer used for determining a pitch angle and a roll angle of a vehicle body; each prism group comprises two prisms arranged on the same side of the vehicle body so as to be matched with the total station to complete the position and the posture of the trolley in the tunnel, and the positioning precision and the accuracy are ensured.
As the embodiment of the utility model provides an in navigation positioning device, further, every prism and biax inclinometer set up respectively on the measurement control point that corresponds, and every measurement control point is on the different horizontal planes of automobile body to automobile body location navigation environment in the adaptation actual operation, guarantee the reliable and stable nature of location data.
As a navigation positioning device in an embodiment of the present invention, further, as shown in fig. 2, measurement control points for mounting a biaxial inclinometer are arranged at a middle position of a front side of a vehicle body, and measurement control points for mounting prisms are arranged at left and right sides of the vehicle body respectively in groups of prism groups; one of the measurement control points of the prism in each prism group is arranged at the upper part of the side surface of the vehicle body, the other measurement control point is arranged at the rear part of the side surface of the vehicle body, the measurement control points can be kept in a perspective view with the tail of the vehicle as far as possible, and the displacement of the prism in the whole construction process is guaranteed, so that the positioning stability and reliability are further guaranteed.
As the embodiment of the utility model provides a navigation, furtherly still contains the early warning device who is connected with the master controller for be greater than the situation of setting for the threshold value to the automobile body inclination and send out warning and/or shut down signal, so that realize the automatic function of rectifying of system, when the inclination is greater than a certain setting value, then give alarm signal or shut down and handle.
Based on the drill jumbo body navigation system, the positioning navigation process is as follows: establishing a vehicle body coordinate system by taking the double-shaft inclinometer as a center, and calibrating the coordinates of the prism under the vehicle body coordinate system; in the construction process, the total station utilizes the tunnel construction mark points to carry out backward intersection and station setting so as to be brought into a tunnel coordinate system, the prism is measured so as to obtain the tunnel coordinate of the prism, and meanwhile, the biaxial inclinometer obtains the pitch angle and roll angle data of the vehicle body; and the main controller determines the position and the posture of the vehicle body in the tunnel according to the Euler angle description posture measurement principle, and finishes the vehicle body navigation work. In vehicle body navigation, prism vehicle body coordinates need to be converted, a rotation coordinate position of the prism vehicle body coordinates is obtained, the rotation coordinate position is consistent with the position of a tunnel coordinate system, and a rotation matrix and a translation vector from the tunnel coordinate system to a vehicle body coordinate system are obtained; and splicing the rotation matrix and the translation vector to obtain a pose matrix from a tunnel coordinate system to a vehicle body coordinate system for real-time navigation work of the vehicle body.
The vehicle body position and the tunnel coordinate system of the vehicle body coordinate system are converted through the total station, the position and the posture of the vehicle body in the tunnel are determined, the position and the angle data are fed back to an operation screen of a cockpit, and the positioning punching of the hole site of the tunnel face is clearly and accurately known; effectively improve positioning accuracy and quality, improve the efficiency of construction operation.
Referring to fig. 2, 5 measurement control points which are not on the same horizontal plane are selected at fixed positions of the body of the drill jumbo, wherein 2 sets of prisms (a1 and B1 are one set; a2 and B2 are one set) are installed at 4 measurement control points, and a biaxial inclinometer is installed at the 5 th measurement control point. After the inclinometer and the prism are installed, a vehicle body coordinate system { D } is established by taking the inclinometer as a center, and coordinates DAi and DBi (i is 1 and 2) of the prism on the 2 measurement control points in the vehicle body coordinate system { D } are calibrated. In the construction process, the total station firstly utilizes the tunnel construction mark points Ci (i is more than or equal to 2) to carry out backward intersection and set up a station to be included in a tunnel coordinate system { G }, then the prisms on the 2 measurement control points are measured to obtain tunnel coordinates GAi and GBi (i is 1 and 2), and meanwhile, the double-shaft inclinometer determines the pitch angle is and the roll angle theta s of the vehicle body. And determining the position and the attitude of the vehicle body in the tunnel according to the principle of describing attitude measurement by 3 Euler angles to finish the navigation work of the vehicle body, wherein the working principle is shown in the following figure 3. In fig. 2, the navigation positioning of the trolley in the tunnel is realized by determining the position and posture matrix of the trolley in the tunnel through 4 installed prisms (only 2 prisms on one side are used at a time), a biaxial inclinometer, a total station and a master controller. In fig. 3, the absolute position of the drill jumbo is converted by two differently oriented sets of 360 ° prisms mounted on the drill jumbo and standard points on the tunnel wall to further locate the drill hole location; the double-shaft inclinometer is suitable for the influence of different working conditions on the positioning of the vehicle body, and the posture of the vehicle body is accurately fed back; when the inclination angle is larger than a certain set value, giving an alarm signal or stopping the machine; the accuracy of positioning and navigation is ensured, so that the navigation and positioning of the position of the rock drilling robot body relative to a tunnel plane diagram are realized, the position can be displayed on a display screen of a cockpit of a control system in real time, the position to be punched is conveniently and quickly and accurately positioned, the operation is convenient, a positioning hole bitmap and a large arm positioning point are clear and accurately fed back to the cockpit screen, and the response time is quick; further improve the automatic navigation of the drill jumbo construction location, have stronger engineering application prospect.
The above description is provided for the purpose of describing the present invention in more detail with reference to the specific preferred embodiments, and it should not be construed that the present invention is limited thereto, and it will be apparent to those skilled in the art that the present invention can be implemented in various forms without departing from the spirit and scope of the present invention. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (4)
1. A car body navigation positioning device is characterized by comprising: two prism groups used for measuring the total station, and a biaxial inclinometer used for determining a pitch angle and a roll angle of a vehicle body; each prism group comprises two prisms arranged on the same side of the vehicle body; each prism and the biaxial inclinometer are respectively arranged on the corresponding measurement control points, and each measurement control point is arranged on different horizontal planes of the vehicle body.
2. The vehicle body navigation positioning device according to claim 1, wherein the measurement control points for mounting the biaxial inclinometer are arranged at the middle position of the front side of the vehicle body, and the measurement control points for mounting the prism are respectively arranged at the left and right sides of the vehicle body in a group of prism groups; one of the measurement control points of the prism in each prism group is arranged at the upper part of the side surface of the vehicle body, and the other measurement control point is arranged at the rear part of the side surface of the vehicle body.
3. A drill jumbo body navigation system, characterized by, contain car body navigation positioner and master controller of any claim 1 ~ 2, the master controller confirms car body position and posture in the tunnel according to total powerstation and biax inclinometer measured data.
4. A drill jumbo body navigation system as recited in claim 3, further comprising an early warning device connected to the master controller for alerting and/or signaling a shutdown in case the inclination of the body is greater than a set threshold.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921578384.XU CN210862714U (en) | 2019-09-20 | 2019-09-20 | Car body navigation positioning device and navigation system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921578384.XU CN210862714U (en) | 2019-09-20 | 2019-09-20 | Car body navigation positioning device and navigation system |
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| CN210862714U true CN210862714U (en) | 2020-06-26 |
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| CN201921578384.XU Active CN210862714U (en) | 2019-09-20 | 2019-09-20 | Car body navigation positioning device and navigation system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110530358A (en) * | 2019-09-20 | 2019-12-03 | 中铁工程装备集团隧道设备制造有限公司 | Car body navigation positional device and navigation system and method |
| CN112627799A (en) * | 2020-12-13 | 2021-04-09 | 江西鑫通机械制造有限公司 | Construction method for automatic drilling of uneven working surface |
-
2019
- 2019-09-20 CN CN201921578384.XU patent/CN210862714U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110530358A (en) * | 2019-09-20 | 2019-12-03 | 中铁工程装备集团隧道设备制造有限公司 | Car body navigation positional device and navigation system and method |
| CN112627799A (en) * | 2020-12-13 | 2021-04-09 | 江西鑫通机械制造有限公司 | Construction method for automatic drilling of uneven working surface |
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