Three-dimensional attitude measurement method and device

Abstract

The invention relates to a three-dimensional attitude measurement method and device. The method comprises the steps that the values of deflection angles of an underground working device around an X-axis and a Y-axis respectively are read through a biaxial tilt angle sensor arranged on the underground working device; rotation of a winch drum is counted through an encoder arranged on a lifting winch of a steel wire rope used for dragging the underground working device, and conversion is performed to obtain the value of the descending length of the steel wire rope; the deviation displacement of the underground working device in the X-axis direction, the deviation displacement of the underground working device in the Y-axis direction and the deviation displacement of the underground working device in the Z-axis direction respectively are calculated according to the value of the descending length of the steel wire rope and the values of the deflection angles of the underground working device around the X-axis and the Y-axis respectively. According to the three-dimensional attitude measurement method and device, measurement errors caused by deviation between the underground working device and a construction center line are eliminated. Furthermore, the deviation displacement of the underground working device along the X-axis and the deviation displacement of the underground working device along the Y-axis are calculated, the three-dimensional attitude of the underground working device of a foundation pile engineering machine in the working process is accurately obtained, and the three-dimensional attitude is used as an important basis for deviation rectification control and monitoring system display of the underground working device.

Description

technical field [0001] The invention relates to the field of engineering machinery, in particular to a three-dimensional posture measurement method and device for an underground working device of foundation pile engineering machinery. Background technique [0002] The double-wheel slot milling machine is a kind of construction machinery equipment for large-depth slotting by suspending the milling cutter frame by a steel wire rope. It is mainly used in construction of water conservancy projects and other constructions. During construction, the whole milling cutter holder is submerged in the deep cement slurry, and its three-dimensional attitude is closely related to the construction quality, and can be used as an important basis for the deviation correction control and monitoring display of the milling cutter holder. The key factor for the working performance of slot milling machine. [0003] Such as figure 1 Shown is the outline schematic diagram of existing two-wheel mill...

AI Technical Summary

Problems solved by technology

[0007] like figure 2 As shown, the prior art has the following defects, making it impossible to measure the three-dimensional attitude of the milling tool holder:

[0008] (1) It is impossible to measure the displacement of the milling cutter holder along the X and Y axes, that is, the distance away from the construction center line;

[0009] (2) It is impossible to measure the deflection angle around the Z-axis direction, because the milling tool holder and the double-wheel milling upper car are connected by wire ropes. This flexible connection method increases the difficulty of its measurement. Since the displacement along the Z-axis direction is measured Inaccurate, the lowering length of the steel wire rope is directly used as the displacement of the milling cutter holder along the Z-axis direction, but the milling cutter holder will deviate from the construction centerline during work, and the steel wire rope will have a certain deflection angle with the construction centerline at this time, instead of overlap, so the data is inaccurate

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