A tunneling method and system for automatic surveying and mapping positioning

Abstract

The invention provides a tunneling method and system for automatic surveying, mapping and positioning. The tunneling method comprise the steps that a well lane model given by a design system is dispersed into a bottom plate middle axis multi-section line and a well lane section contour polygon; a machine body coordinate system of a heading machine is set with the right side direction of the heading machine as the X axis, the head direction of the heading machine as the Y axis, and perpendicular to the XOY plane and the overall upward direction as the Z axis; the relative position coordinate increment from the laser target ball position to the turning center of the heading machine is calibrated according to the coordinate axis increment of the machine body coordinate system; the position coordinates of a laser target ball of the heading machine are positioned by using a positioning robot and a north pointing device; according to the position coordinate of the laser target ball and the relative position coordinate increment of the laser target ball position in the machine body coordinate system, the motion base point coordinates of a cantilever of the heading machine is calculated; the heading machine is controlled to cut the radial section according to the multi-section line of the bottom middle axis, the well lane section contour polygon, and the motion base point coordinates of the cantilever of the heading machine. According to the tunneling method and system, the heading machine can be accurately positioned, and the operation is unmanned.

Description

technical field [0001] The invention belongs to the technical field of automatic tunneling in shafts, and in particular relates to a tunneling method and system for automatic surveying, mapping and positioning. Background technique [0002] No matter it is the tunnel excavation of mining engineering, the tunnel excavation of road engineering, or the culvert excavation of water conservancy engineering, it is a difficult construction project. In addition, affected by complex geological conditions and geological disasters, casualties occur from time to time. The operation is not only labor-intensive and construction efficiency is low, but also personal safety and health are difficult to guarantee. Therefore, various auxiliary excavation construction machines have emerged, such as roadheaders, continuous mining machines, shield machines, rock drills, etc., and some machines have been transformed into intelligent equipment capable of remote control. [0003] At present, the inte...

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Problems solved by technology

[0003] At present, the intelligent cantilever tunnel boring machine is the most used in mines. Although this tunnel boring machine can realize automatic control, it has not realized the automatic measurement of underground space, the precise positioning of construction equipment and the real-time modeling and visualization of excavation space. , it is impossible to realize the complete automation and unmanned operation of underground excavation engineering, which seriously affects the technological progress of intelligent excavation engineering

Although the invention patent with the publication number CN101169038A and the name of the fully automatic roadheader provides a method for positioning the cutting head using ground survey data and an aerospace navigation locator, the aerospace navigation locator cannot be used directly because there are no satellite signals underground. So far, underground space, especially the positioning base point of shaft space, is still obtained by manual contact measurement with wires. Therefore, this patent does not solve the problem of automatic measurement of shafts and automatic positioning of equipment in absolute geographical space, let alone Realize the automatic modeling and visualization of the excavation face, which cannot truly intelligent and unmanned excavation

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