Method for measuring shaft verticality, shaft posture detection equipment and storage medium

Abstract

The present application discloses a method for measuring the verticality of a vertical shaft, which is applied to a vertical shaft posture detection device. The vertical shaft posture detection device includes an inertial navigation system installed on a shaft boring machine and an odometer installed at the wellhead. The vertical shaft verticality measurement method includes: : Obtain the motion information detected by the inertial navigation system and the mileage information detected by the odometer; among them, the motion information includes the linear acceleration information and angular velocity information of the shaft boring machine; use the data fusion algorithm to perform error compensation operations on the motion information and mileage information, and obtain the shaft The current attitude angle, current speed and current position of the roadheader; determine the verticality of the shaft according to the current attitude angle, current speed and current position. The application can improve the detection accuracy of the verticality of the shaft and reduce the interference of environmental factors on the measurement. The application also discloses a shaft posture detection device, a storage medium and an electronic device, which have the above beneficial effects.

Description

technical field [0001] The present application relates to the technical field of shaft construction, in particular to a shaft attitude detection method, a shaft attitude detection device, a storage medium and an electronic device. Background technique [0002] With the construction and development of tunnel engineering, shafts have become an important aspect in the construction of tunnels and coal mines as ventilation and material transportation channels. The degree of automation of shaft engineering construction is getting higher and higher, and it is developing in the direction of super-large cross-section, ultra-deep shaft, and rapid construction. [0003] In the related art, laser positioning is usually used to measure the verticality of the shaft, that is, a laser emitting device is used to emit a beam of laser light onto the scale plate, and the deviation value of the scale plate is read to calculate the deviation of the shaft driving direction. However, this method o...

AI Technical Summary

Problems solved by technology

However, this verticality measurement method has strict requirements for the application environment. If a laser emitting device is used to detect the verticality of the shaft under the mud water medium, the spot will become larger and larger as the distance increases, resulting in larger and larger measurement errors.

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