A posture measurement system and method for a rock drilling device

Abstract

The present invention relates to a posture measurement system for a rock drilling device, comprising: an industrial control computer disposed inside the fuselage of the rock drilling device, a total station disposed on the fuselage of the rock drilling device and connected to the industrial control computer, a first inclinometer disposed inside the fuselage of the rock drilling device and connected to the industrial control computer, a fuselage prism fixedly disposed on the fuselage of the rock drilling device, and a rear view prism disposed at a fixed position in the rear tunnel; angle sensors for measuring the pitch angle and azimuth angle between joints of the robotic arm of the rock drilling device are installed at the joints of the robotic arm of the rock drilling device. The present invention also relates to a method for measuring the posture of a rock drilling device, which can measure the roll angle, pitch angle, horizontal deviation and vertical deviation of the drill pipe on the robotic arm of the rock drilling device in real time, and can provide accurate data support for on-site construction personnel in a timely manner, solving the problems that manual measurement cannot mark the designed posture angle and cannot be compared in real time.

Description

Technical Field

[0001] The present invention relates to the technical field of engineering construction, and particularly to a posture measurement system and method for a rock drilling device. Background Art

[0002] A rock drilling jumbo and a multi-functional drill are commonly used tunnel excavation equipment, which have the characteristics of high automation, strong personnel safety, and high construction efficiency. However, due to the lack of the guidance of a guidance system, it has become a major problem in the automation of the tunneling of the rock drilling jumbo and the multi-functional drill.

[0003] The currently commonly used method is the manual measurement method, that is, manual on-site lofting according to the design data. Since the surveyors are relatively close to the heading face, there are disadvantages such as high personnel safety risks and the inability to mark the drilling attitude angle only by marking the position.

[0004] In view of this, it is necessary to provide a guidance system that is real-time accurate, has low personnel safety risks, and can calculate and display the drill pipe attitude angle for the construction of the rock drilling jumbo and the multi-functional drill within a reasonable cost, and provide accurate guidance data for the construction of the rock drilling jumbo and the multi-functional drill, which is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a posture measurement system and method for a rock drilling device, which can detect the pose changes of the fuselage of the rock drilling device and the drill pipe on the robotic arm in real time.

[0006] The technical solution adopted by the present invention to solve its technical problems is: to provide a posture measurement system for a rock drilling device, including: an industrial control computer disposed inside the fuselage of the rock drilling device, a total station disposed on the fuselage of the rock drilling device and connected to the industrial control computer, a first inclinometer disposed inside the fuselage of the rock drilling device and connected to the industrial control computer, a fuselage prism fixedly disposed on the fuselage of the rock drilling device, and a rear-view prism disposed at a fixed position in the rear tunnel; angle sensors for measuring the pitch angle and azimuth angle of the robotic arm joints are installed at the joints of the robotic arm of the rock drilling device;

[0007] The total station locates its own position by measuring the rear-view prism; the total station calculates the posture of the fuselage of the rock drilling device by measuring the fuselage prism, and the first inclinometer is used to measure the pitch angle and azimuth angle of the fuselage of the rock drilling device;

[0008] The industrial control computer calculates the pitch angle and azimuth angle of the drill pipe on the robotic arm of the rock drilling device according to the measurement values of the first inclinometer and the angle sensors; the industrial control computer calculates the horizontal deviation and vertical deviation of the drill pipe on the robotic arm of the rock drilling device according to the measurement values of the first inclinometer, the angle sensors and the total station.

[0009] The angle sensor is a wire-pulling sensor or a second inclinometer.

[0010] An automatic level base is installed at the connection between the rock drilling equipment body and the total station.

[0011] Both the body prism and the back sight prism of the rock drilling equipment are coded prisms.

[0012] The technical solution adopted by the present invention to solve its technical problems is to provide a method for measuring the attitude of a rock drilling equipment, including: using the above-mentioned rock drilling equipment attitude measurement system to detect the pitch angle, azimuth angle, horizontal deviation and vertical deviation of the drill pipe on the robotic arm of the rock drilling equipment, specifically:

[0013] Step (1): When the rock drilling equipment starts to operate, in the same coordinate system, measure the back sight prism through the total station to obtain the coordinates of the base of the total station, the body prism and the axis end point of the rock drilling equipment, and transmit the initial measurement result to the industrial control computer to obtain the initial position relationship between the base of the total station, the body prism and the axis of the rock drilling equipment;

[0014] Step (2): During the operation of the rock drilling equipment, first measure the back sight prism through the total station for self-positioning, and then measure the position of the body prism through the total station to obtain the position offset of the rock drilling equipment body. Transmit the measured position offset of the rock drilling equipment body to the industrial control computer, and calculate the current position and attitude of the rock drilling equipment body in combination with the initial position relationship in step (1). Compare the current position and attitude of the rock drilling equipment body with the designed position to obtain the horizontal deviation and vertical deviation of the rock drilling equipment body, and make the rock drilling equipment in place;

[0015] Step (3): After the rock drilling equipment is in place, measure the pitch angle and azimuth angle of the rock drilling equipment body through the first inclinometer, and combine the pitch angle and azimuth angle between adjacent joints on the robotic arm measured by the angle sensor to calculate the pitch angle and azimuth angle of each section of the robotic arm one by one. Finally, calculate the pitch angle and azimuth angle of the drill pipe on the robotic arm;

[0016] According to the pitch angle and azimuth angle of each section of the robotic arm and the coordinates of the rock drilling equipment body measured by the total station, combined with the length corresponding to each section of the robotic arm, calculate the central coordinates of the end joint of each section of the robotic arm one by one, and then calculate the central coordinates of the drill pipe on the robotic arm. Compare the central coordinates of the drill pipe on the robotic arm with the designed coordinates to obtain the horizontal deviation and vertical deviation of the drill pipe on the robotic arm.

[0017] Beneficial effects

[0018] Due to the above technical solution, compared with the prior art, the present invention has the following advantages and positive effects: The rock drilling equipment measurement system provided by the present invention reduces manual operation, avoids the danger caused by personnel approaching the working face too closely, and has a lower personnel safety risk compared with the traditional manual measurement method. It can measure the horizontal deviation, vertical deviation and attitude angle of the drill pipe on the robotic arm of the rock drilling equipment during operation in real time, and provide accurate data support for on-site construction personnel in a timely manner, solving the problems that manual measurement cannot mark the designed attitude angle and cannot compare in real time. The present invention creatively installs a total station on the body of the rock drilling equipment, and an automatic level base is installed at the connection between the body of the rock drilling equipment and the total station, ensuring the high stability of the total station and making the measurement results more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic diagram of the principle of the rock drilling equipment attitude measurement system according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] The following further describes the present invention in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0021] An embodiment of the present invention relates to a rock drilling equipment attitude measurement system. As Figure 1 shown, it is a schematic diagram of the principle of the rock drilling equipment attitude measurement system according to an embodiment of the present invention. The rock drilling equipment includes a rock drilling jumbo and a multi-functional drill pipe, which is usually used for tunnel excavation, and includes: an industrial control computer 6 arranged inside the body of the rock drilling equipment, a total station 1 arranged on the body of the rock drilling equipment and connected to the industrial control computer 6, a first inclinometer 5 arranged inside the body of the rock drilling equipment and connected to the industrial control computer 6, a body prism 2 fixedly arranged on the body of the rock drilling equipment, and a rear view prism 3 arranged at a fixed position in the rear tunnel; angle sensors 4 for measuring the pitch angle and azimuth angle of the robotic arm joints are installed at the joints of the robotic arm of the rock drilling equipment.

[0022] The total station 1 locates its own position by measuring the rear view prism 3; the total station 1 calculates the attitude of the body of the rock drilling equipment by measuring the body prism 2, and the first inclinometer 5 is used to measure the pitch angle and azimuth angle of the body of the rock drilling equipment.

[0023] The industrial control computer 6 calculates the pitch angle and azimuth angle of the drill pipe on the manipulator of the rock drilling equipment according to the measured values of the first inclinometer 5 and the angle sensor 4; the industrial control computer 6 calculates the horizontal deviation and vertical deviation of the drill pipe on the manipulator of the rock drilling equipment according to the measured values of the first inclinometer 5, the angle sensor 4 and the total station 1.

[0024] The angle sensor 4 can be a wire-pulling sensor or a second inclinometer. The wire-pulling sensor can calculate the joint angle of the manipulator by solving a triangle, and measure the pitch angle and azimuth angle of the drill pipe on the manipulator when the position and attitude of the fuselage are determined.

[0025] When the traditional automatic measurement system is in use, it is necessary to manually adjust the total station 1 to the horizontal, while this embodiment does not require manual adjustment of the total station 1, further reducing the degree of manual participation and improving the degree of automation; in this embodiment, the total station 1 is placed on the fuselage of the rock drilling equipment, so that the total station 1 obtains a better observation position, and the automatic measurement of the area between the fuselage of the rock drilling equipment and the heading face can be extended; since the total station 1 moves together with the fuselage of the rock drilling equipment, during operations such as blasting and excavation, it can automatically enter the safe area together with the fuselage of the rock drilling equipment without manual operation, avoiding damage to the equipment. An automatic level base is installed at the connection between the rock drilling equipment and the total station 1, and the automatic level base can automatically level the total station 1, improving the degree of automation of the system.

[0026] The body prism 2 and the back sight prism 3 are coded prisms, making the automatic search of the total station 1 faster and more accurate, and improving the degree of automation of the system.

[0027] The embodiment of the present invention also relates to a method for measuring the attitude of a rock drilling equipment, which can measure the pitch angle, azimuth angle, horizontal deviation and vertical deviation of the drill pipe on the manipulator of the rock drilling equipment in actual engineering measurement. The following is a detailed description:

[0028] Step (1): When the rock drilling equipment is initially running, in the same coordinate system, the total station 1 measures the back sight prism 3 to obtain the coordinates of the base of the total station 1, the body prism 2 and the axis end point of the rock drilling equipment, and transmits the initial measurement result to the industrial control computer 6 to obtain the initial position relationship between the base of the total station 1, the body prism 2 and the axis of the rock drilling equipment.

[0029] Step (2): During the operation of the rock drilling equipment, first, the total station 1 is used to measure the back sight prism 3 for self-positioning, and then the total station 1 is used to measure the position of the fuselage prism 2 to obtain the position offset of the rock drilling equipment fuselage. The measured position offset of the rock drilling equipment fuselage is transmitted to the industrial control computer 6, and the current position and attitude of the rock drilling equipment fuselage are calculated by combining the initial position relationship in step (1). The current position and attitude of the rock drilling equipment fuselage are compared with the designed position to obtain the horizontal deviation and vertical deviation of the rock drilling equipment fuselage. The purpose of this step is to position the rock drilling equipment in place to facilitate the subsequent calculation of the drill pipe attitude.

[0030] Step (3): After the rock drilling equipment is in place, the pitch angle and azimuth angle of the rock drilling equipment fuselage measured by the first inclinometer 5 are combined with the pitch angle and azimuth angle of the adjacent robotic arm upper joint measured by the angle sensor 4 to sequentially calculate the pitch angle and azimuth angle of each robotic arm. Finally, the pitch angle and azimuth angle of the drill pipe on the robotic arm are calculated.

[0031] According to the pitch angle and azimuth angle of each robotic arm and the coordinates of the rock drilling equipment fuselage measured by the total station 1, combined with the length corresponding to each robotic arm, the center coordinates of the end joint of each robotic arm are sequentially calculated, and then the center coordinates of the drill pipe on the robotic arm are calculated. The center coordinates of the drill pipe on the robotic arm are compared with the designed coordinates to obtain the horizontal deviation and vertical deviation of the drill pipe on the robotic arm.

[0032] It can be seen that the rock drilling equipment attitude measurement system provided by the present invention can measure the horizontal deviation, vertical deviation, roll angle and pitch angle of the drill pipe on the robotic arm of the rock drilling equipment in real time during operation, and timely provide accurate data support for on-site construction personnel, solving the problems that manual measurement cannot mark the designed attitude angle and cannot be compared in real time, and has good practicability.

Claims

1. A posture measurement system for a rock drilling device, characterized in that, it includes: an industrial control computer arranged inside the fuselage of the rock drilling device, a total station arranged on the rock drilling device and connected to the industrial control computer, a first inclinometer arranged inside the fuselage of the rock drilling device and connected to the industrial control computer, a fuselage prism fixedly arranged on the rock drilling device, and a rear view prism arranged at a fixed position in the rear tunnel; angle sensors for measuring the pitch angle and azimuth angle of the robotic arm joints are installed at the joints of the robotic arm of the rock drilling device; the total station locates its own position by measuring the rear view prism; the total station calculates the posture of the fuselage of the rock drilling device by measuring the fuselage prism, and the first inclinometer is used to measure the pitch angle and azimuth angle of the fuselage of the rock drilling device; the industrial control computer calculates the pitch angle and azimuth angle of the drill pipe on the robotic arm of the rock drilling device according to the measurement values of the first inclinometer and the angle sensors; the industrial control computer calculates the horizontal deviation and vertical deviation of the drill pipe on the robotic arm of the rock drilling device according to the measurement values of the first inclinometer, the angle sensors and the total station; when performing detection, it specifically includes the following steps: Step (1): When the rock drilling device is initially running, in the same coordinate system, the coordinates of the base of the total station, the fuselage prism and the axis end point of the rock drilling device are obtained by measuring the rear view prism with the total station, and the initial measurement results are transmitted to the industrial control computer to obtain the initial position relationship between the base of the total station, the fuselage prism and the axis of the rock drilling device; Step (2): During the running state of the rock drilling device, first, the total station measures the rear view prism to perform self-positioning, and then measures the position of the fuselage prism with the total station to obtain the position offset of the fuselage of the rock drilling device. The measured position offset of the fuselage of the rock drilling device is transmitted to the industrial control computer, and the current position posture of the fuselage of the rock drilling device is calculated in combination with the initial position relationship in step (1). The current position posture of the fuselage of the rock drilling device is compared with the designed position to obtain the horizontal deviation and vertical deviation of the fuselage of the rock drilling device, and the rock drilling device is positioned; Step (3): After the rock drilling device is positioned, the pitch angle and azimuth angle of the fuselage of the rock drilling device measured by the first inclinometer are combined with the pitch angle and azimuth angle of the adjacent robotic arm joints measured by the angle sensors to sequentially calculate the pitch angle and azimuth angle of each section of the robotic arm. Finally, the pitch angle and azimuth angle of the drill pipe on the robotic arm are calculated; According to the pitch angle and azimuth angle of each section of the robotic arm and the coordinates of the fuselage of the rock drilling device measured by the total station, combined with the length corresponding to each section of the robotic arm, the center coordinates of the end joints of each section of the robotic arm are sequentially calculated, and then the center coordinates of the drill pipe on the robotic arm are calculated. The center coordinates of the drill pipe on the robotic arm are compared with the designed coordinates to obtain the horizontal deviation and vertical deviation of the drill pipe on the robotic arm.

2. The posture measurement system for a rock drilling device according to claim 1, characterized in that, the angle sensor is a wire-pulling sensor or a second inclinometer.

3. The attitude measurement system for a rock drilling device according to claim 1, characterized in that, an automatic level base is installed at the connection between the body of the rock drilling device and the total station.

4. The attitude measurement system for a rock drilling device according to claim 1, characterized in that, both the body prism and the back sight prism are coded prisms.

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