A vehicle body positioning device and method for an articulated chassis structure rock drilling trolley

Abstract

The present disclosure provides a body positioning device and method for a rock drilling trolley with an articulated chassis structure, belonging to the technical field of tunnel excavation, which includes a front section inclinometer for measuring a first front-to-back inclination angle and a first left-to-right inclination angle of the front section body; a rear section inclinometer for measuring a second front-to-back inclination angle and a second left-to-right inclination angle of the rear section body; an angle detection sensor installed at the hinge point of the chassis to measure the relative rotation angle of the front section body and the rear section body in the z-axis direction of the body coordinate system; a total station and a prism. The present disclosure provides a reliable positioning method for a rock drilling trolley with an articulated chassis structure, which can calculate the posture of the front and rear sections of the rock drilling trolley body, and effectively improve the positioning efficiency, positioning accuracy and operating efficiency of the rock drilling trolley.

Description

Technical Field

[0001] The present invention belongs to the technical field of tunnel excavation, and in particular relates to a body positioning device and method for a rock drilling trolley with an articulated chassis structure. Background Art

[0002] In the process of using a drilling rig to excavate a tunnel using the drill and blast method, the body of the drilling rig usually needs to be moved to a desired position for drilling, and the body position of the drilling rig has a great influence on the construction progress.

[0003] However, due to the harsh working environment of tunnel excavation, the positioning operation of the drilling rig is quite difficult. The positioning operation is cumbersome and the accuracy is not high, which means that the vehicle body needs to undergo multiple positioning adjustments to move to the desired position. The process is long and cumbersome, which greatly affects the working efficiency of the drilling rig.

[0004] The traditional orientation method is to hang a laser pointer behind the TBM, which projects a light spot onto the rock wall in front of the TBM. The TBM operator observes the position of the light spot on the rock wall irradiated by the laser pointer with his eyes, and judges the posture of the TBM body based on experience and adjusts the posture of the TBM body. This method is closely related to the experience of the operator, so it is inefficient and has poor accuracy, and is prone to over-excavation and under-excavation.

[0005] In the existing drilling trolley body positioning system, the positioning method using a total station plus a prism is more common, that is, a dual-axis inclinometer and at least two prisms are installed on the drilling trolley body to complete the positioning of the body. For example, the patent with publication number CN112943282A discloses an intelligent cantilevered tunnel boring machine, which includes a first position and tunneling direction positioning device for locating the cantilevered tunnel boring machine relative to the designed tunnel. Preferably, the positioning device includes a total station for setting in the tunnel, a first prism, a second prism, an inclinometer and a two-dimensional laser scanning module arranged on the cantilevered tunnel boring machine. The total station is used to detect the position coordinates of the first prism and the second prism relative to the total station, and the inclination sensor is used to detect the pitch and roll angles of the cantilevered tunnel boring machine.

[0006] However, the positioning method of total station plus prism is only applicable to the case where the trolley chassis is a whole, and is not applicable to the rock drilling trolley with an articulated chassis structure. The rock drilling trolley with an articulated chassis structure has the problem that the rear section of the vehicle body blocks the front vehicle, and the front and rear sections of the vehicle body have different postures, making positioning complicated.

[0007] In view of the limitations of this positioning method, the present disclosure provides a body positioning device and method for a rock drilling trolley with an articulated chassis structure. Summary of the invention

[0008] In order to solve the problems that a drilling rig with an articulated chassis structure lacks an efficient and high-precision positioning method and that the existing positioning method of a total station plus a prism is not suitable for a drilling rig with an articulated chassis structure, the present invention provides a body positioning device and method for a drilling rig with an articulated chassis structure, which can improve the positioning efficiency and positioning accuracy of a drilling rig with an articulated chassis structure.

[0009] The present invention divides the rock drilling rig into a front section body and a rear section body with the hinge point of the chassis as the boundary.

[0010] The idea of ​​the present disclosure is to establish a vehicle body coordinate system with the chassis hinge point as the origin, and to achieve the positioning of the drilling trolley by determining the transformation relationship between the trolley coordinate system and the earth coordinate system.

[0011] Furthermore, the concept of the present disclosure is to set up a total station and at least two prisms, and determine the transformation relationship between the trolley coordinate system and the geodetic coordinate system by calculating the difference between the geodetic coordinates of the origin of the trolley coordinate system and the direction angles of the line connecting the two prisms in the XOY plane of the vehicle coordinate system and the XOY plane of the geodetic coordinate system.

[0012] The present concept can realize the body positioning of a rock drilling rig with an articulated chassis structure, solves the problem that a rock drilling rig with an articulated chassis structure lacks a suitable positioning method, can calculate the posture of the front and rear sections of the rock drilling rig body, and effectively improve the positioning efficiency, positioning accuracy and operating efficiency of the rock drilling rig.

[0013] The present disclosure provides a vehicle body positioning device for an articulated chassis structure rock drilling trolley, comprising:

[0014] A front section inclinometer, installed on the front section vehicle body, is used to measure the first front and rear inclination angle and the first left and right inclination angle of the front section vehicle body;

[0015] The rear section inclinometer is installed on the rear section vehicle body and is used to measure the second front and rear inclination angle and the second left and right inclination angle of the rear section vehicle body;

[0016] The angle detection sensor is installed at the chassis hinge point to measure the relative rotation angle between the front and rear sections of the vehicle body in the z-axis direction of the vehicle body coordinate system.

[0017] A total station and at least two prisms, wherein the prisms are arranged on the body of the articulated chassis structure rock drilling trolley, the total station measures the geodetic coordinates of the prisms, and the geodetic coordinates of the prisms can be processed by a rotation matrix to deduce a conversion matrix between the body coordinate system of the trolley and the geodetic coordinate system.

[0018] In some embodiments, the body of the trolley is provided with four prism mounting points, namely a first mounting point, a second mounting point, a third mounting point, and a fourth mounting point;

[0019] The first mounting point is arranged on the left side of the front section of the vehicle body, and the second mounting point is arranged on the right side of the front section of the vehicle body;

[0020] The third mounting point is arranged on the left side of the rear section vehicle body, and the fourth mounting point is arranged on the right side of the rear section vehicle body.

[0021] The prisms are provided in pairs, and the prisms are installed at two installation points depending on the situation of the drilling rig. The prisms have a total of six installation methods.

[0022] More specifically, the prisms are installed in one of the following combinations: front left prism and front right prism, front left prism and rear left prism, front left prism and rear right prism, front right prism and rear left prism, front right prism and rear right prism, rear left prism and rear right prism.

[0023] In some embodiments, the front-to-back direction is the pitch angle, and the left-to-right direction is the roll angle. The front inclinometer is set as a front dual-axis inclinometer, and the rear inclinometer is also set as a rear dual-axis inclinometer. It can measure the pitch angle and roll angle of the vehicle body at the same time, which is more convenient to use.

[0024] In some embodiments, the front left prism and the front right prism are used to position the trolley body;

[0025] It is necessary to first establish a vehicle body coordinate system with the chassis hinge point as the origin, and then follow the rotation of the front vehicle body. Through the vehicle body coordinates of the two prisms, the direction angle β1 of the line connecting the two prisms in the XOY plane of the vehicle body coordinate system can be calculated;

[0026] Then, the geodetic coordinates of the two prisms are measured by a total station, and the direction angle β2 of the line connecting the two prisms in the XOY plane of the geodetic coordinate system is determined;

[0027] The Z-axis rotation angle of the trolley in the geodetic coordinate system can be obtained as β2-β1, and three Euler angles are obtained to determine the transformation matrix between the trolley coordinate system and the geodetic coordinate system to complete the positioning of the drilling trolley.

[0028] In some embodiments, the front left prism and the rear left prism are used to position the trolley body. The front and rear sections of the trolley body must be adjusted to a horizontal level and the angle of the hinge point must be adjusted to zero. At this time, the coordinates of the rear left prism relative to the origin of the trolley body coordinate system are measured to be (X left, Y left, Z left);

[0029] When the drilling rig is positioned, the geodetic coordinates of the front left prism are measured to be (X1, Y1, Z1); the geodetic coordinates of the rear left prism are measured to be (X2, Y2, Z2);

[0030] Then obtain the angle β of the angle detection sensor of the hinge point of the trolley chassis, the first front and rear tilt angle θ1, the first left and right tilt angle θ2 of the front dual-axis inclinometer, the second front and rear tilt angle θ3, the second left and right tilt angle θ4 of the rear dual-axis inclinometer; the body coordinates of the rear left prism and the geodetic coordinates of the origin of the body coordinate system can be further calculated, and then the Z-axis rotation angle of the rock drilling trolley in the geodetic coordinate system can be further calculated, the transformation relationship between the trolley coordinate system and the geodetic coordinate system is determined, and the positioning of the rock drilling trolley is completed.

[0031] The present disclosure also provides a positioning method, comprising the following steps:

[0032] Import the geodetic coordinate system into the total station to establish a connection between the two;

[0033] Establish the vehicle coordinate system with the chassis hinge point as the origin, select two prisms, and calculate the vehicle coordinates of the two prisms;

[0034] Use a total station to measure the geodetic coordinates of the two prisms and calculate the coordinate system of the vehicle after rotation;

[0035] Calculate the direction angle β1 of the line connecting the two prisms in the XOY plane of the vehicle coordinate system and the direction angle β2 in the XOY plane of the geodetic coordinate system;

[0036] Obtain three Euler angles, determine the transformation relationship between the trolley coordinate system and the earth coordinate system, and complete the positioning of the drilling trolley.

[0037] In some embodiments, the following steps are also included: adjusting the front section of the vehicle body and the rear section of the vehicle body to be horizontal, adjusting the angle of the hinge point to zero, and measuring the first vehicle body coordinates of the rear left prism and / or the rear right prism.

[0038] When calculating the body coordinates of the two prisms, the first body coordinates of the rear left prism and / or the rear right prism need to be converted into the second body coordinates.

[0039] Compared with the prior art, the present invention provides a body positioning device and method for a drilling trolley with an articulated chassis structure, which is provided with four prism mounting points. Prisms can be installed at any two mounting points when positioning the trolley body, providing a reliable positioning method for the drilling trolley with an articulated chassis structure, capable of calculating the posture of the front and rear sections of the drilling trolley body, and effectively improving the positioning efficiency, positioning accuracy and operating efficiency of the drilling trolley. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The present disclosure will be further described in detail below in conjunction with the accompanying drawings and preferred embodiments, but those skilled in the art will appreciate that these drawings are drawn only for the purpose of explaining the preferred embodiments and therefore should not be used as a limitation on the scope of the present disclosure. In addition, unless otherwise specified, the drawings are only schematically representing the composition or structure of the described objects and may contain exaggerated displays, and the drawings are not necessarily drawn to scale.

[0041] Figure 1 : A structural schematic diagram of a vehicle body positioning device for a rock drilling trolley with an articulated chassis structure;

[0042] Figure 2 : Schematic diagram of the installation position of the angle detection sensor;

[0043] Among them, 1. front left prism; 2. front right prism; 3. rear left prism; 4. rear right prism; 5. total station; 6. angle detection sensor. DETAILED DESCRIPTION

[0044] The present disclosure is described in detail below in conjunction with the accompanying drawings.

[0045] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not used to limit the present disclosure.

[0046] like Figure 1-2 As shown, the present disclosure provides a vehicle body positioning device for a rock drilling trolley with an articulated chassis structure, comprising:

[0047] The front dual-axis inclinometer is installed on the front vehicle body and is used to measure the first front-to-rear inclination angle and the first left-right inclination angle of the front vehicle body;

[0048] The rear dual-axis inclinometer is installed on the rear vehicle body and is used to measure the second front-to-rear inclination angle and the second left-right inclination angle of the rear vehicle body;

[0049] Angle detection sensor 6, installed at the chassis hinge point, used to measure the relative rotation angle between the front section of the vehicle body and the rear section of the vehicle body in the z-axis direction of the vehicle body coordinate system;

[0050] A total station 5 and at least two prisms, wherein the prisms are arranged on the body of the articulated chassis structure rock drilling trolley, and the total station 5 measures the geodetic coordinates of the prisms. The geodetic coordinates of the prisms can be processed by a rotation matrix to deduce a transformation matrix between the body coordinate system of the trolley and the geodetic coordinate system.

[0051] Furthermore, the body of the trolley is provided with four prism mounting points, namely a first mounting point, a second mounting point, a third mounting point, and a fourth mounting point;

[0052] The first mounting point is arranged on the left side of the front section of the vehicle body, and the second mounting point is arranged on the right side of the front section of the vehicle body;

[0053] The third mounting point is arranged on the left side of the rear section vehicle body, and the fourth mounting point is arranged on the right side of the rear section vehicle body.

[0054] The prisms are provided in pairs, and the prisms are installed at two installation points depending on the situation of the drilling rig. The prisms have a total of six installation methods.

[0055] More specifically, the installation method of the prism is selected from one of the following combinations: front left prism 1 and front right prism 2, front left prism 1 and rear left prism 3, front left prism 1 and rear right prism 4, front right prism 2 and rear left prism 3, front right prism 2 and rear right prism 4, rear left prism 3 and rear right prism 4.

[0056] Furthermore, the positioning device also includes a computing processor for receiving parameters of the first front and rear caster angle, the first left and right caster angle, the second front and rear caster angle, the second left and right caster angle, and the angle detection sensor, and calculating the transformation matrix between the vehicle body coordinate system and the earth coordinate system.

[0057] Based on the above embodiments, the present disclosure provides a method for positioning a vehicle body of an articulated chassis structure rock drilling rig:

[0058] In this embodiment, the front left prism 1 and the front right prism 2 are used to locate the trolley body, and a body coordinate system is established with the hinge point as the origin. The body coordinate system rotates with the front body. The positioning method includes the following steps:

[0059] Import the earth coordinate system into the total station 5 to establish a connection between the two;

[0060] Establish the vehicle coordinate system with the chassis hinge point as the origin, and calculate the vehicle coordinates of the two prisms;

[0061] Use the total station 5 to measure the geodetic coordinates of the two prisms and calculate the coordinate system of the vehicle body after rotation;

[0062] Calculate the direction angle β1 of the line connecting the two prisms in the XOY plane of the vehicle coordinate system and the direction angle β2 in the XOY plane of the geodetic coordinate system;

[0063] Obtain three Euler angles, determine the transformation relationship between the trolley coordinate system and the earth coordinate system, and complete the positioning of the drilling trolley.

[0064] Based on the above embodiments, the present disclosure provides another method for positioning the body of a drilling rig with an articulated chassis structure:

[0065] This embodiment uses a prism on the front section of the vehicle body and a prism on the rear section of the vehicle body to position the vehicle.

[0066] With the hinge point as the origin of the coordinate system, adjust the front and rear sections of the trolley to horizontal in advance. When the hinge point angle is adjusted to 0, measure the coordinates (X left, Y left, Z left) and (X right, Y right, Z right) of the two prisms of the rear section of the vehicle body relative to the origin of the vehicle body coordinate system;

[0067] When measuring the current posture of the trolley, the total station 5 measures the current front section prism coordinates as (X1, Y1, Z1), and the rear section prism coordinates as (X2, Y2, Z2).

[0068] Obtain the angle β measured by the angle detection sensor 6 of the hinge point, the front and rear tilt angle θ1 and the left and right tilt angle θ2 measured by the front biaxial inclinometer, and the front and rear tilt angle θ3 and the left and right tilt angle θ4 measured by the rear biaxial inclinometer.

[0069] Calculate the front and rear tilt angle difference and rotation matrix of the front and rear segments

[0070] α1=θ1-θ3;

[0071]

[0072] Calculate the left and right tilt angle difference and rotation matrix of the front and rear segments

[0073] α2=θ2-θ4;

[0074]

[0075] Front and rear hinge rotation matrix

[0076]

[0077] If the prism selected for the rear section of the current vehicle is the rear left prism 3, the body coordinate system coordinates (X left, Y left, Z left) of the rear left prism 3 are used. Otherwise, the body coordinates (X right, Y right, Z right) of the rear right prism 4 are used.

[0078] When the rear left prism 3 is used, the conversion process is as follows:

[0079]

[0080] T = T6*T4*T1*T2*T3*T5;

[0081] The body coordinates of the rear prism and the body coordinate system after rotation by θ1 and θ2 can be calculated, and the geodetic coordinates of the origin of the body coordinate system after rotation by θ1 and θ2 are (X, Y, Z), where:

[0082] X = T (0, 3);

[0083] Y=T(1,3);

[0084] Z=T(2,3);

[0085] After that, the Euler angle can be further calculated to determine the transformation relationship between the trolley coordinate system and the geodetic coordinate system.

[0086] Based on the above embodiments, the present disclosure provides another method for positioning a vehicle body of an articulated chassis structure rock drilling rig:

[0087] The rear left prism 3 and the rear right prism 4 are selected, and the geodetic coordinates are calculated using the total station 5.

[0088] The body coordinates of the two prisms are calculated based on the front and rear inclination angles and left and right inclination angles read by the front and rear dual-axis inclinometers. After the body coordinate system is rotated by θ1 and θ2, the direction angle β1 of the line connecting the two prisms in the XOY plane of the body coordinate system is further calculated.

[0089] The direction angle β2 of the prism connecting line in the XOY plane of the geodetic coordinate system is determined by the geodetic coordinates of the two prisms.

[0090] The Z-axis rotation angle of the trolley in the earth coordinate system is β2-β1. Three Euler angles are obtained, the transformation relationship between the trolley coordinate system and the earth coordinate system is determined, and the positioning of the drilling trolley is completed.

[0091] Compared with the prior art, the present invention provides a body positioning device and method for a drilling trolley with an articulated chassis structure, which is provided with four prism mounting points. Prisms can be installed at any two mounting points when positioning the trolley body, providing a reliable positioning method for the drilling trolley with an articulated chassis structure, capable of calculating the posture of the front and rear sections of the drilling trolley body, and effectively improving the positioning efficiency, positioning accuracy and operating efficiency of the drilling trolley.

[0092] The present disclosure is described in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present disclosure. The description of the above embodiments is only used to help understand the present disclosure and its core ideas. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present disclosure, several improvements and modifications can be made to the present disclosure, and these improvements and modifications also fall within the scope of protection of the claims of the present disclosure.

Claims

1. A body positioning device for a rock drilling trolley with an articulated chassis structure, characterized in that: include: A front section inclinometer, installed on the front section vehicle body, is used to measure the first front and rear inclination angle and the first left and right inclination angle of the front section vehicle body; The rear section inclinometer is installed on the rear section vehicle body and is used to measure the second front and rear inclination angle and the second left and right inclination angle of the rear section vehicle body; Angle detection sensor, installed at the chassis hinge point, to measure the relative rotation angle between the front and rear sections of the vehicle body in the z-axis direction of the vehicle body coordinate system; A total station and at least two prisms, wherein the prisms are arranged on the body of the articulated chassis structure rock drilling rig; The body of the trolley is provided with four prism mounting points, namely a first mounting point, a second mounting point, a third mounting point, and a fourth mounting point; The first mounting point is arranged on the left side of the front section of the vehicle body, and the second mounting point is arranged on the right side of the front section of the vehicle body; The third mounting point is arranged on the left side of the rear section of the vehicle body, and the fourth mounting point is arranged on the right side of the rear section of the vehicle body; At least two prisms are installed, and the prisms are installed at different installation points; The prisms are installed in one of the following combinations: a front left prism and a rear left prism, a front left prism and a rear right prism, a front right prism and a rear left prism, or a front right prism and a rear right prism.

2. The body positioning device of a drilling trolley with an articulated chassis structure according to claim 1, characterized in that: The front section inclinometer and the rear section inclinometer are configured as dual-axis inclinometers.

3. The body positioning device of a drilling trolley with an articulated chassis structure according to claim 1, characterized in that: The positioning device includes a computing processor for receiving the first front and rear caster angle, the first left and right caster angle, the second front and rear caster angle, the second left and right caster angle, and the parameters of the angle detection sensor, and calculating the conversion matrix between the vehicle body coordinate system and the earth coordinate system.

4. A positioning method, characterized in that: Using the positioning device according to any one of claims 1 to 3 comprises the following steps: Import the geodetic coordinate system into the total station to establish a connection between the two; Establish the vehicle body coordinate system, select two prisms, and calculate the vehicle body coordinates of the two prisms; Use a total station to measure the geodetic coordinates of the two prisms and calculate the coordinate system of the vehicle after rotation; Calculate the direction angle β1 of the line connecting the two prisms in the XOY plane of the vehicle coordinate system and the direction angle β2 in the XOY plane of the geodetic coordinate system; Obtain three Euler angles, determine the transformation relationship between the trolley coordinate system and the earth coordinate system, and complete the positioning of the drilling trolley.

5. A positioning method according to claim 4, characterized in that: The vehicle body coordinate system takes the chassis hinge point as the origin and rotates with the front vehicle body.

6. A positioning method according to claim 4, characterized in that: The method also includes adjusting the front and rear sections of the vehicle body to be horizontal, adjusting the angle of the hinge point to zero, pre-measuring the first body coordinates of the rear left prism and / or the rear right prism, and converting the first body coordinates to obtain the second body coordinates of the two prisms after the vehicle coordinate system is rotated.

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