Automatic tunnel paving module method

Abstract

The present invention provides a method for automatically laying bottom modules in lanes, which is intelligent, efficient and fast in construction, reliable connection between laid bottom modules, no separation, smooth road surface, and stronger bearing capacity. It automatically places the bottom module on the road surface based on machine vision technology. The bottom module is rectangular, and the width direction of the bottom module is consistent with the length direction of the lane. Two adjacent bottom modules in the length direction of the lane are connected by bolts passing through the bolt holes on the front edge of one bottom module and the bolt holes on the rear edge of the other bottom module; the controller recognizes the image taken by the camera, and controls the two-way hydraulic cylinder, the steering hydraulic cylinder, the mechanical arm, and the walking device to move, adjust the posture, find the bottom module to be laid, and move the grabber assembly to the top of the bottom module, automatically grab the bottom module, and then continue to change the posture to adjust the position, find a suitable laying position, and lower the bottom module to achieve laying.

Description

Technical Field

[0001] The invention relates to a method for laying plates in a roadway, such as a coal mine roadway, which can automatically lay plates in the roadway to improve the roadway surface bearing capacity and save labor. Background Art

[0002] Coal mine tunnels are the most basic unit of the underground production system of coal mines. In order to improve the bearing capacity of the roadway pavement, it is generally necessary to lay plates on the roadway pavement. The existing plate laying is generally manual, which is inefficient and slow. Moreover, the adjacent plates are simply butt-jointed together. After a short period of use, the two plates will separate, resulting in uneven roadway pavement. Summary of the invention

[0003] The purpose of the present invention is to provide a method for automatically laying bottom paving modules in a tunnel, which is intelligent, efficient and fast in construction, has reliable connection between laid bottom paving modules, will not separate, has a smooth road surface, and has a stronger bearing capacity.

[0004] The method for automatically laying floor modules in a lane of the present invention automatically places floor modules on the lane road surface based on machine vision technology, and adjacent floor modules are connected; the floor modules are rectangular, the width direction of the floor modules is consistent with the length direction of the lane, bolt holes are provided on the front edge and the rear edge of the floor modules in the width direction, and two adjacent floor modules in the length direction of the lane are connected by bolts passing through the bolt holes on the front edge of one floor module and the bolt holes on the rear edge of the other floor module;

[0005] A grab plate assembly is used to grab the bed bottom module; the grab plate assembly includes a grab plate, a bidirectional hydraulic cylinder, a steering hydraulic cylinder, and an L-shaped gripper; two bidirectional hydraulic cylinders are fixed on the grab plate, and piston rods at both ends of the bidirectional hydraulic cylinders are connected to the L-shaped grippers, and the lower ends of the two L-shaped grippers connected to one bidirectional hydraulic cylinder can be extended into the bolt holes on the front edge and the bolt holes on the rear edge of a bed bottom module; the steering hydraulic cylinder used to drive the grab plate to rotate is fixed on the grab plate between the two bidirectional hydraulic cylinders;

[0006] The steering hydraulic cylinder is connected to a mechanical arm arranged on a traveling device capable of traveling in the lane, and the mechanical arm can drive the steering hydraulic cylinder, the grab plate, the L-shaped grabber, and the bottom laying module to move up and down; a camera is fixed on the mechanical arm; the output of the camera is connected to a controller, and the controller is electrically connected to the bidirectional hydraulic cylinder, the steering hydraulic cylinder, the driving mechanism for driving the mechanical arm, and the driving device for driving the traveling device, so as to control the movements of the bidirectional hydraulic cylinder, the steering hydraulic cylinder, the mechanical arm, and the traveling device;

[0007] The controller recognizes the image taken by the camera, and controls the movement of the bidirectional hydraulic cylinder, steering hydraulic cylinder, robotic arm, and walking device, adjusts the posture, finds the bottom laying module to be laid, moves the grabbing plate assembly above the bottom laying module, automatically grabs the bottom laying module, and then continues to change the posture to adjust the position, finds the appropriate laying position, and lowers the bottom laying module to realize laying.

[0008] In the above-mentioned tunnel automatic laying bottom module construction method, the thickness of the front edge and the rear edge of the bottom module are both half of the total thickness of the bottom module, the front edge of the bottom module is a step surface with the upper surface cut off, and the rear edge of the bottom module is a step surface with the lower surface cut off;

[0009] When laying the bottom laying modules in the length direction of the tunnel, the front edge of the bottom laying module already laid on the tunnel surface is oriented towards the direction of the tunnel where the bottom laying modules are not laid, and the rear edge of the bottom laying module to be placed on the tunnel surface, i.e., the later bottom laying module, is overlapped with the front edge of the adjacent bottom laying module already laid on the tunnel surface, i.e., the earlier bottom laying module.

[0010] In the above-mentioned method of automatically laying the bottom laying module in the tunnel, when laying the bottom laying module in the length direction of the tunnel, the lower ends of the four L-shaped grippers extend into the bolt holes on the front edge and the bolt holes on the rear edge of the later bottom laying module, and the four L-shaped grippers are used to clamp the later bottom laying module through the action of the two-way hydraulic cylinder, and then the later bottom laying module is moved to the position where it needs to be laid through the action of the robotic arm and / or the walking device; and then the later bottom laying module is driven to rotate through the action of the steering hydraulic cylinder, so that the bolt holes on the rear edge of the later bottom laying module are aligned with the bolt holes on the front edge of the earlier bottom laying module.

[0011] In the above-mentioned method of automatically laying the bottom laying modules in the tunnel, when laying the bottom laying modules in the length direction of the tunnel, after the early bottom laying modules are placed on the tunnel pavement, bolts are inserted upward from the bottom surface of the early bottom laying modules through the bolt holes on the front edge of the early bottom laying modules, and then the late bottom laying modules are placed on the tunnel pavement, and the bolt holes on the rear edge of the late bottom laying modules are passed through the bolts that passed through the bolt holes on the front edge of the early bottom laying modules.

[0012] In the above-mentioned method of automatically laying the bottom-laying module in the lane, the walking device walks on the bottom-laying module that has been laid on the lane road surface.

[0013] In the above-mentioned method of automatically laying bottom laying modules in the tunnel, when more than two bottom laying modules are laid in the width direction of the tunnel, two adjacent bottom laying modules in the width direction of the tunnel are docked, and two adjacent bottom laying modules in the width direction of the tunnel are connected by a pressure plate, and the pressure plate passes through the bolts located at the front edge or rear edge of the two adjacent bottom laying modules at the same time.

[0014] In the above-mentioned method of automatically laying a floor module in a lane, an upper anti-skid pattern is provided on the upper surface of the floor module.

[0015] In the above-mentioned method of automatically laying a floor module in a lane, lower anti-skid patterns are arranged on the lower surface of the floor module.

[0016] In the above-mentioned method of automatically laying the bottom paving module in the tunnel, the machine vision algorithms adopted by the controller are the target detection algorithm and template matching algorithm of computer vision; the target detection algorithm is used to find the bottom paving module to be laid and the laying position, and the template matching algorithm is used to detect the bolt holes on the module.

[0017] Beneficial effects of the present invention: The present invention uses machine vision to identify and locate the bottom laying module, and uses a grab plate assembly to automatically grab the bottom laying module. The lower end of the grab can be inserted into the bolt hole, and then the bottom laying module can be clamped by the two-way hydraulic cylinder, and the bottom laying module can be lowered by loosening the two-way hydraulic cylinder. The present invention uses the bolt hole on the bottom laying module as the force application part, and there is no need to set other structures on the bottom laying module, so the structure of the bottom laying module is simpler. At the same time, the two-way hydraulic cylinder and the grab can be used to freely retract and release the bottom laying module; the steering hydraulic cylinder can be used to rotate the grabbed bottom laying module, so that the grabbed bottom laying module can be quickly aligned with the already paved bottom laying module, and the construction is convenient and fast. The thickness of the front edge and the rear edge of the bottom laying module is half of the total thickness of the bottom laying module. The total thickness of the rear edge and the front edge of the adjacent two bottom laying modules after overlapping is the same as the overall thickness of the bottom laying module, which ensures the flatness of the road surface and will not be uneven. The adjacent two bottom laying modules are connected by bolts, and the connection is reliable. At the same time, they can be disassembled. After disassembly, the bottom laying module can be reused, which reduces consumption and saves money. The existing walking device and its mechanical arm are used to connect the grabbing plate assembly, which drives the grabbing plate assembly and the bottom paving module to be paved to move in the laneway, and the grabbing plate assembly grabs the bottom paving module for paving, which saves time and labor and is quick to install. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional diagram of the grab plate assembly grabbing the bottom laying module;

[0019] Figure 2 is another stereoscopic view of the grab plate assembly grabbing the bottom laying module;

[0020] Figure 3 It is a three-dimensional diagram of the floor modules connected in the length direction;

[0021] Figure 4 is another stereoscopic view of the floor modules connected in the length direction;

[0022] Figure 5 It is a three-dimensional diagram of the floor modules connected in the length direction and the width direction;

[0023] Figure 6 yes Figure 5 Schematic diagram of the connection between the pressure plate and the bottom module on one side.

[0024] In the figure, bottom laying module 1, bottom laying module 2, bottom laying module 3, bottom laying module 4, bottom laying module 5, bottom laying module 6, front edge 7, front bolt hole 8, rear edge 9, rear bolt hole 10, grab plate 11, bidirectional hydraulic cylinder 12, steering hydraulic cylinder 13, L-shaped gripper 14, bolt 20, and pressure plate 30. DETAILED DESCRIPTION

[0025] The floor module is rectangular, and the width and length directions of the floor module are consistent with the length and width directions of the tunnel respectively. A front bolt hole 8 is provided at the front edge 7 in the width direction of the floor module, and a rear bolt hole 10 is provided at the rear edge 9 in the width direction of the floor module. The thickness of the front edge and rear edge of the floor module are both half of the total thickness of the floor module. The front edge 7 of the floor module is a step surface with the upper surface cut off, and the rear edge 9 of the floor module is a step surface with the lower surface cut off. The upper surface of the floor module is provided with an arc-shaped upper anti-skid pattern. The lower surface of the floor module is provided with a rectangular lower anti-skid pattern.

[0026] For the convenience of explanation, the bottom laying modules are distinguished by bottom laying module 1, bottom laying module 2, bottom laying module 3, bottom laying module 4, bottom laying module 5, and bottom laying module 6, but in fact their structures are exactly the same.

[0027] In the length direction of the tunnel, bottom laying module 1, bottom laying module 2, bottom laying module 3 3 are overlapped in sequence, bottom laying module 4 4, bottom laying module 5 5, bottom laying module 6 6 are overlapped in sequence, and in the width direction of the tunnel, bottom laying module 1, bottom laying module 2, bottom laying module 3 3 are connected with bottom laying module 4 4, bottom laying module 5 5, bottom laying module 6 6 respectively.

[0028] The grab plate assembly includes a grab plate 11, a bidirectional hydraulic cylinder 12, a steering hydraulic cylinder 13, and an L-shaped gripper 14. The grab plate 11 is composed of two plates fixedly connected to each other from top to bottom. The cylinder bodies of two bidirectional hydraulic cylinders 12 are fixed on the lower plate. The piston rod of the steering hydraulic cylinder 13 used to drive the grab plate to rotate is fixed on the upper plate. The cylinder body of the steering hydraulic cylinder 13 is connected to a mechanical arm on a traveling device that can travel in the lane. The piston rods at both ends of the bidirectional hydraulic cylinder are each connected to an L-shaped gripper 14. The lower ends of the two L-shaped grippers connected to a bidirectional hydraulic cylinder can extend into the front bolt hole 8 and the rear bolt hole 10 on a paving module. A high-definition single-lens camera is fixed on the mechanical arm. The camera captures the image information of the video stream and transmits the image information to the lower computer. The lower computer issues instructions to control the bidirectional hydraulic cylinder 12, the steering hydraulic cylinder 13, the mechanical arm, and the traveling device to move. When the bidirectional hydraulic cylinder is in action, the four L-shaped grippers clamp the paving module, and then move the paving module to the position where it needs to be laid through the mechanical arm and / or the traveling device.

[0029] The general steps of the tunnel automatic laying bottom module method are as follows:

[0030] Initialize the position of the robotic arm, adjust the camera angle, turn on the camera to obtain image information, and lay the first bottom laying module. The camera identifies the position of the bottom laying module to be laid according to the trained neural network model, and transmits the position information to the lower computer. The lower computer issues a command to move the robotic arm, etc. The grabber assembly moves to the top of the bottom laying module to be laid, and then extracts the bolt hole features on the bottom laying module, controls the grabber assembly to grab the bottom laying module 1, and then moves to the identified laying position on the road surface. The grabber assembly releases the bottom laying module, and the bottom laying module is placed in the laying position on the road surface, with the front edge 7 of the bottom laying module 1 facing the laying direction, i.e., the front of the roadway. Repeat the above process to place the grabbed bottom laying module 44 on the road surface, with the front edge 7 of the bottom laying module 44 facing the laying direction, i.e., the front of the roadway. The bottom laying module 1 is docked with the bottom laying module 44 in the width direction.

[0031] Pass the bolt 20 upward from the bottom surface of the bottom laying module 1 through the front bolt hole 8 on the bottom laying module 1, and pass the bolt 20 upward from the bottom surface of the bottom laying module 44 through the front bolt hole 8 on the bottom laying module 44.

[0032] Repeat the above laying process, use the grab plate assembly to grab the laying module 2 and place it on the road surface, and overlap the rear edge of the laying module 2 with the front edge of the laying module 1. The bolts 20 passing through the front bolt holes 8 on the laying module 1 pass through the rear bolt holes 10 on the laying module 2. Before overlapping, if necessary, the steering hydraulic cylinder is used to drive the laying module 2 to rotate, so that the rear bolt holes 10 on the laying module 2 are aligned with the bolts passing through the front bolt holes on the laying module 1.

[0033] Repeat the above laying process, use the grab plate assembly to grab the floor module 5 5 and place it on the road surface, the rear edge of the floor module 5 5 overlaps the front edge of the floor module 4 4, and the bolts 20 passing through the front bolt holes 8 on the floor module 4 4 ​​pass through the rear bolt holes 10 on the floor module 5 5. At the same time, the floor module 2 2 is docked with the floor module 5 5 in the width direction. Before overlapping, if necessary, the steering hydraulic cylinder is used to drive the floor module 5 5 to rotate so that the rear bolt holes 10 on the floor module 5 5 are aligned with the bolts passing through the front bolt holes on the floor module 4 4.

[0034] The pressing plate 30 with through holes at both ends is passed through the bolts located at the front edge of the bottom laying module 1 and the bolts located at the front edge of the bottom laying module 2. Tighten the nuts on the bolts.

[0035] Then follow similar steps to lay bottom laying module three 3 and bottom laying module six 6.

[0036] The walking device walks on the bottom paving module which has been laid on the road surface.

[0037] The floor module is 1~2M long, 2~4M wide, and 20~50MM thick. There are 4 through holes on the front and rear edges for connecting and fixing with other modules, with a hole diameter of 36MM. The upper surface is covered with arc-shaped anti-slip grooves, each of which is 8MM wide and 3MM high; the lower surface is designed with rectangular anti-slip grooves, each of which is 10MM wide, 20MM apart, and 5MM high. The size of the anti-slip grooves can be adjusted according to the passing vehicles and the basic conditions of the lane. The thickness of the two edges of the floor module is reduced by half within a certain distance. When two floor modules are connected, the edges of the modules are overlapped together, and the thickness is exactly the thickness of the module, and then they are connected and fixed by matching bolts.

[0038] Since the bottom laying module is heavy and difficult to carry manually, in order to improve work efficiency and reduce labor intensity, a walking device such as an automated bottom laying equipment is used to grab and lay the bottom laying module using a grabber assembly. The steering hydraulic cylinder is connected to the mechanical arm of the bottom laying automation equipment. The steering hydraulic cylinder can slightly adjust the angle of the bottom laying module to align it with the edge of the laid module.

[0039] When grabbing the bottom laying module, the lower computer obtains the image information captured by the camera, issues instructions to adjust the gripper's posture, aligns the four grippers with the four through holes on the edge of the bottom laying module, slowly lowers the gripper, and inserts the four grippers into the four bolt holes reserved in the middle of the bottom laying module. Then the two-way hydraulic cylinder works, relying on the pressure provided by the two two-way hydraulic cylinders, and using the friction between the gripper and the bolt hole wall of the bottom laying module to grab the bottom laying module. The angle of the bottom laying module is slightly adjusted by the steering hydraulic cylinder, and it is aligned and placed on the edge of the already laid bottom laying module. Then the gripper is slowly moved downward to put down the bottom laying module. After laying in place, the two-way hydraulic cylinder releases pressure, retracts the gripper, and finally manually bolts the two overlapped and laid bottom laying modules to fix and connect. When laying two rows of bottom laying modules, the two rows of bottom laying modules are connected by a pressure plate.

[0040] When recycling the bottom laying module, first remove the fixing bolts manually, clean the bolt holes of the bottom laying module, move the grab plate, adjust the position and align the four grabs with the four through holes on the edge of the bottom laying module. Slowly lower the grab plate, insert the four grabs into the four bolt holes reserved in the middle of the bottom laying module, and then the two-way hydraulic cylinder works, relying on the pressure provided by the two two-way hydraulic cylinders, and using the friction between the claws and the bolt hole wall of the bottom laying module to grab the module. Slowly move the grab plate upward to lift the bottom laying module, and put the bottom laying module back into the hopper of the automated laying equipment to achieve the recycling of the bottom laying module.

[0041] The patent of this invention is suitable for efficient and rapid construction of roadway pavement structures, and high-strength bottom-laying modules are used to match the corresponding automated construction process. The bottom-laying module structure and its corresponding interface are designed so that the coal mine roadway bottom-laying road can carry a maximum load of 120 tons of trackless rubber-wheeled support trucks for normal passage. The mass of the bottom-laying module is less than 50KG per square meter, and the bottom-laying module has no obvious damage after 3,000 uses (rolling). In addition, the bottom-laying module works closely with the automated bottom-laying equipment, which can not only be laid but also easily recycled and reused, thereby improving the level of automation in the construction of coal mine roadway pavement structures, promoting the widespread application of rapid bottom-laying technology in my country's underground projects, especially in mine roadway projects, and effectively improving the speed and efficiency of underground transportation and production preparation, serving the construction of smart mines.

Claims

1. The method of automatically laying the bottom laying module in the roadway is based on machine vision technology to automatically place the bottom laying module on the roadway surface. Adjacent bottom laying modules are connected. Its characteristics are: The floor laying module is rectangular, and the width direction of the floor laying module is consistent with the length direction of the roadway. Bolt holes are opened on the front edge and the rear edge of the floor laying module in the width direction. Two adjacent floor laying modules in the length direction of the roadway are connected by bolts passing through the bolt holes on the front edge of one floor laying module and the bolt holes on the rear edge of the other floor laying module. A grab plate assembly is used to grab the bed bottom module; the grab plate assembly includes a grab plate, a bidirectional hydraulic cylinder, a steering hydraulic cylinder, and an L-shaped gripper; two bidirectional hydraulic cylinders are fixed on the grab plate, and piston rods at both ends of the bidirectional hydraulic cylinders are connected to the L-shaped grippers, and the lower ends of the two L-shaped grippers connected to one bidirectional hydraulic cylinder can be extended into the bolt holes on the front edge and the bolt holes on the rear edge of a bed bottom module; the steering hydraulic cylinder used to drive the grab plate to rotate is fixed on the grab plate between the two bidirectional hydraulic cylinders; The steering hydraulic cylinder is connected to a mechanical arm arranged on a traveling device capable of traveling in the lane, and the mechanical arm can drive the steering hydraulic cylinder, the grab plate, the L-shaped grabber, and the bottom laying module to move up and down; a camera is fixed on the mechanical arm; the output of the camera is connected to a controller, and the controller is electrically connected to the bidirectional hydraulic cylinder, the steering hydraulic cylinder, the driving mechanism for driving the mechanical arm, and the driving device for driving the traveling device, so as to control the movements of the bidirectional hydraulic cylinder, the steering hydraulic cylinder, the mechanical arm, and the traveling device; The controller recognizes the image taken by the camera, and controls the movement of the bidirectional hydraulic cylinder, steering hydraulic cylinder, robotic arm, and walking device, adjusts the posture, finds the bottom laying module to be laid, moves the grabbing plate assembly above the bottom laying module, automatically grabs the bottom laying module, and then continues to change the posture to adjust the position, finds the appropriate laying position, and lowers the bottom laying module to realize laying.

2. The tunnel automatic paving module construction method according to claim 1 is characterized by: The thickness of the front edge and the rear edge of the bottom laying module are both half of the total thickness of the bottom laying module. The front edge of the bottom laying module is a step surface with the upper surface cut off, and the rear edge of the bottom laying module is a step surface with the lower surface cut off. When laying the bottom laying modules in the length direction of the tunnel, the front edge of the bottom laying module already laid on the tunnel surface is oriented towards the direction of the tunnel where the bottom laying modules are not laid, and the rear edge of the bottom laying module to be placed on the tunnel surface, i.e., the later bottom laying module, is overlapped with the front edge of the adjacent bottom laying module already laid on the tunnel surface, i.e., the earlier bottom laying module.

3. The tunnel automatic laying bottom module construction method as claimed in claim 2 is characterized in that: When laying the bottom laying module in the length direction of the tunnel, the lower ends of the four L-shaped grippers extend into the bolt holes on the front edge and the bolt holes on the rear edge of the later bottom laying module, and the four L-shaped grippers are used to clamp the later bottom laying module through the action of the two-way hydraulic cylinder. The later bottom laying module is then moved to the position where it needs to be laid through the action of the robotic arm and / or walking device; and the later bottom laying module is driven to rotate through the action of the steering hydraulic cylinder so that the bolt holes on the rear edge of the later bottom laying module are aligned with the bolt holes on the front edge of the earlier bottom laying module.

4. The method for automatically laying the bottom module of the tunnel as claimed in claim 2 is characterized in that: When laying the bottom laying module in the length direction of the tunnel, after the early bottom laying module is placed on the tunnel pavement, the bolts are passed upward from the bottom surface of the early bottom laying module through the bolt holes on the front edge of the early bottom laying module, and then the later bottom laying module is placed on the tunnel pavement, and the bolts passing through the bolt holes on the front edge of the earlier bottom laying module are passed through the bolt holes on the front edge of the earlier bottom laying module.

5. The tunnel automatic laying bottom module construction method according to claim 2 is characterized by: The walking device walks on the bottom paving module which has been laid on the road surface.

6. The tunnel automatic paving module construction method according to claim 2, characterized in that: When more than two floor laying modules are laid in the width direction of the tunnel, two adjacent floor laying modules in the width direction of the tunnel are butt-jointed, and two adjacent floor laying modules in the width direction of the tunnel are connected by a pressure plate, which simultaneously passes through bolts located at the front edge or rear edge of the two adjacent floor laying modules.

7. The tunnel automatic paving module construction method according to claim 1 is characterized by: An upper anti-slip pattern is arranged on the upper surface of the floor module.

8. The tunnel automatic paving module construction method according to claim 1 is characterized by: Lower anti-slip grooves are arranged on the lower surface of the floor module.

9. The tunnel automatic paving module construction method according to claim 1, characterized in that: The machine vision algorithms adopted by the controller are the target detection algorithm and template matching algorithm of computer vision; among them, the target detection algorithm is used to find the bottom laying module to be laid and the laying position, and the template matching algorithm is used to detect the bolt holes on the bottom laying module.

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