A self-adjusting calibration device and system for laser transmitter station shifting

Abstract

The present application relates to a kind of self-adjusting calibration device and system for laser transmitter station shift, belong to the technical field of auxiliary equipment of boring machine detection system, including support plate, mounting plate is horizontally arranged on support plate, mounting plate slides along the extension direction of support plate, rotary arm is arranged on the upper side of mounting plate, one end of rotary arm is hinged with support plate, support is vertically arranged at the other end of rotary arm, support is rotatably connected with rotary arm, first calibration photosensitive element is arranged on support;The present application is driven by mounting plate displacement, rotary arm and support rotation by being used with drive mechanism in cooperation with support plate, mounting plate, rotary arm and first calibration photosensitive element, the position and angle of first calibration photosensitive element are automatically adjusted, the angle of laser transmitter after station shift is adjusted, so that the laser is emitted and falls on first calibration photosensitive element, can improve the precision of laser transmitter calibration, further improve the working efficiency of boring machine.

Description

Technical Field

[0001] This invention belongs to the technical field of auxiliary equipment for tunneling machine testing systems, specifically relating to a self-adjusting calibration device and system for laser emitter relocation. Background Technology

[0002] As a crucial piece of equipment for rapid tunneling in coal mines, the real-time dynamic monitoring of the tunnel boring machine's position and attitude is a key technology for achieving unmanned automated tunneling at the working face. Addressing the harsh environment of complex geological conditions, low illumination, and non-uniform dust at the tunneling face, a multi-sensor combined position and attitude detection system based on laser sensing and fiber optic inertial navigation is an effective means of acquiring the real-time position and attitude of the tunnel boring machine. A laser emitter is fixed to the top of the tunnel, and a laser sensing target is installed on top of the tunnel boring machine. The laser sensing system calculates the spot information of the laser beam emitted by the laser emitter falling on the laser sensing target to acquire the real-time lateral and longitudinal offset information of the tunnel boring machine. The fiber optic inertial navigation system uses the acquired acceleration information of the machine body to acquire the real-time attitude information of the tunnel boring machine.

[0003] As the tunneling distance advances, when using the laser sensing system to acquire real-time information on the lateral and longitudinal positional offsets and attitude of the tunneling machine, the effective emission range of the laser emitter and the harsh environment of the underground coal mine necessitate timely relocation of the laser emitter to ensure the normal operation of the laser sensing system. After relocation, the laser beam emitted by the laser emitter needs to be aligned and calibrated to ensure that the laser beam accurately hits the laser sensing target.

[0004] Currently, when moving and calibrating the laser emitter of a laser sensing system, a new laser emitter needs to be installed at the new location. A dial is fixed to the roof of the tunnel above the stop position of the tunneling machine. The laser emitter at the previous location emits a laser beam that hits the dial surface as a reference to adjust the angle of the laser emitter at the new location. After the laser beams from both emitters overlap on the dial surface, the new laser emitter is fixed in place, and the old laser emitter is removed, completing the laser emitter relocation operation of the laser sensing system. The tunneling machine can then continue mining operations. However, due to the low lighting and heavy dust in the underground tunnels, manual calibration using the dial results in significant errors, requiring multiple calibrations and adjustments of the laser emitter angle over a long period, severely reducing the working efficiency of the tunneling machine. Summary of the Invention

[0005] In view of this, the present invention provides a self-adjusting calibration device and system for laser emitter relocation. By using the lateral offset and attitude information when the tunneling machine stops, the position and angle of the first calibration photosensitive element are automatically adjusted, and the angle of the laser emitter after relocation is manually adjusted so that the emitted laser falls on the calibration photosensitive element, thereby improving the calibration accuracy of the laser emitter.

[0006] The technical solution of the present invention is: a self-adjusting calibration device for laser emitter relocation, comprising a support plate, a mounting plate, a rotary arm, a bracket, a first calibration photosensitive element, and first, second, and third drive mechanisms; the mounting plate is horizontally disposed on the support plate and slides along the extension direction of the support plate; the rotary arm is disposed on the upper side of the mounting plate and one end of the rotary arm is hinged to the support plate; the bracket is vertically disposed on the other end of the rotary arm and is rotatably connected to the rotary arm; the first calibration photosensitive element is disposed on the bracket and connected to the bracket; the first drive mechanism is disposed on the support plate and connected to the mounting plate, driving the mounting plate to move along the extension direction of the support plate; the second drive mechanism is disposed on the mounting plate and connected to the rotary arm, driving the rotary arm to rotate around the axial direction of the support plate; the third drive mechanism is disposed on the rotary arm and connected to the bracket, driving the bracket to rotate around the axial direction of the rotary arm.

[0007] Preferably, the first drive mechanism includes a groove formed on the top of the support plate, the lower side of the mounting plate is embedded in the groove, the mounting plate is slidably connected to the groove, a rack is fixed on one inner wall of the groove, the rack is parallel to the support plate, a first servo motor is fixed on the mounting plate, the output shaft of the first servo motor passes through the mounting plate and is fitted with a gear, the gear is meshed with the rack, a first rotary encoder is fixed on the first servo motor, the first rotary encoder is electrically connected to the first servo motor, and the first rotary encoder is used to control the rotation of the first servo motor.

[0008] Preferably, the second drive mechanism includes a rotating shaft passing through one end of the slewing arm near the mounting plate. The rotating shaft is vertically and fixedly connected to the slewing arm. A U-shaped connecting seat is fixedly provided on the top of the mounting plate. The two ends of the rotating shaft are vertically and rotatably connected to the inner wall of the U-shaped connecting seat through bearings. A second servo motor is fixedly provided on one side of the mounting plate near the U-shaped connecting seat. The output shaft of the second servo motor passes through the U-shaped connecting seat and is fixedly connected to the rotating shaft. A second rotary encoder is fixedly provided on the second servo motor. The second rotary encoder is electrically connected to the second servo motor and is used to control the rotation of the second servo motor.

[0009] Preferably, the third drive mechanism includes a third servo motor fixedly mounted on the end of the slewing arm away from the mounting plate. The output shaft of the third servo motor is vertically and fixedly connected to the bracket. A third rotary encoder is fixedly mounted on the third servo motor and electrically connected to the third servo motor. The third rotary encoder is used to control the rotation of the third servo motor.

[0010] Preferably, a slewing arm is provided at the end of the slewing boom away from the mounting plate. The slewing arm and the slewing boom are on the same straight line. One end of the slewing arm is fixedly connected to the slewing boom through a hydraulic connecting rod, and the other end is fixedly connected to a third servo motor.

[0011] Preferably, the bracket includes a housing, the bottom of which is vertically and fixedly connected to the output shaft of the third servo motor of the drive mechanism, and a transparent acrylic protective plate is fixedly installed on the top of the housing and on one side of the support plate. A first calibration photosensitive element is fixed on the top of the housing on the inner wall of the other side of the support plate. An electric swing arm dust removal brush is provided on the transparent acrylic protective plate, and the electric swing arm dust removal brush is fixedly connected to the housing.

[0012] Preferably, a connecting plate is vertically provided on the bottom inner side of the box, the connecting plate is parallel to the inner wall of the box where the first calibration photosensitive element is fixed, the bottom of the connecting plate is fixedly connected to the box, the top of the connecting plate is located below the first calibration photosensitive element, and a second calibration photosensitive element is fixed on the side of the connecting plate away from the first calibration photosensitive element.

[0013] Preferably, a ranging auxiliary plate is fixedly mounted on one end of the support plate, and an ultrasonic ranging sensor is fixedly mounted on the end of the mounting plate near the ranging auxiliary plate.

[0014] A self-adjusting calibration system for laser emitter relocation includes a tunneling machine, a laser emitter fixed to the top of a tunnel, and a self-adjusting calibration device. The support plate of the self-adjusting calibration device is fixed to the top of the tunneling machine by threaded fasteners. The first calibration photosensitive element and the second calibration photosensitive element of the self-adjusting calibration device are used to receive the beam emitted by the laser emitter.

[0015] Compared with existing technologies, the self-adjusting calibration device and system provided by this invention for laser emitter relocation, through a support plate, mounting plate, slewing boom, and a first calibration photosensitive element, and in conjunction with a drive mechanism, can drive the mounting plate to shift, the slewing boom and the support to rotate based on the lateral offset and attitude information of the tunneling machine when it stops. This automatically adjusts the position and angle of the first calibration photosensitive element, adjusting the laser emitter after relocation so that the emitted laser falls on the first calibration photosensitive element. This not only improves the calibration accuracy of the laser emitter but also increases the calibration speed of fast laser emitters, further improving the working efficiency of the tunneling machine. The self-adjusting calibration device and system of this invention has high accuracy and a high degree of automation. It fully utilizes the attitude information of the tunneling machine and combines it with the laser sensing system to achieve integrated calibration and detection. The system has stronger integrity, greater practicality, and is worthy of promotion. Attached Figure Description

[0016] Figure 1 This is a perspective view of the present invention;

[0017] Figure 2 This is a front view of the present invention;

[0018] Figure 3 This is a structural diagram of the support structure of the present invention;

[0019] Figure 4 This is a schematic diagram of the self-adjusting calibration system of the present invention;

[0020] Figure 5 This is a schematic diagram of the first working condition of the present invention;

[0021] Figure 6 This is a schematic diagram of the second operating condition of the present invention. Detailed Implementation

[0022] As a crucial piece of equipment for rapid tunneling in coal mines, the real-time dynamic monitoring of the tunnel boring machine's position and attitude is a key technology for achieving unmanned automated tunneling at the working face. Addressing the harsh environment of complex geological conditions, low illumination, and non-uniform dust at the tunneling face, a multi-sensor combined position and attitude detection system based on laser sensing and fiber optic inertial navigation is an effective means of acquiring the real-time position and attitude of the tunnel boring machine. A laser emitter is fixed to the top of the tunnel, and a laser sensing target is installed on top of the tunnel boring machine. The laser sensing system calculates the spot information of the laser beam emitted by the laser emitter falling on the laser sensing target to acquire the real-time lateral and longitudinal offset information of the tunnel boring machine. The fiber optic inertial navigation system uses the acquired acceleration information of the machine body to acquire the real-time attitude information of the tunnel boring machine.

[0023] As the tunneling distance advances, when using the laser sensing system to acquire real-time information on the lateral and longitudinal positional offsets and attitude of the tunneling machine, the effective emission range of the laser emitter and the harsh environment of the underground coal mine necessitate timely relocation of the laser emitter to ensure the normal operation of the laser sensing system. After relocation, the laser beam emitted by the laser emitter needs to be aligned and calibrated to ensure that the laser beam accurately hits the laser sensing target.

[0024] Currently, when moving and calibrating the laser emitter of the laser sensing system, a new laser emitter needs to be installed at the location to be moved. A scale is fixed on the roof of the roadway above the stop position of the tunneling machine. The laser emitter at the previous location emits a laser beam that hits the surface of the scale as a reference to adjust the angle of the laser emitter at the location to be moved. After the laser beams emitted by the two laser emitters overlap on the surface of the scale, the laser emitter at the location to be moved is fixed, and the laser emitter at the previous location is removed. This completes the relocation of the laser emitter of the laser sensing system, and the tunneling machine can continue its mining operations. However, due to the low lighting and heavy dust in underground tunnels, manual calibration using a dial for station relocation results in significant errors, requiring lengthy multiple calibrations and adjustments to the laser emitter's angle, severely reducing the tunneling machine's efficiency. To address these technical problems, this invention provides a self-adjusting calibration device and system for laser emitter relocation. By utilizing the lateral offset and attitude information of the tunneling machine during shutdown, the position and angle of the first calibration photosensitive element are automatically adjusted. The angle of the laser emitter after relocation is manually adjusted to ensure the emitted laser beam falls on the fixed photosensitive element, thus improving the accuracy of laser emitter calibration. The following describes the process in conjunction with... Figures 1 to 6 The present invention is illustrated by the structural diagram shown below.

[0025] Example 1

[0026] like Figure 1As shown, a self-adjusting calibration device for laser emitter relocation includes a support plate 1, a mounting plate 2, a rotary arm 3, a bracket, a first calibration photosensitive element 4, and first, second, and third drive mechanisms. The mounting plate 2 is horizontally mounted on the support plate 1 and slides along the extension direction of the support plate 1. The rotary arm 3 is mounted on the upper side of the mounting plate 2, with one end hinged to the support plate 1. The bracket is vertically mounted at the other end of the rotary arm 3 and rotatably connected to it. The first calibration photosensitive element 4 is mounted on the bracket and connected to it. The first drive mechanism is mounted on the support plate 1 and connected to the mounting plate 2, driving the mounting plate 2 to move along the extension direction of the support plate 1. The second drive mechanism is mounted on the mounting plate 2 and connected to the rotary arm 3, driving the rotary arm to move. The boom 3 rotates axially around the support plate 1. The third drive mechanism is mounted on the boom 3 and connected to the support. The third drive mechanism drives the support to rotate axially around the boom 3. Through the support plate, mounting plate, boom, and first calibration photosensitive element, and in conjunction with the first, second, and third drive mechanisms (including but not limited to electric, pneumatic, and gear chain transmissions), the first, second, and third drive mechanisms can drive the mounting plate to shift, the boom to rotate, and the support to rotate based on the lateral offset and attitude information when the tunneling machine stops. This automatically adjusts the position and angle of the first calibration photosensitive element and adjusts the laser emitter after relocation, ensuring that the emitted laser falls on the first calibration photosensitive element. This not only improves the calibration accuracy of the laser emitter but also increases the calibration speed of the fast laser emitter, further improving the working efficiency of the tunneling machine.

[0027] Preferably, a ranging auxiliary plate 81 is fixedly mounted on one end of the support plate 1, and an ultrasonic ranging sensor 82 is fixedly mounted on the end of the mounting plate 2 near the ranging auxiliary plate 81. The ultrasonic ranging sensor 82 is connected to the controller on the tunneling machine by signal or electrical connection to detect the position and displacement of the mounting plate.

[0028] like Figure 4 As shown, a self-adjusting calibration system for laser emitter relocation includes a tunneling machine 91, a laser emitter 92 fixed to the top of the tunnel, and a self-adjusting calibration device. The support plate 1 of the self-adjusting calibration device is fixed to the top of the tunneling machine 91 by threaded fasteners. The first calibration photosensitive element 4 and the second calibration photosensitive element 72 of the self-adjusting calibration device are used to receive the beam emitted by the laser emitter 92. A laser sensing target 101 is fixed on the side of the tunneling machine 91 near the laser emitter 92. After calibration by the self-adjusting calibration device, the laser sensing target 101 cooperates with the beam of the laser emitter to obtain the lateral and longitudinal offset information and attitude information of the tunneling machine body in real time.

[0029] During tunneling machine (TBM) operations in underground roadways, if the distance between the laser emitter fixed at the roadway ceiling and the laser sensing target on the TBM exceeds the specified limit, the laser emitter needs to be moved to ensure the accuracy of acquiring the TBM's lateral and longitudinal offset information and attitude information. After the TBM stops operating and the laser emitter is moved to the designated position, the attitude of the calibrated photosensitive element is adjusted based on the lateral offset and attitude information before the TBM stopped. Figure 5 , 6 As shown, the orientation adjustment of the calibrated photosensitive element includes:

[0030] 1) When the tunneling machine body is not offset, the centerline of the machine body coincides with the centerline of the roadway. In order to make the laser beam emitted by the laser emitter deviate from the centerline of the roadway by +x cm (assuming the right side of the centerline is positive and the left side is negative); the self-adjustment calibration device operates as follows: First, the machine body offset is read as 0. The first rotary encoder 25 receives the laser beam offset and then drives the mounting plate to move (0+x) m to the right from the centerline of the machine body through the first servo motor 23; the second rotary encoder 34 receives the pitch angle of the tunneling machine as 0°, and the second servo motor 33 drives the slewing boom 3 to rotate 90°-0° clockwise from the initial state of parallel to the machine body in the roadway; the third rotary encoder 42 receives the yaw angle of the tunneling machine as 0°, and the third servo motor 41 drives the housing to rotate clockwise by -0°.

[0031] 2) When the tunneling machine body is offset, the machine's centerline deviates from the roadway centerline by +Lm, the machine's yaw angle deviates clockwise by a°, and the pitch angle deviates upward by b°. To make the laser emitter emit a laser beam deviate from the roadway centerline by +xcm (assuming the right side of the centerline is positive and the left side is negative), the self-adjustment calibration device operates as follows: First, the machine offset is read as +Lm. The first rotary encoder 25 receives the laser beam offset and then drives the mounting plate to move (x–L)m to the right from the machine's centerline via the first servo motor 23. The second rotary encoder receives the tunneling machine's pitch angle as b°, and the second servo motor 33 drives the slewing boom 3 to rotate 90°–b° clockwise from its initial state parallel to the roadway machine body. The third rotary encoder 42 receives the tunneling machine's yaw angle as a°, and the third servo motor drives the housing to rotate clockwise by -a°.

[0032] After the orientation of the calibrated photosensitive element is adjusted, the laser emitter is manually adjusted. Once the calibrated photosensitive element receives the laser beam, the laser emitter is fixed and calibrated, and the tunneling machine continues to operate. The laser beam of the laser emitter is used in conjunction with the laser sensing target 101 to obtain the lateral and longitudinal offset information and orientation information of the tunneling machine body in real time.

[0033] Example 2

[0034] To further improve the automation level of laser emitter relocation calibration, the rack, first servo motor, gear, and first rotary encoder inside the groove work together to control the first servo motor to drive the mounting plate to make lateral displacement movement based on the lateral offset and attitude information when the tunneling machine stops. Then, in conjunction with the rotating shaft, U-shaped connecting seat, second servo motor, and second rotary encoder, the second rotary encoder controls the second servo motor to drive the slewing boom to make longitudinal rotation movement. Finally, in conjunction with the slewing arm, third servo motor, and third rotary encoder, the third rotary encoder controls the third servo motor to drive the support to make horizontal rotation movement. The laser relocation calibration device can achieve adaptive transformation based on the real-time position and posture offset of the tunneling machine without manual intervention.

[0035] like Figure 2 As shown, preferably, the first driving mechanism includes a groove 21 formed on the top of the support plate 1, the lower side of the mounting plate 2 is embedded in the groove 21, the mounting plate 2 is slidably connected to the groove 21, a rack 22 is fixed on one inner wall of the groove 21, the rack 22 is parallel to the support plate 1, a first servo motor 23 is fixed on the mounting plate 2, the output shaft of the first servo motor 23 passes through the mounting plate 2 and a gear 24 is fitted and fixed thereon, the gear 24 is meshed with the rack 22, a first rotary encoder 25 is fixed on the first servo motor 23, the first rotary encoder 25 is electrically connected to the first servo motor 23, the first rotary encoder 25 is used to control the rotation of the first servo motor 23, the first rotary encoder 25 is signaled or electrically connected to the controller on the tunneling machine, the controller uses the first rotary encoder to control the first servo motor to drive the mounting plate to make lateral displacement movement according to the lateral offset and attitude information when the tunneling machine stops.

[0036] Preferably, the second drive mechanism includes a rotating shaft 31 passing through one end of the slewing boom 3 near the mounting plate 2. The rotating shaft 31 is vertically and fixedly connected to the slewing boom 3. A U-shaped connecting seat 32 is fixedly provided on the top of the mounting plate 2. The two ends of the rotating shaft 31 are vertically and rotatably connected to the inner wall of the U-shaped connecting seat 32 through bearings. A second servo motor 33 is fixedly provided on one side of the mounting plate 2 at the U-shaped connecting seat 32. The output shaft of the second servo motor 33 passes through the U-shaped connecting seat 32 and is fixedly connected to the rotating shaft 31. A second rotary encoder 34 is fixedly provided on the second servo motor 33. The second rotary encoder 34 is electrically connected to the second servo motor 33 and is used to control the rotation of the second servo motor 33. The second rotary encoder 34 is signal- or electrically connected to the controller on the tunneling machine. The controller uses the second rotary encoder to control the second servo motor to drive the slewing boom to perform longitudinal slewing motion based on the lateral offset and attitude information when the tunneling machine stops.

[0037] Preferably, the third drive mechanism includes a third servo motor 41 fixedly mounted on the end of the slewing boom 3 away from the mounting plate 2. The output shaft of the third servo motor 41 is vertically fixedly connected to the bracket. A third rotary encoder 42 is fixedly mounted on the third servo motor 41 and electrically connected to the third servo motor 41. The third rotary encoder 42 is used to control the rotation of the third servo motor 41. The third rotary encoder 42 is signal- or electrically connected to the controller on the tunneling machine. The controller uses the third rotary encoder to control the third servo motor to drive the bracket to perform horizontal rotational movement based on the lateral offset and attitude information when the tunneling machine stops.

[0038] Preferably, a slewing arm 51 is provided at the end of the slewing boom 3 away from the mounting plate 2. The slewing arm 51 and the slewing boom 3 are located on the same straight line. One end of the slewing arm 51 is fixedly connected to the slewing boom 3 through a hydraulic connecting rod, and the other end is fixedly connected to the third servo motor 41. The height of the support can be flexibly adjusted through the hydraulic connecting rod. The hydraulic connecting rod is connected to the controller on the tunneling machine by signal or electricity.

[0039] Example 3

[0040] To further improve the alignment and calibration accuracy of the laser emitter in the low-light, high-dust underground tunnel environment, a transparent acrylic protective plate on the enclosure is used to avoid blocking the laser beam. The surface is coated with an anti-reflective film to reduce the reflection of the laser beam by the transparent acrylic protective plate. In addition, the transparent acrylic protective plate is cleaned and dusted regularly by a dust removal brush.

[0041] like Figure 3 As shown, preferably, the bracket includes a housing 61. The bottom of the housing 61 is vertically and fixedly connected to the output shaft of the third servo motor 41 of the drive mechanism. A transparent acrylic protective plate 62 is fixedly installed on the top of the housing 61 and on one side of the support plate 1. A first calibration photosensitive element 4 is fixed on the top of the housing 61 on the inner wall of the other side of the support plate 1. An electric swing arm dust removal brush 63 is provided on the transparent acrylic protective plate 62. The electric swing arm dust removal brush 63 is fixedly connected to the housing 61. The electric swing arm dust removal brush 63 is driven by a small servo motor and a gear disk. The output shaft of the small servo motor is fixedly connected to the gear disk. The outer side of the gear disk is fixedly connected to the end of the dust removal brush. The small servo motor drives the dust removal brush to move back and forth. The rubber strip on the dust removal brush is coated with a graphite coating to further improve the dust removal effect.

[0042] Example 4

[0043] To further improve the convenience of laser transmitter calibration, a high and low laser receiving surface is formed by the first calibration photosensitive element at the rear of the housing and the second calibration photosensitive element on the connecting plate. The two laser receiving elements can achieve rapid laser alignment.

[0044] A single-point laser emitter rotates in a vertical plane to form a vertical laser emitting surface, which can be understood as a cross laser emitter without the horizontal part. Due to the small area of ​​the photosensitive element, the speed of adjusting the laser emitter to align with the photosensitive element is slow. Based on this, a connecting plate 71 is vertically provided on the bottom inner side of the housing 61. The connecting plate 71 is parallel to the inner wall of the housing where the first calibration photosensitive element 4 is fixed. The bottom of the connecting plate 71 is fixedly connected to the housing 61, and the top of the connecting plate 71 is located below the first calibration photosensitive element 4. A second calibration photosensitive element 72 is fixed on the side of the connecting plate 71 away from the first calibration photosensitive element 4. The receiving surface formed by the first and second calibration photosensitive elements cooperates with the straight laser emitting surface, which enables the laser emitter to be quickly adjusted to align with the photosensitive element.

[0045] This invention provides a self-adjusting calibration device and system for laser emitter relocation. Using a support plate, mounting plate, slewing boom, and a first calibration photosensitive element, and in conjunction with a drive mechanism, it can automatically adjust the position and angle of the first calibration photosensitive element by using the lateral offset and attitude information of the tunneling machine when it stops, driving the mounting plate to shift, the slewing boom to rotate, and the support to rotate. This adjusts the laser emitter after relocation, ensuring the emitted laser light falls on the first calibration photosensitive element. This not only improves the calibration accuracy of the laser emitter but also increases the calibration speed of fast laser emitters, further improving the working efficiency of the tunneling machine. Through the use of a rack, a first servo motor, gears, and a first rotary encoder inside the groove, it can control the first servo motor to drive the mounting plate to make lateral displacement movement using the first rotary encoder based on the lateral offset and attitude information of the tunneling machine when it stops. This is further combined with a rotating shaft, a U-shaped connecting seat, a second servo motor, and a second rotary encoder, using the second rotary encoder to control the second servo motor to drive the slewing boom to make longitudinal rotation movement. Finally, it is combined with the slewing arm and a third servo motor... In conjunction with a third rotary encoder, the third servo motor drives the support to rotate horizontally. Based on the real-time posture offset of the tunneling machine, the laser station calibration device adaptively changes, requiring no manual intervention and improving the level of intelligent unmanned operation in coal mines. A transparent acrylic protective plate on the housing prevents the laser beam from being blocked, and its surface is coated with an anti-reflective film to reduce laser beam reflection. Additionally, the adhesive strip on the dust removal brush, with its graphite coating, periodically cleans and removes dust from the transparent acrylic protective plate, improving the alignment and calibration accuracy of the laser emitter in low-light, high-dust underground tunnel environments. A high and low laser receiving surface is formed by the first calibration photosensitive element at the rear of the housing and the second calibration photosensitive element on the connecting plate. These two laser receiving elements enable rapid laser alignment and calibration, improving the convenience of laser emitter calibration. This invention's self-adjusting calibration device and system boast high precision and a high degree of automation. It fully utilizes the attitude information of the tunneling machine, combining it with the laser sensing system to achieve integrated calibration and detection. The system is more complete, practical, and worthy of promotion.

[0046] The above-disclosed embodiments are merely preferred embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any variations that can be conceived by those skilled in the art should fall within the protection scope of the present invention.

Claims

1. A self-adjusting calibration device for laser emitter relocation, characterized in that, include: Support plate (1); Mounting plate (2) is horizontally set on support plate (1), and the mounting plate (2) slides along the extension direction of support plate (1); The slewing boom (3) is set on the upper side of the mounting plate (2), and one end of the slewing boom (3) is hinged to the support plate (1); A bracket is vertically installed at the other end of the slewing boom (3), and the bracket is rotatably connected to the slewing boom (3); The first calibration photosensitive element (4) is mounted on the bracket and is connected to the bracket; A first driving mechanism is provided on the support plate (1). The first driving mechanism is connected to the mounting plate (2). The first driving mechanism drives the mounting plate (2) to move along the extension direction of the support plate (1). The second drive mechanism is mounted on the mounting plate (2). The second drive mechanism is connected to the slewing arm (3). The second drive mechanism drives the slewing arm (3) to rotate around the axis of the support plate (1). The third drive mechanism is set on the slewing boom (3), the third drive mechanism is connected to the bracket, and the third drive mechanism drives the bracket to rotate around the axis of the slewing boom (3); The first driving mechanism includes a groove (21) on the top of the support plate (1), the lower side of the mounting plate (2) is embedded in the groove (21), the mounting plate (2) and the groove (21) are slidably connected, a rack (22) is fixed on one side of the inner wall of the groove (21), the rack (22) is parallel to the support plate (1), a first servo motor (23) is fixed on the mounting plate (2), the output shaft of the first servo motor (23) passes through the mounting plate (2) and a gear (24) is fixedly fitted, the gear (24) is meshed with the rack (22), a first rotary encoder (25) is fixed on the first servo motor (23), the first rotary encoder (25) is electrically connected to the first servo motor (23), and the first rotary encoder (25) is used to control the rotation of the first servo motor (23); The second drive mechanism includes a rotating shaft (31) passing through one end of the slewing arm (3) near the mounting plate (2). The rotating shaft (31) is vertically fixedly connected to the slewing arm (3). A U-shaped connecting seat (32) is fixedly provided on the top of the mounting plate (2). The two ends of the rotating shaft (31) are vertically rotatably connected to the inner wall of the U-shaped connecting seat (32) through bearings. A second servo motor (33) is fixedly provided on one side of the mounting plate (2) located on the U-shaped connecting seat (32). The output shaft of the second servo motor (33) passes through the U-shaped connecting seat (32) and is fixedly connected to the rotating shaft (31). A second rotary encoder (34) is fixedly provided on the second servo motor (33). The second rotary encoder (34) is electrically connected to the second servo motor (33). The second rotary encoder (34) is used to control the rotation of the second servo motor (33). The third drive mechanism includes a third servo motor (41) fixedly mounted on the end of the slewing arm (3) away from the mounting plate (2). The output shaft of the third servo motor (41) is vertically fixedly connected to the bracket. A third rotary encoder (42) is fixedly mounted on the third servo motor (41). The third rotary encoder (42) is electrically connected to the third servo motor (41). The third rotary encoder (42) is used to control the rotation of the third servo motor (41). The orientation adjustment of the photosensitive element includes: When the tunneling machine body is not offset, the machine body centerline coincides with the tunnel centerline. In order to make the laser beam emitted by the laser emitter deviate from the tunnel centerline by +x cm; the self-adjustment calibration device operation process: first, read the machine body offset as 0, the first rotary encoder (25) receives the laser beam offset, and then the first servo motor (23) drives the mounting plate to move (0+x) m to the right from the machine body centerline; the second rotary encoder (34) receives the tunneling machine pitch angle as 0°, and the second servo motor (33) drives the slewing boom (3) clockwise to rotate 90°-0° from the initial state parallel to the tunnel body; the third rotary encoder (42) receives the tunneling machine yaw angle as 0°, and the third servo motor (41) drives the box to rotate clockwise by -0°; When the tunneling machine body is offset, the machine body centerline deviates from the roadway centerline by +L m, the machine body yaw angle deviates clockwise by a°, and the pitch angle deviates upward by b°. In order to make the laser emitter emit laser beam deviate from the roadway centerline by +x cm; the self-adjustment calibration device operation process: first, read the machine body offset amount as +L m, the first rotary encoder (25) receives the laser beam offset amount, and then the first servo motor (23) drives the mounting plate to move (x–L) m to the right from the machine body centerline; the second rotary encoder receives the tunneling machine pitch angle as b°, and the second servo motor (33) drives the slewing boom 3 to rotate 90°-b° clockwise from the initial state parallel to the roadway machine body; the third rotary encoder (42) receives the tunneling machine yaw angle as a°, and the third servo motor drives the housing to rotate clockwise by -a°; After the orientation of the calibrated photosensitive element is adjusted, the laser emitter is manually adjusted. Once the calibrated photosensitive element receives the laser beam, the laser emitter is fixed and calibrated.

2. The self-adjusting calibration device for laser emitter relocation according to claim 1, characterized in that, The slewing boom (3) has a slewing arm (51) at one end away from the mounting plate (2). The slewing arm (51) and the slewing boom (3) are on the same straight line. One end of the slewing arm (51) is fixedly connected to the slewing boom (3) through a hydraulic connecting rod, and the other end is fixedly connected to the third servo motor (41).

3. The self-adjusting calibration device for laser emitter relocation according to claim 1, characterized in that, The bracket includes a housing (61), the bottom of which is vertically fixed to the output shaft of the third servo motor (41) of the drive mechanism. A transparent acrylic protective plate (62) is fixedly installed on the top of the housing (61) and on one side of the support plate (1). A first calibration photosensitive element (4) is fixed on the top of the housing (61) on the other side of the inner wall of the support plate (1). An electric swing arm dust removal brush (63) is provided on the transparent acrylic protective plate (62), and the electric swing arm dust removal brush (63) is fixedly connected to the housing (61).

4. The self-adjusting calibration device for laser emitter relocation according to claim 3, characterized in that, A connecting plate (71) is vertically provided on the bottom inner side of the housing (61). The connecting plate (71) is parallel to the inner wall of the housing where the first calibration photosensitive element (4) is fixed. The bottom of the connecting plate (71) is fixedly connected to the housing (61). The top of the connecting plate (71) is located below the first calibration photosensitive element (4). A second calibration photosensitive element (72) is fixed on the side of the connecting plate (71) away from the first calibration photosensitive element (4).

5. The self-adjusting calibration device for laser emitter relocation according to claim 1, characterized in that, One end of the support plate (1) is fixed with a ranging auxiliary plate (81), and the end of the mounting plate (2) near the ranging auxiliary plate (81) is fixed with an ultrasonic ranging sensor (82).

6. A self-adjusting calibration system for laser emitter relocation, comprising a tunneling machine (91), a laser emitter (92), the laser emitter (92) being fixed to the top of a roadway, characterized in that, It also includes the self-adjusting calibration device as described in claim 1, wherein the support plate (1) of the self-adjusting calibration device is fixed to the top of the tunneling machine (91) by threaded fasteners, and the first calibration photosensitive element (4) and the second calibration photosensitive element (72) of the self-adjusting calibration device are used to receive the beam emitted by the laser emitter (92).

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