Tunneling system and tunneling method

Abstract

The application provides a tunneling system and a tunneling method, which comprise a tunneling anchor machine, an anchor protection transfer and crushing machine and a centralized control platform, the tunneling anchor machine is located in front of the anchor protection transfer and crushing machine, and the centralized control platform is arranged on a side of the anchor protection transfer and crushing machine away from the tunneling anchor machine; a first positioning component is used for determining the relative position of the anchor protection transfer and crushing machine relative to the centralized control platform, and a second positioning component is used for determining the relative position of the tunneling anchor machine relative to the anchor protection transfer and crushing machine; wherein the first positioning component comprises a first detection part and a first positioning part, the first detection part is arranged on the centralized control platform, and the first positioning part is arranged on the anchor protection transfer and crushing machine; the second positioning component comprises a second detection part and a second positioning part, the second detection part is arranged on the anchor protection transfer and crushing machine, and the second positioning part is arranged on the tunneling anchor machine. Through the technical scheme provided by the application, the technical problem that the tunneling system in the prior art can only position and navigate a single device can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine underground roadway tunneling, in particular to a tunneling system and a tunneling method. BACKGROUND

[0002] At present, in the operation process of coal mine underground roadway tunneling, the positioning and navigation system is responsible for measuring and providing the pose information of each device, so that precise positioning and intelligent navigation can be realized, and then the self-positioning automatic cutting of the tunneling and anchoring machine, the step distance and cycle forward movement, and the row distance anchoring can be realized, and the automatic following is matched, which is also the basis of the coordinated control of the whole system. For the navigation and positioning of the coal mine underground tunneling device, the following schemes are generally used at home and abroad:

[0003] (1) "pure inertial navigation" or "inertial navigation + odometer": at present, inertial navigation is often used as a navigation element in the navigation scheme of the tunneling machine and other devices, or other forms of sensors such as total station and odometer are used in cooperation.

[0004] (2) laser radar: another common technical scheme in China is to install laser radar on the tunneling machine, the laser radar scans the two side walls of the roadway and the distance measuring plate previously hung behind, the point cloud data of the two side walls and the distance measuring plate are reconstructed, the images of the two side walls are fitted, and then the position relationship between the tunneling machine and the two side walls is inversely solved, and the attitude and position information of the tunneling machine in the roadway is further solved.

[0005] However, the above schemes are designed for the positioning and navigation of single devices such as tunneling machines, and are not suitable for the working conditions of multi-device matching operation of the tunneling and anchoring machine efficient and rapid tunneling system. For the "inertial navigation + odometer" scheme, the biggest problem is that the slipping and lateral shifting of the tunneling machine during operation cannot be correctly sensed by the odometer, so there is a large deviation in actual application. The navigation mode using laser radar has the following disadvantages: ① in the condition of large dust, the laser radar cannot collect the reflection information of the two side walls and the distance measuring plate behind, causing measurement failure; ② in the case of unstable and easy falling of the side wall coal rock structure (commonly known as side wall falling, which often occurs), the reconstruction of the two side walls will be wrong, causing inaccurate positioning. ③ low positioning and attitude measurement accuracy. Although the laser radar scheme is a common scheme in China at present, its practicability is poor in the underground. SUMMARY

[0006] The main purpose of the present application is to provide a tunneling system and a tunneling method to solve the technical problem that the existing tunneling system can only position and navigate single devices.

[0007] In order to achieve the above purpose, according to one aspect of the present application, a tunneling system is provided, comprising:

[0008] The anchor excavator, the anchor protection transfer crusher and the centralized control platform, the anchor excavator is located in front of the anchor protection transfer crusher, and the centralized control platform is arranged on the side of the anchor protection transfer crusher away from the anchor excavator;

[0009] The positioning navigation device is signal connected with the centralized control platform, and the positioning navigation device comprises a first positioning component and a second positioning component arranged at intervals, the first positioning component is used for determining the relative position of the anchor protection transfer crusher relative to the centralized control platform, and the second positioning component is used for determining the relative position of the anchor excavator relative to the anchor protection transfer crusher.

[0010] The first positioning component comprises a first detection part and a first positioning part, the first detection part is arranged on the centralized control platform, the first positioning part is arranged on the anchor protection transfer crusher, and the first detection part is used for detecting the position of the first positioning part; the second positioning component comprises a second detection part and a second positioning part, the second detection part is arranged on the anchor protection transfer crusher, the second positioning part is arranged on the anchor excavator, and the second detection part is used for detecting the position of the second positioning part.

[0011] Further, the first detection part is a laser tracker, and the first positioning part is a laser target, the laser tracker is arranged on the side of the centralized control platform close to the anchor protection transfer crusher, the laser target is arranged on the side of the anchor protection transfer crusher close to the centralized control platform, the laser target is arranged opposite to the laser tracker, and the laser tracker is used for tracking the position of the laser target so that the laser emitted by the laser tracker is projected on the laser target.

[0012] Further, the second detection part is an industrial camera, the industrial camera is arranged on the side of the anchor protection transfer crusher close to the anchor excavator, and the second positioning part is a positioning light source, the positioning light source is arranged on the side of the anchor excavator close to the anchor protection transfer crusher.

[0013] Further, the positioning navigation device further comprises:

[0014] a second attitude measuring instrument arranged on the anchor excavator, the second attitude measuring instrument is used for measuring the heading angle of the anchor excavator, the roll angle of the anchor excavator and the pitch angle of the anchor excavator; and / or,

[0015] a first attitude measuring instrument arranged on the anchor protection transfer crusher, the first attitude measuring instrument is used for measuring the heading angle of the anchor protection transfer crusher, the roll angle of the anchor protection transfer crusher and the pitch angle of the anchor protection transfer crusher.

[0016] Further, the anchor excavator is provided with a first drill arm and a second drill arm, the first drill arm is arranged on the top of the anchor excavator, and the first drill arm is used for performing the roof anchor rod operation of the roadway; the second drill arm is arranged above the side of the anchor excavator, and the second drill arm is used for performing the anchor rod operation on the upper side of the roadway.

[0017] The anchor protection and transfer crusher is provided with a third drilling arm and a fourth drilling arm, the third drilling arm is arranged at the top of the anchor protection and transfer crusher and is used for anchor cable operation on the roof of the roadway, and the fourth drilling arm is arranged below the anchor protection and transfer crusher and is used for anchor rod operation on the lower part of the side of the roadway.

[0018] According to another aspect of the present application, a tunneling method is provided, which adopts the tunneling system provided above, and the tunneling method comprises:

[0019] The first detection part of the first positioning assembly of the tunneling system is calibrated by using the geophysical data of the mine to obtain absolute coordinates of the first detection part and absolute coordinates of the design center line of the roadway, and the absolute coordinates of the first detection part and the absolute coordinates of the design center line of the roadway are transmitted to the positioning and navigation device of the tunneling system;

[0020] The relative position coordinates of the anchor protection and transfer crusher of the tunneling system are obtained by using the first positioning assembly of the tunneling system, and the relative position coordinates of the anchor protection and transfer crusher are transmitted to the positioning and navigation device;

[0021] The attitude information of the anchor protection and transfer crusher is obtained by using the first attitude measuring instrument of the tunneling system, and the attitude information of the anchor protection and transfer crusher is transmitted to the positioning and navigation device;

[0022] The absolute coordinates of the anchor protection and transfer crusher, the attitude angle of the anchor protection and transfer crusher, the left-right deviation value of the anchor protection and transfer crusher relative to the design center line of the roadway, the up-down deviation value of the anchor protection and transfer crusher relative to the design center line of the roadway, and the included angle between the anchor protection and transfer crusher and the design center line of the roadway are determined according to the absolute coordinates of the first detection part, the relative position coordinates of the anchor protection and transfer crusher, and the attitude information of the anchor protection and transfer crusher.

[0023] Further, the tunneling method further comprises:

[0024] The relative position coordinates of the anchor drilling machine of the tunneling system are obtained by using the second positioning assembly of the tunneling system, and the relative position coordinates of the anchor drilling machine are transmitted to the positioning and navigation device;

[0025] The attitude information of the anchor drilling machine is obtained by using the second attitude measuring instrument of the tunneling system, and the attitude information of the anchor drilling machine is transmitted to the positioning and navigation device;

[0026] The absolute coordinates of the anchor drilling machine, the attitude angle of the anchor drilling machine, the left-right deviation value of the anchor drilling machine relative to the design center line of the roadway, the up-down deviation value of the anchor drilling machine relative to the design center line of the roadway, and the included angle between the anchor drilling machine and the design center line of the roadway are determined according to the absolute coordinates of the first detection part, the relative position coordinates of the anchor protection and transfer crusher, the relative position coordinates of the anchor drilling machine, and the attitude information of the anchor drilling machine.

[0027] Further, the tunneling method further comprises:

[0028] The tunneling anchor machine and the anchor protection and transfer crusher are moved in an alternating manner, and the tunneling anchor machine and the anchor protection and transfer crusher are alternately used as positioning reference for positioning and navigation;

[0029] When the tunneling anchor machine moves, the body of the anchor protection and transfer crusher is stationary, and the tunneling anchor machine is positioned and navigated with the body of the anchor protection and transfer crusher as the positioning reference;

[0030] When the anchor protection and transfer crusher moves, the body of the tunneling anchor machine is stationary, and the anchor protection and transfer crusher is positioned and navigated with the body of the tunneling anchor machine as the positioning reference.

[0031] Further, in the process of positioning and navigation with the tunneling anchor machine and the anchor protection and transfer crusher alternately used as the positioning reference, the tunneling method further comprises:

[0032] Every interval of a preset time, the pose of the anchor protection and transfer crusher is calibrated; and / or,

[0033] After one tunneling process is completed, the self-moving tail of the tunneling system moves to the next predetermined position, and the absolute coordinates of the first detection part are calibrated.

[0034] Further, the tunneling method further comprises:

[0035] When the tunneling anchor machine moves forward, the positioning and navigation device calculates the position and attitude angle information of the tunneling anchor machine at a predetermined frequency, determines the movement trajectory of the tunneling anchor machine according to the position and attitude angle information of the tunneling anchor machine, and compares the movement trajectory of the tunneling anchor machine with the design center line of the tunnel, taking the design center line of the tunnel as the deviation correction reference to correct the movement of the tunneling anchor machine.

[0036] Further, after the absolute coordinates of the tunneling anchor machine, the attitude angle of the tunneling anchor machine, the left and right deviation value of the tunneling anchor machine relative to the design center line of the tunnel, the up and down deviation value of the tunneling anchor machine relative to the design center line of the tunnel, and the included angle between the tunneling anchor machine and the design center line of the tunnel are determined, the tunneling method further comprises:

[0037] The tunneling anchor machine is started to perform cutting operation and anchor rod operation on the current work station by the tunneling anchor machine;

[0038] After the tunneling anchor machine completes the cutting operation and anchor rod operation on the current work station, it is detected whether the distance between the tunneling anchor machine and the anchor protection and transfer crusher is within a preset distance range, and whether the body of the anchor protection and transfer crusher is stationary;

[0039] When the distance between the tunneling anchor machine and the anchor protection and transfer crusher is within the preset distance range, and the body of the anchor protection and transfer crusher is stationary, the tunneling anchor machine is controlled to move forward by a preset step distance, so that the tunneling anchor machine reaches the next work station;

[0040] When the distance between the anchor machine and the anchor protection transfer crusher is not within the preset distance range, and / or the machine body of the anchor protection transfer crusher is stationary, first move the anchor protection transfer crusher to within the preset distance range, then control the machine body of the anchor protection transfer crusher to be stationary, and then control the anchor machine to move forward by a preset step distance, so that the anchor machine reaches the next station.

[0041] Further, after determining the absolute coordinates of the anchor protection transfer crusher, the attitude angle of the anchor protection transfer crusher, the left-right deviation of the anchor protection transfer crusher relative to the center line of the roadway design, the up-down deviation of the anchor protection transfer crusher relative to the center line of the roadway design, and the included angle between the anchor protection transfer crusher and the center line of the roadway design, the tunneling method further comprises:

[0042] Start the anchor protection transfer crusher to perform cable and anchor rod operations on the current station by the anchor machine;

[0043] After the anchor protection transfer crusher completes the cable and anchor rod operations on the current station, detect whether the distance between the anchor protection transfer crusher and the anchor machine is within the preset distance range, and detect whether the machine body of the anchor machine is stationary;

[0044] When the distance between the anchor protection transfer crusher and the anchor machine is within the preset distance range, and the machine body of the anchor machine is stationary, control the anchor protection transfer crusher to move forward by a preset step distance, so that the anchor protection transfer crusher reaches the next station;

[0045] When the distance between the anchor protection transfer crusher and the anchor machine is not within the preset distance range, and / or the machine body of the anchor machine is stationary, first move the anchor machine to within the preset distance range, then control the machine body of the anchor machine to be stationary, and then control the anchor protection transfer crusher to move forward by a preset step distance, so that the anchor protection transfer crusher reaches the next station.

[0046] Further, the tunneling system further comprises a belt transfer machine and a self-moving tail, the belt transfer machine is connected with the anchor protection transfer crusher to move the belt transfer machine by the anchor protection transfer crusher; the tunneling method further comprises:

[0047] Detect whether the overlapping distance of the belt transfer machine and the self-moving tail is zero;

[0048] When the overlapping distance of the belt transfer machine and the self-moving tail is zero, control the anchor machine and the anchor protection transfer crusher to stop moving forward, control the self-moving tail to move forward, and control the moving distance of the self-moving tail according to whether the overlapping distance of the self-moving tail and the belt transfer machine returns to the initial value.

[0049] By means of the technical scheme, the relative position relationship among the centralized control platform, the anchor protection transfer and crushing machine and the anchor excavating machine can be positioned by the first positioning assembly and the second positioning assembly, the position relationship among the components can be precisely navigated and controlled as a whole, the positioning assembly for positioning the anchor excavating machine is not separately arranged, and the inaccurate positioning and poor positioning precision of the single positioning assembly for long-distance positioning of the anchor excavating machine are avoided. BRIEF DESCRIPTION OF DRAWINGS

[0050] The drawings constituting a part of the specification illustrate the present application and, together with the description, serve to explain the principles of the application. In the drawings:

[0051] Figure 1 A front view of the tunneling system provided by the embodiment of the present application is shown;

[0052] Figure 2 A top view of the tunneling system provided by the embodiment of the present application is shown;

[0053] Figure 3 A front view of part of the structure of the tunneling system provided by the embodiment of the present application during anchor protection is shown;

[0054] Figure 4 A top view of part of the structure of the tunneling system provided by the embodiment of the present application during anchor protection is shown;

[0055] Figure 5 A schematic diagram of the working process of the tunneling system provided by the embodiment of the present application is shown;

[0056] Figure 6 A navigation control schematic diagram provided by the embodiment of the present application is shown.

[0057] In the above drawings, the following reference signs are used:

[0058] 10, anchor excavating machine; 20, anchor protection transfer and crushing machine; 30, centralized control platform;

[0059] 41, first positioning assembly; 411, first detection part; 412, first positioning part; 42, second positioning assembly; 421, second detection part; 422, second positioning part;

[0060] 51, second attitude measuring instrument; 52, first attitude measuring instrument;

[0061] 60, belt transfer machine; 70, self-moving tail;

[0062] 81, roof anchor rod; 82, side anchor rod; 821, upper anchor rod of side; 822, lower anchor rod of side; 83, anchor cable. DETAILED DESCRIPTION

[0063] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0064] As shown in Figures 1 to 4 The embodiment one of the present application provides a tunneling system, which comprises a tunneling and anchoring machine 10, an anchor protection and transfer crusher 20, a centralized control platform 30 and a positioning and navigation device. The tunneling and anchoring machine 10 is located in front of the anchor protection and transfer crusher 20, and the centralized control platform 30 is arranged on a side of the anchor protection and transfer crusher 20 away from the tunneling and anchoring machine 10. The positioning and navigation device is in signal connection with the centralized control platform 30, and comprises a first positioning assembly 41 and a second positioning assembly 42 arranged at intervals. The first positioning assembly 41 is used for determining the relative position of the anchor protection and transfer crusher 20 relative to the centralized control platform 30, and the second positioning assembly 42 is used for determining the relative position of the tunneling and anchoring machine 10 relative to the anchor protection and transfer crusher 20. The first positioning assembly 41 comprises a first detection part 411 and a first positioning part 412. The first detection part 411 is arranged on the centralized control platform 30, and the first positioning part 412 is arranged on the anchor protection and transfer crusher 20. The first detection part 411 is used for detecting the position of the first positioning part 412. The second positioning assembly 42 comprises a second detection part 421 and a second positioning part 422. The second detection part 421 is arranged on the anchor protection and transfer crusher 20, and the second positioning part 422 is arranged on the tunneling and anchoring machine 10. The second detection part 421 is used for detecting the position of the second positioning part 422.

[0065] By adopting the tunneling system provided by the embodiment, the relative positional relationship among the centralized control platform 30, the anchor protection and transfer crusher 20 and the tunneling and anchoring machine 10 can be used for positioning, the positional relationship among the components can be precisely navigated and controlled as a whole, the case that a single positioning assembly is arranged for positioning the tunneling and anchoring machine 10 is avoided, and the cases of inaccurate positioning and poor positioning precision caused by long-distance positioning of the tunneling and anchoring machine 10 by a single positioning assembly are avoided. Therefore, by adopting the tunneling system provided by the embodiment, the technical problem that the tunneling system in the prior art can only position and navigate a single device can be solved.

[0066] In the embodiment, the first detection part 411 is a laser tracker, and the first positioning part 412 is a laser target. The laser tracker is arranged on one side of the centralized control platform 30 close to the anchor protection transfer crusher 20, and the laser target is arranged on one side of the anchor protection transfer crusher 20 close to the centralized control platform 30. The laser target is arranged opposite to the laser tracker (only the laser target and the laser tracker should not be blocked by any object). The laser tracker is used to track the position of the laser target, so that the laser emitted by the laser tracker is projected on the laser target. With such a structure, on the one hand, the dust is small, which can facilitate effective laser tracking, and on the other hand, the laser tracker can be stationary or moving to effectively track the position of the laser target.

[0067] Specifically, in the embodiment, the second detection part 421 is an industrial camera, which is arranged on one side of the anchor protection transfer crusher 20 close to the anchor digging machine 10. The second positioning part 422 is a positioning light source, which is arranged on one side of the anchor digging machine 10 close to the anchor protection transfer crusher 20. With such a structure, the detection accuracy of the relative position between the anchor protection transfer machine and the anchor digging machine 10 can be improved. Specifically, the anchor digging machine 10 and the anchor protection transfer crusher 20 in the embodiment adopt an alternating motion mode. When the anchor digging machine 10 moves, the body of the anchor protection transfer crusher 20 is stationary, and the positioning measurement can be performed with the body of the anchor protection transfer crusher 20 as the positioning reference. When the body of the anchor protection transfer crusher 20 moves, the body of the anchor digging machine 10 is stationary, and the positioning measurement can be performed with the body of the anchor digging machine 10 as the positioning reference.

[0068] In the embodiment, the positioning and navigation device further comprises a second attitude measuring instrument 51 arranged on the anchor digging machine 10. The second attitude measuring instrument 51 is used to measure the heading angle of the anchor digging machine 10, the roll angle of the anchor digging machine 10, and the pitch angle of the anchor digging machine 10.

[0069] The positioning and navigation device further comprises a first attitude measuring instrument 52 arranged on the anchor protection transfer crusher 20. The first attitude measuring instrument 52 is used to measure the heading angle of the anchor protection transfer crusher 20, the roll angle of the anchor protection transfer crusher 20, and the pitch angle of the anchor protection transfer crusher 20.

[0070] Specifically, in the embodiment, the anchor digging machine 10 is provided with a first drill arm and a second drill arm. The first drill arm is arranged on the top of the anchor digging machine 10 and is used for roof bolting 81 operation of the roadway. The second drill arm is arranged above the side of the anchor digging machine 10 and is used for bolting operation of the upper side of the roadway. With such a structure, when the body of the anchor digging machine 10 is stationary, the first drill arm and the second drill arm of the anchor digging machine 10 work to perform bolting operation on the roof and the upper side of the roadway.

[0071] In the embodiment, the anchor protection and transfer crusher 20 is provided with a third drilling arm and a fourth drilling arm, the third drilling arm is arranged at the top of the anchor protection and transfer crusher 20 and is used for anchor cable 83 operation on the roof of the roadway, and the fourth drilling arm is arranged below the anchor protection and transfer crusher 20 and is used for anchor rod operation on the lower side of the roadway. With such a structure, when the body of the anchor protection and transfer crusher 20 is stationary, the third drilling arm and the fourth drilling arm of the anchor protection and transfer crusher 20 work to perform anchor cable 83 operation on the roof of the roadway and anchor rod operation on the lower side of the roadway.

[0072] Specifically, the anchor rod in the embodiment includes a roof anchor rod 81 and a side anchor rod 82, and the side anchor rod 82 includes an upper side anchor rod 821 and a lower side anchor rod 822.

[0073] In the embodiment, the tunneling system is composed of a complete set of equipment and positioning and navigation system measurement elements. The complete set of equipment includes the tunnel anchor machine 10, the anchor protection and transfer crusher 20, the belt transfer machine 60, the belt conveyor self-moving tail 70, and the centralized control platform 30, etc. The measurement elements of the positioning and navigation system include the tunnel anchor machine 10 attitude measurement instrument (corresponding to the second attitude measurement instrument 51), the tunnel anchor machine 10 visual positioning system (corresponding to the second positioning assembly 42), the anchor protection and transfer crusher 20 attitude measurement instrument (corresponding to the first attitude measurement instrument 52), and the anchor protection and transfer crusher 20 laser positioning system (corresponding to the first positioning assembly 41). The tunnel anchor machine 10 visual positioning system includes an industrial camera and a tunnel anchor machine 10 positioning light source. The anchor protection and transfer crusher 20 laser positioning system includes a laser tracker and a laser target. The centralized control platform 30 internally includes a complete set of equipment centralized control system and a cooperative positioning and navigation control system.

[0074] The arrangement of each device in the roadway is shown in Figure 1 and 2 The tunnel anchor machine 10 is arranged at the heading position of the tunneling roadway, the tunnel anchor machine 10 is overlapped behind the transport mechanism of the anchor protection and transfer crusher 20, the anchor protection and transfer crusher 20 is connected behind the transport mechanism of the belt transfer machine 60, and the belt transfer machine 60 is overlapped on the belt conveyor self-moving tail 70 behind and can slide forward and backward. The centralized control platform 30 is fixed above the belt conveyor self-moving tail 70 and is located behind the belt transfer machine 60.

[0075] Specifically, in the process of tunneling, the tunneling and bolting machine 10 adopts a cutting drum with the same width as the tunnel to be excavated, and is responsible for cutting coal and rock and forming the tunnel section at one time. The tunneling and bolting machine 10 is equipped with 4 sets of roof anchor rod 81 drilling arms and 2 sets of side anchor rod 82 drilling arms, which can simultaneously construct the roof anchor rod 81 and the side anchor rod 82 above. The operation process of the tunneling and bolting machine 10 is as follows: start, move to the initial operation position - keep the machine body stationary, start cutting operation, cut 1 step thickness (also the front and rear row distance of anchor rods and anchor cables 83, generally 1 m) of coal body at a time, and simultaneously construct the roof anchor rod 81 (generally 6 rods in a row) and the side anchor rod 82 above (generally 2 rods on the left and right respectively) - complete the cutting and anchor rod construction operation, start the track device, move the machine body forward by 1 m to reach the next operation position - repeat the cutting and anchor rod operation. In the process of moving forward, the anchor protection transfer crusher 20 keeps the machine body stationary, the positioning and navigation control system calculates the position and attitude information of the tunneling and bolting machine 10 according to the positioning and navigation system measuring elements, sends it to the complete equipment centralized control system, corrects the moving direction and position of the tunneling and bolting machine 10, and makes the forward moving distance 1 m to ensure the accuracy of the direction of the cut tunnel and the accuracy of the anchor rod construction position.

[0076] The anchor protection transfer crusher 20 and the belt transfer machine 60 are responsible for the transportation of coal and rock and the connection of the complete equipment transportation system. The anchor protection transfer crusher 20 is equipped with 3 sets of roof anchor cable 83 drilling arms and 2 sets of side anchor rod 82 drilling arms, which can simultaneously construct the roof anchor cable 83 and the side anchor rod 82 below (see Figure 3 and 4 ). In the process of cutting and transporting coal by the tunneling and bolting machine 10, the receiving hopper of the anchor protection transfer crusher 20 needs to always overlap with the tail of the conveyor of the tunneling and bolting machine 10, and the range of forward and backward displacement is generally 1 m, so as to ensure smooth coal transportation. The operation process of the anchor protection transfer crusher 20 is as follows: start, move to the position overlapping with the conveyor of the tunneling and bolting machine 10 - simultaneously construct the roof anchor cable 83 (generally 3 rods in a row) and the side anchor rod 82 below (generally 2 rods on the left and right respectively) - complete the anchor cable 83 and anchor rod construction operation, start the track device, move the machine body forward by 1 step (also 1 m as the tunneling and bolting machine 10), to reach the next operation position - repeat the anchor rod construction operation. In the process of moving forward, the tunneling and bolting machine 10 keeps the machine body stationary, the positioning and navigation control system calculates the position and attitude information of the anchor protection transfer crusher 20 according to the positioning and navigation system measuring elements, sends it to the complete equipment centralized control system, corrects the moving direction and position of the anchor protection transfer crusher 20, ensures that the machine body is located at the center of the tunnel, and makes the forward moving distance 1 m to ensure the accuracy of the anchor rod and anchor cable 83 construction position.

[0077] The movement of the tunneling system is divided into two working states. ①Tunneling state. The tunneling and anchoring machine 10 and the anchor protection and transfer crusher 20 advance alternately, and the belt transfer machine 60 advances synchronously with the anchor protection and transfer crusher 20. The tunneling and anchoring machine 10, the anchor protection and transfer crusher 20, and the belt transfer machine 60 move forward gradually with the progress of the tunneling operation, while the belt conveyor self-moving tail 70 is in a stationary state and remains stationary until the overlapping distance between the belt transfer machine 60 and the belt conveyor self-moving tail 70 is zero. ②Self-moving tail 70 movement state. The belt conveyor self-moving tail 70 is started, and the rest of the equipment (except the centralized control platform 30) is stopped. The belt conveyor self-moving tail 70 and the centralized control platform 30 move forward simultaneously to extend the conveying system and restore the overlapping stroke. Then the tunneling operation is started again, and the above process is repeated to realize the one-time forming of the roadway cross section of the entire system, the synchronous permanent support of the full-face anchor rod and anchor cable 83, the continuous transfer of coal, and the forward extension of the belt conveyor.

[0078] During the tunneling operation, the complete equipment centralized control system and the cooperative positioning and navigation control system inside the centralized control platform 30 always play a role. The complete equipment centralized control system is responsible for remote centralized operation, automatic operation, and state display of each device, and sends control instructions to each device. The cooperative positioning and navigation control system is responsible for the collection, decoupling, and calculation of the angle, attitude, and coordinate information measured by the measurement elements of each positioning and navigation system, obtains the comprehensive pose information of each device, and provides it to the complete equipment centralized control system to provide decision-making information for the automatic operation, step-distance path planning, and walking of the device, and drives the device to act.

[0079] The positioning and navigation systems mainly include the second attitude measuring instrument 51, the first attitude measuring instrument 52, the tunneling and anchoring machine 10 visual positioning system, and the anchor protection and transfer crusher 20 laser positioning system. The second attitude measuring instrument 51 is responsible for measuring the attitude angle of the tunneling and anchoring machine 10, including the heading angle, roll angle, and pitch angle. The first attitude measuring instrument 52 is responsible for measuring the attitude angle of the anchor protection and transfer crusher 20, including the heading angle, roll angle, and pitch angle. The tunneling and anchoring machine 10 visual positioning system is responsible for measuring the position coordinate information of the tunneling and anchoring machine 10 in the front-back, left-right, and up-down three dimensions relative to the anchor protection and transfer crusher 20, realizing the mutual positioning between the tunneling and anchoring machine 10 and the anchor protection and transfer crusher 20. The anchor protection and transfer crusher 20 laser positioning system is responsible for measuring the position coordinate information of the anchor protection and transfer crusher 20 in the front-back, left-right, and up-down three dimensions relative to the centralized control platform 30 (equivalent to the self-moving tail 70), realizing the mutual positioning between the centralized control platform 30 (equivalent to the self-moving tail 70) and the anchor protection and transfer crusher 20.

[0080] The second attitude measuring instrument 51 is installed on the machine body of the excavating and bolting machine 10. The first attitude measuring instrument 52 is installed on the machine body of the anchor support and transfer crusher 20. The industrial camera of the visual positioning system of the excavating and bolting machine 10 is installed on the machine body of the anchor support and transfer crusher 20, and the lens thereof faces the positioning light source of the excavating and bolting machine 10. The positioning light source of the excavating and bolting machine 10 is fixed on the left and right sides behind the excavating and bolting machine 10, and there are totally four points, and the infrared light source emitted thereby can be received by the industrial camera. The laser tracker of the laser positioning system of the anchor support and transfer crusher 20 is installed above the centralized control platform 30, and the laser thereof is projected to the laser target fixed on the machine body of the anchor support and transfer crusher 20. The arrangement of the devices on the equipment is shown in Figure 1 .

[0081] The composition principle of the devices of the excavating system is as follows:

[0082] (1) The second attitude measuring instrument 51 is composed of an internal north finder and a dynamic inclination sensor. The north finder is mainly responsible for the measurement of the heading angle of the excavating and bolting machine 10, and the true north direction value of the attached carrier is determined autonomously by measuring the angular velocity of the earth rotation, and is not disturbed and affected by the external magnetic field or other environment. The dynamic inclination sensor can measure the roll angle and pitch angle when the excavating and bolting machine 10 is stationary, moving or cutting coal.

[0083] (2) The internal structure of the first attitude measuring instrument 52 is the same as that of the second attitude measuring instrument 51. The north finder is responsible for the measurement of the heading angle of the anchor support and transfer crusher 20, and the dynamic inclination sensor can measure the roll angle and pitch angle when the anchor support and transfer crusher 20 is stationary, moving or cutting coal.

[0084] (3) The visual positioning system of the excavating and bolting machine 10 includes the industrial camera installed on the machine body of the anchor support and transfer crusher 20 and the four positioning light sources installed behind the excavating and bolting machine 10. The image of the light source point collected by the CCD of the industrial camera is transmitted to the image processing system, and the position coordinate information of the excavating and bolting machine 10 in the front, rear, left, right, up and down three dimensions relative to the anchor support and transfer crusher 20, i.e. the spatial coordinates, is calculated by the image processing positioning software.

[0085] (4) The laser positioning system of the anchor support and transfer crusher 20 includes the laser tracker installed on the centralized control platform 30 and the laser target installed on the anchor support and transfer crusher 20. The laser tracker can track the laser target statically or dynamically, and at the same time determine the spatial coordinates of the laser target. Even if the anchor support and transfer crusher 20 is in a moving state, the laser tracker can track the position of the laser target, and always ensure that the laser is projected onto the laser target for continuous measurement, and continuously provide the spatial coordinates of the anchor support and transfer crusher 20 relative to the centralized control platform 30. Since it is far away from the excavating and bolting machine 10, the distance between the laser tracker and the laser target is low in dust concentration, and the laser is not affected by the dust.

[0086] The second embodiment of the present application provides a tunneling method using the tunneling system provided above, the tunneling method comprising: calibrating the first detection part 411 of the first positioning assembly 41 of the tunneling system by using the geodetic data of the mine to obtain the absolute coordinates of the first detection part 411 and the absolute coordinates of the design center line of the roadway, and transmitting the absolute coordinates of the first detection part 411 and the absolute coordinates of the design center line of the roadway to the positioning navigation device of the tunneling system; obtaining the relative position coordinates of the anchor protection transloading crusher 20 of the tunneling system by using the first positioning assembly 41 of the tunneling system, and transmitting the relative position coordinates of the anchor protection transloading crusher 20 to the positioning navigation device; obtaining the attitude information of the anchor protection transloading crusher 20 by using the first attitude measuring instrument 52 of the tunneling system, and transmitting the attitude information of the anchor protection transloading crusher 20 to the positioning navigation device; determining the absolute coordinates of the anchor protection transloading crusher 20, the attitude angle of the anchor protection transloading crusher 20, the left-right deviation value of the anchor protection transloading crusher 20 relative to the design center line of the roadway, the up-down deviation value of the anchor protection transloading crusher 20 relative to the design center line of the roadway, and the included angle between the anchor protection transloading crusher 20 and the design center line of the roadway according to the absolute coordinates of the first detection part 411, the relative position coordinates of the anchor protection transloading crusher 20, and the attitude information of the anchor protection transloading crusher 20. By using such a tunneling method, the anchor protection transloading crusher 20 can be effectively positioned and navigated, and the positioning accuracy of the anchor protection transloading crusher 20 is improved.

[0087] In the present embodiment, the tunneling method further comprises: obtaining the relative position coordinates of the tunneling anchor 10 of the tunneling system by using the second positioning assembly 42 of the tunneling system, and transmitting the relative position coordinates of the tunneling anchor 10 to the positioning navigation device; obtaining the attitude information of the tunneling anchor 10 by using the second attitude measuring instrument 51 of the tunneling system, and transmitting the attitude information of the tunneling anchor 10 to the positioning navigation device; determining the absolute coordinates of the tunneling anchor 10, the attitude angle of the tunneling anchor 10, the left-right deviation value of the tunneling anchor 10 relative to the design center line of the roadway, the up-down deviation value of the tunneling anchor 10 relative to the design center line of the roadway, and the included angle between the tunneling anchor 10 and the design center line of the roadway according to the absolute coordinates of the first detection part 411, the relative position coordinates of the anchor protection transloading crusher 20, the relative position coordinates of the tunneling anchor 10, and the attitude information of the tunneling anchor 10. By using such a tunneling method, the tunneling anchor 10 can be effectively positioned and navigated, and the positioning accuracy of the tunneling anchor 10 is improved.

[0088] Specifically, the tunneling method in the embodiment further comprises: causing the tunneling anchor machine 10 and the anchor protection transfer crusher 20 to move in an alternating manner, and positioning and navigating by taking the tunneling anchor machine 10 and the anchor protection transfer crusher 20 as positioning reference alternately. When the tunneling anchor machine 10 moves, the body of the anchor protection transfer crusher 20 is stationary, and the tunneling anchor machine 10 is positioned and navigated by taking the body of the anchor protection transfer crusher 20 as positioning reference; when the anchor protection transfer crusher 20 moves, the body of the tunneling anchor machine 10 is stationary, and the anchor protection transfer crusher 20 is positioned and navigated by taking the body of the tunneling anchor machine 10 as positioning reference. By using such a method, the body of the anchor protection transfer crusher 20 and the body of the tunneling anchor machine 10 can be taken as positioning reference by the second positioning assembly 42 in different situations respectively, so that the anchor protection transfer crusher 20 can be positioned and guided when it moves, and the tunneling anchor machine 10 can be positioned and guided when it moves.

[0089] In the embodiment, during the positioning and navigation by taking the tunneling anchor machine 10 and the anchor protection transfer crusher 20 as positioning reference alternately, the tunneling method further comprises: calibrating the pose of the anchor protection transfer crusher 20 every interval of a preset time. In this way, the positioning accuracy of the relative position between the anchor protection transfer crusher 20 and the tunneling anchor machine 10 measured by the second positioning assembly 42 can be ensured.

[0090] During the positioning and navigation by taking the tunneling anchor machine 10 and the anchor protection transfer crusher 20 as positioning reference alternately, the tunneling method further comprises: after an excavation process is completed, the absolute coordinates of the first detection part 411 are calibrated when the self-moving tail 70 of the tunneling system moves to the next predetermined position. By using such a method, the subsequent positioning accuracy of the tunneling anchor machine 10 and the anchor protection transfer crusher 20 can be effectively improved.

[0091] Specifically, the tunneling method further comprises: when the tunneling anchor machine 10 moves forward, the positioning and navigating device calculates the position and attitude angle information of the tunneling anchor machine 10 at a predetermined frequency, determines the movement trajectory of the tunneling anchor machine 10 according to the position and attitude angle information of the tunneling anchor machine 10, and compares the movement trajectory of the tunneling anchor machine 10 with the designed center line of the tunnel, and corrects the movement of the tunneling anchor machine 10 by taking the designed center line of the tunnel as the correction reference. By using such a method, the actual center line of the tunnel excavated by the tunneling anchor machine 10 can be made to be consistent with the designed center line as much as possible, so as to ensure the tunneling accuracy of the tunneling anchor machine 10.

[0092] As Figure 6As shown, in the present embodiment, after the absolute coordinates of the roof bolter 20, the attitude angle of the roof bolter 20, the left-right deviation value of the roof bolter 20 relative to the roadway design center line, the up-down deviation value of the roof bolter 20 relative to the roadway design center line, and the included angle between the roof bolter 20 and the roadway design center line are determined; the tunneling method further comprises: starting the roof bolter 20 to perform the anchor cable 83 and anchor rod operation on the current work site by the roof bolter 10; after the roof bolter 10 completes the cutting operation and anchor rod operation on the current work site, it is detected whether the distance between the roof bolter 10 and the anchor support transfer crusher 20 is within the preset distance range, and whether the machine body of the anchor support transfer crusher 20 is stationary; when the distance between the roof bolter 10 and the anchor support transfer crusher 20 is within the preset distance range, and the machine body of the anchor support transfer crusher 20 is stationary, the roof bolter 10 is controlled to move forward by a preset step distance, so that the roof bolter 10 reaches the next work site; when the distance between the roof bolter 10 and the anchor support transfer crusher 20 is not within the preset distance range, and / or the machine body of the anchor support transfer crusher 20 is stationary, first make the anchor support transfer crusher 20 move to within the preset distance range, then control the machine body of the anchor support transfer crusher 20 to be stationary, and then control the roof bolter 10 to move forward by a preset step distance, so that the roof bolter 10 reaches the next work site. With such a method, it is convenient to make the roof bolter 10 and the anchor support transfer crusher 20 work cooperatively, and it is convenient to better perform tunneling and anchor support.

[0093] Specifically, after the absolute coordinates of the roof bolter 20, the attitude angle of the roof bolter 20, the left-right deviation value of the roof bolter 20 relative to the roadway design center line, the up-down deviation value of the roof bolter 20 relative to the roadway design center line, and the included angle between the roof bolter 20 and the roadway design center line are determined; the tunneling method further comprises: starting the roof bolter 20 to perform the anchor cable 83 and anchor rod operation on the current work site by the roof bolter 10; after the roof bolter 10 completes the cutting operation and anchor rod operation on the current work site, it is detected whether the distance between the roof bolter 10 and the anchor support transfer crusher 20 is within the preset distance range, and whether the machine body of the anchor support transfer crusher 20 is stationary; when the distance between the roof bolter 10 and the anchor support transfer crusher 20 is within the preset distance range, and the machine body of the anchor support transfer crusher 20 is stationary, the roof bolter 10 is controlled to move forward by a preset step distance, so that the roof bolter 10 reaches the next work site; when the distance between the roof bolter 10 and the anchor support transfer crusher 20 is not within the preset distance range, and / or the machine body of the anchor support transfer crusher 20 is stationary, first make the anchor support transfer crusher 20 move to within the preset distance range, then control the machine body of the anchor support transfer crusher 20 to be stationary, and then control the roof bolter 10 to move forward by a preset step distance, so that the roof bolter 10 reaches the next work site. With such a method, it is convenient to make the roof bolter 10 and the anchor support transfer crusher 20 work cooperatively, and it is convenient to better perform tunneling and anchor support.

[0094] In the embodiment, the tunneling system further comprises a belt transfer station 60 and a self-moving tail 70, the belt transfer station 60 is connected with the anchor protection transfer crusher 20 to move the belt transfer station 60 by the anchor protection transfer crusher 20; the tunneling method further comprises: detecting whether the overlapping distance of the belt transfer station 60 and the self-moving tail 70 is zero; when the overlapping distance of the belt transfer station 60 and the self-moving tail 70 is zero, controlling the tunneling anchor machine 10 and the anchor protection transfer crusher 20 to stop moving forward, controlling the self-moving tail 70 to move forward, and controlling the moving distance of the self-moving tail 70 according to whether the overlapping distance of the self-moving tail 70 and the belt transfer station 60 returns to the initial value. By using such a method, the tunneling anchor machine 10, the anchor protection transfer crusher 20, the belt transfer station 60 and the self-moving tail 70 can be better cooperated to facilitate tunneling, transfer and anchor protection.

[0095] As shown in Figure 6 The navigation method in the tunneling method in the embodiment specifically comprises:

[0096] Before the system starts the tunneling operation, the equipment is started to the initial operation position by manual operation, and each device is stationary. The laser tracker is calibrated by the geodetic data of the mine to obtain the absolute coordinates (reference) and the position of the roadway design center line of the system, which are input to the cooperative positioning navigation control system. Then, the position coordinate information of the anchor protection transfer crusher 20 is obtained by the laser positioning system of the anchor protection transfer crusher 20; the heading angle, roll angle and pitch angle of the anchor protection transfer crusher 20 are obtained by the first attitude measuring instrument 52; the relative position coordinate information of the tunneling anchor machine 10 and the anchor transporting machine is obtained by the visual positioning system of the tunneling anchor machine 10; the heading angle, roll angle and pitch angle of the tunneling anchor machine 10 are obtained by the second attitude measuring instrument 51; the above data is sent to the cooperative positioning navigation control system to obtain the position and attitude angle of each device relative to the absolute coordinates, and the left-right, up-down deviation and included angle relative to the design center line of the roadway.

[0097] When the tunneling anchor machine 10 moves forward, the cooperative positioning navigation control system calculates the position and attitude angle information of the tunneling anchor machine 10 at a certain frequency, and obtains the moving track of the tunneling anchor machine 10, which is compared with the design center line of the roadway to complete the navigation of the tunneling anchor machine 10.

[0098] The anchor machine 10 and the anchor protection transfer crusher 20 adopt an alternating motion mode, that is, when the anchor protection transfer crusher 20 moves, the anchor machine 10 needs to remain stationary or support the anchor rod state (the machine body does not move); when the anchor machine 10 moves forward, the anchor protection transfer crusher 20 remains stationary or supports the anchor rod state (the machine body does not move). In the normal tunneling process, the anchor machine 10 and the anchor protection transfer crusher 20 can adopt mutual reference navigation positioning, and it is not necessary to start the laser positioning system of the anchor protection transfer crusher 20 every time it moves, that is: when the anchor machine 10 advances and the anchor protection transfer crusher 20 does not move, the anchor machine 10 is positioned and navigated; when the anchor machine 10 does not move and the anchor protection transfer crusher 20 advances, the anchor machine 10 is used as a reference to position and navigate the anchor protection transfer crusher 20 in reverse.

[0099] The initial positioning information of the anchor machine 10 and the anchor protection transfer crusher 20 is based on the anchor protection transfer crusher 20, and the given coordinates are relative coordinates. Although it can meet the mutual cooperative work between the two, when the anchor protection transfer crusher 20 has not been in contact with the absolute coordinates for a long time, the positioning deviation will become larger and larger with the measurement error, and the pose of the anchor protection transfer crusher 20 needs to be calibrated every certain period of time.

[0100] The centralized control platform 30 is stationary in a working process of the anchor machine 10, and can be used as the absolute coordinate origin of the working area. A laser tracker is additionally provided above the centralized control platform 30, and the coordinates of the laser tracker are calibrated (using the data provided by the mine surveying department) when the system is initially started (and after the tailing machine 70 moves to the next position after one tunneling process ends). The anchor protection transfer crusher 20 measures the position coordinates of the anchor protection transfer crusher 20 once every 10m or 1h of forward tunneling (and when the anchor protection transfer crusher 20 is stationary or in anchor rod supporting operation), to ensure the position accuracy of the anchor protection transfer crusher 20, and further ensure the positioning and navigation accuracy of the anchor machine 10.

[0101] As Figure 1As shown, the preparation of excavation operation, first through artificial operation to open the device to the initial position: tunneling anchor machine 10 is arranged in the tunneling roadway head position, cutting drum just against the front coal wall, anchor machine 10 on board drilling machine aiming at the position of the roof anchor 81 and side anchor 82, anchor machine 10 transport mechanism rear overlap anchor protection transfer crusher 20, anchor protection transfer crusher 20 on board drilling machine aiming at the position of the roof anchor 83 and side anchor 82. Anchor protection transfer crusher 20 transport mechanism rear link belt transfer machine 60, the rear of the belt transfer machine 60 on the belt conveyor self-moving tail 70, and the self-moving tail 70 is arranged as close as possible to the anchor protection transfer crusher 20, so that the belt transfer machine 60 and the self-moving tail 70 of the overlap distance is in the design maximum (generally 35m). Centralized control platform 30 is fixed on the belt conveyor self-moving tail 70, located behind the belt transfer machine 60.

[0102] Each device remains stationary. The laser tracker on the centralized control platform 30 is calibrated by the measured data of the mine, and the absolute coordinates (reference position) and the position of the roadway design center line of the system are obtained and input into the collaborative positioning and navigation control system. The collaborative positioning and navigation control system obtains the position and attitude angle of each device relative to the absolute coordinates, and the left and right, up and down deviation and included angle relative to the roadway design center line according to the absolute coordinates and the data of each measuring instrument.

[0103] Start the excavation operation, first start the belt conveyor, belt transfer machine 60, tunneling anchor machine 10 and anchor protection transfer crusher 20 transport mechanism in turn. Tunneling anchor machine 10 starts cutting coal, which uses a cutting drum as wide as the tunnel to be excavated, so that the tunnel section is formed at one time. The tunneling anchor machine 10 does not move during cutting, and anchor rod construction can be carried out at the same time. The tunneling anchor machine 10 has 4 sets of roof anchor 81 drilling arms and 2 sets of side anchor 82 drilling arms on board, which simultaneously construct the roof anchor 81 and the side anchor 82 above. The operation process of the tunneling anchor machine 10 is as follows: start, move to the initial operation position - keep the machine body stationary, start cutting operation, cut 1m of coal body forward each time (which is also the front and rear row distance of anchor rods and anchor cables 83, generally 1m), and simultaneously construct the roof anchor 81 (generally 6 rods in a row) and the side anchor 82 above (generally 2 rods on each side), complete the cutting and anchor rod construction, start the track device, move the machine body forward by 1m to reach the next operation position, and repeat the cutting and anchor rod operation. When the tunneling anchor machine 10 cuts coal, the tunneling anchor machine 10 transport mechanism, anchor protection transfer crusher 20 transport mechanism, belt transfer machine 60 and belt conveyor are sequentially connected to transport the coal cut by the tunneling anchor machine 10 out of the working face. During the cutting and coal transportation of the tunneling anchor machine 10, the receiving hopper of the anchor protection transfer crusher 20 needs to be always connected with the tail of the tunneling anchor machine 10, and the allowable front and rear displacement range is 1m, so as to ensure smooth coal transportation.

[0104] When the anchor machine 10 is working, the anchor protection and transfer crusher 20 can simultaneously work on the 3 sets of roof anchor cable 83 drilling arms and 2 sets of side anchor rod 82 drilling arms in the rear, and construct the roof anchor cable 83 and the lower side anchor rod 82 (see Figure 3 ). The working process of the anchor protection and transfer crusher 20 is as follows: starting, moving to the position overlapped with the conveyor of the anchor machine 10, simultaneously constructing the roof anchor cable 83 (generally 3 in a row) and the lower side anchor rod 82 (generally 2 on the left and right), completing the anchor cable 83 and anchor rod construction, starting the crawler device, moving the machine body forward by 1 step (1 m, same as the anchor machine 10), reaching the next working position, and repeating the anchor rod construction.

[0105] During the forward movement of the anchor machine 10, the anchor protection and transfer crusher 20 keeps still, the cooperative positioning and navigation control system calculates the position and attitude angle information of the anchor machine 10 according to the information of the positioning and navigation system measuring elements, and obtains the moving track of the anchor machine 10, compares it with the design center line of the roadway, corrects the moving direction and position of the anchor machine 10, and completes the navigation of the anchor machine 10. At the same time, the forward moving distance is 1 m, which ensures the accuracy of the direction of the cut roadway and the accuracy of the anchor rod construction position.

[0106] During the forward movement of the anchor protection and transfer crusher 20, the anchor machine 10 keeps still, the cooperative positioning and navigation control system calculates the position and attitude information of the anchor protection and transfer crusher 20 according to the positioning and navigation system measuring elements, and sends it to the complete equipment centralized control system to correct the moving direction and position of the anchor protection and transfer crusher 20, and ensure that the machine body is located at the center position of the roadway, and at the same time, the forward moving distance is 1 m, which ensures the accuracy of the anchor rod and anchor cable 83 construction position.

[0107] Every time the anchor protection and transfer crusher 20 advances by 10 m or 1 h, and when the anchor protection and transfer crusher 20 is at rest or anchor rod supporting, the position coordinates of the anchor protection and transfer crusher 20 are measured once by the laser positioning system of the anchor protection and transfer crusher 20, to ensure the accuracy of the position of the anchor protection and transfer crusher 20, and further ensure the accuracy of the positioning and navigation of the anchor machine 10.

[0108] When the overlapping distance of the belt transfer machine 60 and the self-moving tail 70 is consumed and returned to zero, the belt conveyor self-moving tail 70 starts, and the rest of the equipment (except the centralized control platform 30) stops, the belt conveyor self-moving tail 70 and the centralized control platform 30 move forward at the same time, realize the extension of the conveying system, and restore the overlapping stroke. Then the next tunneling cycle begins.

[0109] From the above description, it can be seen that the above-mentioned embodiments of the present application achieve the following technical effects: 1) By adopting a new type of rear matching device and arrangement, simultaneous support of multiple rows of anchor rods and anchor cables is achieved, solving the problems of large anchor rod support workload of the tunneling and anchoring machine, long anchor rod support time, inability to realize parallel operation of tunneling and anchoring, and low overall tunneling efficiency. 2) The problem of the tail of the belt conveyor not having a self-moving function, the need for forward traction of the feeding crusher or the crawler-type transfer crusher, complex work sequence, and high labor intensity are solved. 3) By adopting a new positioning and navigation technology, the following problems existing in the positioning and navigation of existing underground coal mine equipment are solved, and accurate positioning and orientation of the tunneling and anchoring machine and the rear matching device are achieved: the cumulative error and drift divergence of distance and attitude data measured by inertial navigation technology. The positioning of the machine-mounted laser radar is not accurate and is not suitable for high-concentration dust environment. The existing total station and laser indicating instrument have poor laser dust penetration capability and need to be frequently moved. The rear matching device will block the laser emitted by the laser pointing instrument, and it is impossible to directly point from the reference position to the tunneling and anchoring machine. The general laser indicating instrument can only emit laser in a certain direction, and when the measurement target encounters ups and downs on the roadway floor and lateral inclination, the laser will miss the target and cannot be continuously positioned and tracked. 4) The problem of centralized control and automatic operation of the complete set of equipment is solved.

[0110] By adopting a new type of rear matching device and arrangement, more anchor rods and anchor cables are simultaneously constructed, multiple rows of anchor rods and anchor cables are simultaneously supported, and the overall tunneling efficiency is improved. By adopting a self-moving tail, the work procedure is simplified, the efficiency of the belt conveyor extension is improved, the labor intensity of manual operation of the equipment is reduced, and the overall tunneling efficiency is improved. The positioning and navigation method is suitable for scenarios of collaborative operation of multiple devices based on the tunneling and anchoring machine. By adopting the mutual reference positioning technology of the tunneling and anchoring machine and the anchor protection transfer crusher, the positioning, orientation, and orientation of the tunneling and anchoring machine and the rear matching device are achieved, the dust influence and device blocking problems of conventional laser indicating technology are effectively solved, and the tunneling automation and intelligent level is improved. The positioning of the complete set of equipment adopts a unified reference, and during the tunneling process, it does not need to interact with external information and other devices, achieving independent and autonomous positioning and navigation. The laser tracker is used for long-distance positioning of the equipment, ensuring that the laser is always positioned on the target, preventing the laser from missing the target and losing the signal when the roadway fluctuates, and improving the adaptability to underground geological conditions. The instruments required for positioning and navigation are all machine-mounted, and do not need to be manually carried and hung, reducing the labor intensity.

[0111] It should be noted that the terms used herein are only intended to describe specific embodiments and are not intended to limit the example embodiments according to the present application. As used herein, the singular form is intended to include the plural form, unless the context clearly indicates otherwise, and it should also be understood that, when the terms "comprise" and / or "include" are used in the specification, there is a presence of the features, steps, operations, devices, components, and / or combinations thereof.

[0112] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples herein are not intended to limit the scope of the present application unless otherwise specifically stated. Also, it is to be understood that the drawings are not necessarily drawn to scale of the actual proportions of the parts being depicted. Techniques, methods, and apparatus known to those of ordinary skill are not discussed in detail because such techniques, methods, and apparatus are considered to be part of the field, but are nevertheless well within the scope of the application. In all examples shown and discussed herein, any specific values are to be interpreted as illustrative only and not as limiting. Thus, other examples of the exemplary embodiments can have different values. It is to be noted that like numbers and letters refer to like elements throughout the several views of the drawings and that the exemplar}' embodiments can not reflect the relative scale of the components, and therefore, should not be construed as limiting the scope of the application.

[0113] In the description of the present application, it is to be understood that the orientation or positional relationships indicated by terms such as "front", "back", "up", "down", "left", "right", "lateral", "vertical", "horizontal", "top", "bottom", and the like are generally based on the orientation or positional relationships shown in the drawings, and are merely intended to facilitate the description of the present application and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be construed as limiting the scope of the present application. The orientation terms "inner", "outer" refer to the inner and outer of the contour of the components themselves.

[0114] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper", and the like can be used herein to describe the spatial positional relationship of one device or feature with respect to other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the devices as described in the drawings. For example, if the devices in the drawings are inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" the other devices or structures. Thus, the exemplary term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein are interpreted accordingly.

[0115] In addition, it should be noted that the use of the terms "first", "second", and the like, to describe various components does not imply a special meaning, unless otherwise stated, and therefore should not be construed as limiting the scope of the present application.

[0116] The above merely provides the preferred embodiments of the present application, and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the principles and technical scope of the present application shall fall into the scope of the present application.

Claims

1. A method of tunnelling, characterised by, The tunneling is carried out using a tunneling system, and the tunneling method includes: The anchor boring machine (10), the anchor protection transfer crusher (20), and the centralized control platform (30) are provided. The anchor boring machine (10) is located in front of the anchor protection transfer crusher (20), and the centralized control platform (30) is located on the side of the anchor protection transfer crusher (20) away from the anchor boring machine (10). A positioning and navigation device is connected to the centralized control platform (30) by signal. The positioning and navigation device includes a first positioning component (41) and a second positioning component (42) arranged at intervals. The first positioning component (41) is used to determine the relative position of the anchor conveyor crusher (20) relative to the centralized control platform (30), and the second positioning component (42) is used to determine the relative position of the tunneling and anchoring machine (10) relative to the anchor conveyor crusher (20). The positioning and navigation device includes a first attitude measuring instrument (52) which is set on the anchor conveyor crusher (20). The first attitude measuring instrument (52) is used to measure the heading angle, roll angle and pitch angle of the anchor conveyor crusher (20). The first positioning component (41) includes a first detection unit (411) and a first positioning unit (412). The first detection unit (411) is disposed on the centralized control platform (30), and the first positioning unit (412) is disposed on the anchor transfer crusher (20). The first detection unit (411) is used to detect the position of the first positioning unit (412). The second positioning component (42) includes a second detection unit (421) and a second positioning unit (422). The second detection unit (421) is disposed on the anchor transfer crusher (20), and the second positioning unit (422) is disposed on the anchor excavator (10). The second detection unit (421) is used to detect the position of the second positioning unit (422). The first detection unit (411) is a laser tracker, and the first positioning unit (412) is a laser target. The laser tracker is located on the side of the centralized control platform (30) near the anchor transfer crusher (20), and the laser target is located on the side of the anchor transfer crusher (20) near the centralized control platform (30). The laser target and the laser tracker are arranged opposite to each other. The laser tracker is used to track the position of the laser target so that the laser emitted by the laser tracker is projected onto the laser target. The tunneling method includes: The first detection unit of the first positioning component of the tunneling system is calibrated using the mine's geological survey data to obtain the absolute coordinates of the first detection unit and the absolute coordinates of the design center line of the roadway. The absolute coordinates of the first detection unit and the absolute coordinates of the design center line of the roadway are then transmitted to the positioning and navigation device of the tunneling system. The first positioning component of the tunneling system is used to obtain the relative position coordinates of the anchor-protection-reloading-crusher of the tunneling system, and the relative position coordinates of the anchor-protection-reloading-crusher are transmitted to the positioning and navigation device; The first attitude measuring instrument of the tunneling system is used to obtain the attitude information of the anchor-protection-reloading-crusher, and the attitude information of the anchor-protection-reloading-crusher is transmitted to the positioning and navigation device; The absolute coordinates, the attitude angle, the left deviation value, the up-down deviation value and the included angle of the anchor-protection-reloading-crusher are determined according to the absolute coordinates of the first detection part, the relative position coordinates of the anchor-protection-reloading-crusher and the attitude information of the anchor-protection-reloading-crusher.

2. The tunneling method according to claim 1, characterized in that, The second detection part (421) is an industrial camera, which is arranged on the side of the anchor-protection-reloading-crusher (20) close to the tunneling-anchor machine (10), and the second positioning part (422) is a positioning light source, which is arranged on the side of the tunneling-anchor machine (10) close to the anchor-protection-reloading-crusher (20).

3. The tunneling method of claim 1, wherein, The positioning and navigation device further comprises: A second attitude measuring instrument (51) is arranged on the tunneling-anchor machine (10), and is used to measure the heading angle, the roll angle and the pitch angle of the tunneling-anchor machine (10).

4. The tunneling method according to claim 1, characterized by, A first drilling arm and a second drilling arm are arranged on the tunneling-anchor machine (10), the first drilling arm is arranged on the top of the tunneling-anchor machine (10), and is used to perform anchor rod operation on the roof of the tunnel; The second drilling arm is arranged above the side of the tunneling-anchor machine (10), and is used to perform anchor rod operation on the upper side of the tunnel; A third drilling arm and a fourth drilling arm are arranged on the anchor-protection-reloading-crusher (20), the third drilling arm is arranged on the top of the anchor-protection-reloading-crusher (20), and is used to perform anchor cable operation on the roof of the tunnel; and the fourth drilling arm is arranged below the anchor-protection-reloading-crusher (20), and is used to perform anchor rod operation on the lower side of the tunnel.

5. The tunneling method of claim 3, wherein, The tunneling method further comprises: The second positioning component of the tunneling system is used to obtain the relative position coordinates of the tunneling-anchor machine of the tunneling system, and the relative position coordinates of the tunneling-anchor machine are transmitted to the positioning and navigation device; The second attitude measuring instrument of the tunneling system is used to obtain the attitude information of the tunneling-anchor machine, and the attitude information of the tunneling-anchor machine is transmitted to the positioning and navigation device; The absolute coordinate of the excavating and bolting machine, the attitude angle of the excavating and bolting machine, the left-right deviation value of the excavating and bolting machine relative to the design center line of the roadway, the up-down deviation value of the excavating and bolting machine relative to the design center line of the roadway, and the included angle between the excavating and bolting machine and the design center line of the roadway are determined according to the absolute coordinate of the first detection part, the relative position coordinate of the anchor protection and transfer loader, the relative position coordinate of the excavating and bolting machine, and the attitude information of the excavating and bolting machine.

6. The tunneling method according to claim 5, characterized in that, The tunneling method further comprises: The excavating and bolting machine and the anchor protection and transfer loader are moved in an alternating manner, and the excavating and bolting machine and the anchor protection and transfer loader are alternately used as positioning reference for positioning and navigation; When the excavating and bolting machine moves, the body of the anchor protection and transfer loader is stationary, and the excavating and bolting machine is positioned and navigated by taking the body of the anchor protection and transfer loader as the positioning reference; When the anchor protection and transfer loader moves, the body of the excavating and bolting machine is stationary, and the anchor protection and transfer loader is positioned and navigated by taking the body of the excavating and bolting machine as the positioning reference.

7. The tunneling method according to claim 6, characterized in that, During the positioning and navigation by alternately taking the excavating and bolting machine and the anchor protection and transfer loader as the positioning reference, the tunneling method further comprises: The pose of the anchor protection and transfer loader is calibrated every interval of a preset time; and / or After one tunneling process ends, when the self-moving tail of the tunneling system moves to the next predetermined position, the absolute coordinate of the first detection part is calibrated.

8. The tunneling method of claim 5, wherein, The tunneling method further comprises: When the excavating and bolting machine moves forward, the positioning and navigation device calculates the position and attitude angle information of the excavating and bolting machine at a predetermined frequency, determines the moving track of the excavating and bolting machine according to the position and attitude angle information of the excavating and bolting machine, and compares the moving track of the excavating and bolting machine with the design center line of the roadway, so as to correct the movement of the excavating and bolting machine by taking the design center line of the roadway as the correction reference.

9. The tunneling method of claim 5, wherein, After the absolute coordinate of the excavating and bolting machine, the attitude angle of the excavating and bolting machine, the left-right deviation value of the excavating and bolting machine relative to the design center line of the roadway, the up-down deviation value of the excavating and bolting machine relative to the design center line of the roadway, and the included angle between the excavating and bolting machine and the design center line of the roadway are determined, the tunneling method further comprises: The excavating and bolting machine is started to perform cutting operation and anchor rod operation on the current work site by the excavating and bolting machine; After the excavating and bolting machine completes the cutting operation and anchor rod operation on the current work site, it is detected whether the distance between the excavating and bolting machine and the anchor protection and transfer loader is within a preset distance range, and whether the body of the anchor protection and transfer loader is stationary; When the distance between the excavating and bolting machine and the anchor protection and transfer loader is within the preset distance range, and the body of the anchor protection and transfer loader is stationary, the excavating and bolting machine is controlled to move forward by a preset step distance, so as to reach the next work site; When the distance between the anchor machine and the anchor protection and transfer crusher is not within the preset distance range, and / or the machine body of the anchor protection and transfer crusher is stationary, first move the anchor protection and transfer crusher to within the preset distance range, then control the machine body of the anchor protection and transfer crusher to be stationary, and then control the anchor machine to move forward by a preset step distance, so that the anchor machine reaches the next work site.

10. The tunneling method according to claim 9, characterized in that, After determining the absolute coordinates of the anchor protection and transfer crusher, the attitude angle of the anchor protection and transfer crusher, the left-right deviation of the anchor protection and transfer crusher relative to the design center line of the roadway, the up-down deviation of the anchor protection and transfer crusher relative to the design center line of the roadway, and the included angle between the anchor protection and transfer crusher and the design center line of the roadway, the tunneling method further comprises: Starting the anchor protection and transfer crusher to perform anchor cable and anchor rod operations on the current work site by the anchor protection and transfer crusher; After the anchor protection and transfer crusher completes the anchor cable and anchor rod operations on the current work site, detecting whether the distance between the anchor protection and transfer crusher and the anchor machine is within the preset distance range, and detecting whether the machine body of the anchor machine is stationary; When the distance between the anchor protection and transfer crusher and the anchor machine is within the preset distance range, and the machine body of the anchor machine is stationary, control the anchor protection and transfer crusher to move forward by a preset step distance, so that the anchor protection and transfer crusher reaches the next work site; When the distance between the anchor protection and transfer crusher and the anchor machine is not within the preset distance range, and / or the machine body of the anchor machine is stationary, first move the anchor machine to within the preset distance range, then control the machine body of the anchor machine to be stationary, and then control the anchor protection and transfer crusher to move forward by a preset step distance, so that the anchor protection and transfer crusher reaches the next work site.

11. A tunnelling method according to claim 10, characterised in that, The tunneling system further comprises a belt transfer machine and a self-moving tail, the belt transfer machine is connected with the anchor protection and transfer crusher to move the belt transfer machine by the anchor protection and transfer crusher; the tunneling method further comprises: Detecting whether the overlapping distance of the belt transfer machine and the self-moving tail is zero; When the overlapping distance of the belt transfer machine and the self-moving tail is zero, control the anchor machine and the anchor protection and transfer crusher to stop moving forward, control the self-moving tail to move forward, and control the moving distance of the self-moving tail according to whether the overlapping distance of the self-moving tail and the belt transfer machine returns to the initial value.

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