A positioning system and method for a mine pipeline transportation and installation vehicle

Abstract

The present invention discloses a positioning system and method for a mine pipeline transportation and installation vehicle, including an inner cavity channel measurement end transmission member and a measurement contact driving member. One side of the measurement contact driving member is equipped with an inner cavity channel measurement and debugging group, a parallel selection measurement group, and a measurement base point calibration group. The inner cavity channel measurement and debugging group adjusts the measurement orientation of the measurement base point calibration group according to the position of the pipeline to be docked; by selecting the position where the current parallel joint surface transmission seat is located as the first measurement punctuation point, after measuring the inner diameter of the pipeline at the joint end along the starting point of the current circumference by the inner cavity opposite direction distance measuring member, the horizontal axis follower punctuation group is rotated 90 degrees along the radius axis point, and the horizontal axis follower punctuation group is used as the second measurement punctuation point to accurately complete the measurement and calibration of the pipeline assembly hole position. Furthermore, the distance deviation fed back by the double receiving end points of the punctuation receiving feedback end, the reference measurement axis comparison member, and the horizontal axis follower punctuation group is provided as a reference for the debugging data of the positioning and lifting of the pipeline to be connected during the installation of the pipeline transportation and installation vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of pipeline installation measurement, and particularly relates to a positioning system and method for a mine pipeline transportation and installation vehicle. Background Art

[0002] In order to ensure the protection performance when used in the underground environment, before the existing pipelines are assembled, mainly a protective sleeve is pre-laid in the roadway, and the outer protection of the pipeline is realized through the paving method supported by the inner channel of the inner sleeve. The defect of this paving method is that when a local node pipeline needs to be replaced within a cycle, due to the influence of the underground construction surface, the construction surface during operation needs to be reduced. If the truncated node crosses a bending part and does not include the pipeline butt joint end, the local visibility of the pipeline butt joint end is poor, and it is impossible to determine whether the alignment of the pipeline butt joint end is accurate, and there is no predictability for the positioning and lifting parameters of the pipeline transportation and installation vehicle.

[0003] Traditional measurement means usually use the radar detection method to roughly measure the pipeline butt joint height to ensure the operation on a narrow construction surface, that is, a sound wave feedback point is set at the end of the pipeline to be connected, and whether the pipeline butt joint surface coincides is fed back through sound wave distance measurement. This measurement means is easily restricted by the pipeline wall thickness, resulting in sound wave feedback errors, and the sound wave conduction point needs to be adjusted repeatedly. At the same time, due to the poor accuracy during rough measurement, without predictability, it is not conducive to accurately measuring and calibrating the pipeline assembly hole positions, and cannot provide the positioning and lifting debugging parameters of the pipeline transportation and installation vehicle, thereby increasing the operation burden during pipeline installation. For this reason, we propose a positioning system and method for a mine pipeline transportation and installation vehicle. Summary of the Invention

[0004] The main purpose of the present invention is to provide a positioning system and method for a mine pipeline transportation and installation vehicle to solve the problems raised in the background art.

[0005] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A positioning system for a mine pipeline transportation and installation vehicle includes an inner cavity channel measurement end transmission member and a measurement contact driving member. On one side of the measurement contact driving member, an inner cavity channel measurement and debugging group, a parallel selection measurement group, and a measurement base point calibration group are installed. The inner cavity channel measurement and debugging group adjusts the measurement orientation of the measurement base point calibration group according to the position of the pipeline to be butted. The measurement base point calibration group is used to obtain the inner cavity diameter of the pipeline to be butted. The parallel selection measurement group is used to select the circumferential starting point required when the measurement base point calibration group conducts measurement. On one side of the inner cavity channel measurement and debugging group, a horizontal axis follower punctuation group is installed;

[0007] The parallel selection measurement group includes a pipe wall guiding member to be connected, a parallel joint surface driving seat, a measurement data transmission end, and a horizontal sensing unit. The parallel joint surface driving seat is installed on the bottom side of the pipe wall guiding member to be connected. The measurement data transmission end is installed on the top side of the pipe wall guiding member to be connected. The horizontal sensing unit is fixedly connected to the parallel joint surface driving seat. The parallel joint surface driving seat is used to rotate synchronously along the arc surface of the pipe outer wall after contacting the pipe outer wall. The horizontal sensing unit is used to measure the rotation inclination amount of the parallel joint surface driving seat. The inner cavity measurement and debugging group adjusts the lateral distribution points of the pipe wall guiding member to be connected according to the rotation inclination amount, and then selects the circumferential starting point required by the measurement base point calibration group during measurement;

[0008] The measurement base point calibration group includes a reference measurement axis comparison member, an end face non-contact response member, and an inner cavity opposite distance measurement member. The reference measurement axis comparison member is installed at the bottom of the measurement data transmission end. The fixed end of the end face non-contact response member is installed on the outer wall of the reference measurement axis comparison member. The movable end of the end face non-contact response member is fixedly connected to the inner cavity opposite distance measurement member. The inner cavity measurement and debugging group adjusts the longitudinal height of the end face non-contact response member according to the pipe wall thickness. Then, after the end face non-contact response member is separated from the contact with the surface of the pipe joint, the inner cavity opposite distance measurement member stably obtains the inner cavity diameter of the butt joint pipe.

[0009] A further improvement of the present invention is that the inner cavity measurement and debugging group includes a wall thickness measurement end distance adjustment member, a circumference measurement end distance adjustment member, and a transverse axis measurement distance adjustment member. The driving end of the wall thickness measurement end distance adjustment member is fixedly connected to the circumference measurement end distance adjustment member. The driving end of the circumference measurement end distance adjustment member is fixedly connected to the pipe wall guiding member to be connected. The driving end of the transverse axis measurement distance adjustment member is installed on the outer wall of the transverse axis follower punctuation group.

[0010] A further improvement of the present invention is that one end of the inner cavity measurement end transmission member is connected with a punctuation receiving and feedback end. The punctuation receiving and feedback end is provided with two receiving endpoints, and the two receiving endpoints are respectively used to obtain the positioning distance signals of the transverse axis follower punctuation group and the reference measurement axis comparison member.

[0011] A further improvement of the present invention is that the measurement data transmission end includes a horizontal measurement verification unit and a reference parameter comparison unit. The horizontal measurement verification unit receives the horizontal induction data of the horizontal sensing unit, and then verifies whether the parallel joint surface driving seat is at the circumferential starting point of the pipe. The reference parameter comparison unit receives the diameter parameter measured by the inner cavity opposite distance measurement member, and then compares whether the currently measured diameter parameter is unified with the end of the pipe to be butted.

[0012] A further improvement of the present invention lies in that an electric control locking component is installed on the inner cavity channel measurement end transfer member, and the electric control locking component is arranged between the wall thickness measurement end distance adjustment member and the measurement contact driving member, and the electric control locking component is used for separating the inner cavity channel measurement end transfer member and the inner cavity channel measurement and debugging group.

[0013] A further improvement of the present invention lies in a method for using a positioning system of a mine pipeline transportation and installation vehicle, including the following steps:

[0014] Step S1: The pipeline to be connected is sent to the pipeline joint end through the transportation and installation vehicle, the inner cavity channel measurement end transfer member is placed outside the external pipeline, and the inner cavity channel measurement and debugging group, the parallel selection measurement group, and the measurement base point calibration group are synchronously conveyed to the pipeline at the docking end;

[0015] Step S2: After the pipeline wall guiding member to be connected reaches the pipeline docking end, the wall thickness measurement end distance adjustment member drives the parallel joint surface transmission seat, adjusts the longitudinal height of the contact surface of the parallel joint surface transmission seat until the bottom of the parallel joint surface transmission seat fits the surface of the pipeline at the joint end, measures the levelness of the parallel joint surface transmission seat through the horizontal sensing unit, and the circumference measurement end distance adjustment member adjusts the lateral arrangement points of the parallel joint surface transmission seat according to the levelness data;

[0016] Step S3: After the parallel joint surface transmission seat changes the lateral arrangement points and is adjusted to the horizontal state, determine whether the end face non-contact response member is aligned with the assembly hole of the pipeline at the joint end through the telescopic data fed back by the end face non-contact response member, that is, when the end face non-contact response member is in the expanded state, it is aligned and fitted with the assembly hole of the pipeline at the joint end, select the position where the current parallel joint surface transmission seat is located as the starting point of the circumference, and measure the inner diameter of the pipeline at the joint end along the current starting point of the circumference by the inner cavity opposite direction distance measuring member;

[0017] Step S4: After the transverse axis measurement distance adjustment member receives the inner diameter parameter of the pipeline at the joint end, rotate the transverse axis follow-up punctuation group 90 degrees along its radius axis point, use the reference measurement axis reference member located at the starting point of the circumference as the first measurement punctuation, and the transverse axis follow-up punctuation group as the second measurement punctuation;

[0018] Step S5: The electric control locking component disconnects the connection between the inner cavity channel measurement end transfer member and the wall thickness measurement end distance adjustment member, so that the punctuation receiving and feedback end remains on the pipeline to be connected, the reference measurement axis reference member and the transverse axis follow-up punctuation group remain on the pipeline at the joint end, and the distance deviation fed back by the double receiving end points of the punctuation receiving and feedback end, the reference measurement axis reference member, and the transverse axis follow-up punctuation group is used as the debugging parameter when the installation vehicle lifts the pipeline to be connected for positioning and installation.

[0019] Compared with the prior art, in the present invention, the bottom of the parallel joint transmission seat is attached to the outer wall of the joint-end pipe. The levelness of the parallel joint transmission seat is measured by the horizontal sensing unit, and the telescopic data fed back by the end-face non-contact response member is used to determine whether the end-face non-contact response member is aligned with the assembly hole of the joint-end pipe. After alignment, by selecting the position where the current parallel joint transmission seat is located as the first measurement punctuation, the inner diameter of the joint-end pipe is measured by the inner cavity opposite-direction ranging member along the starting point of the current circumference. Then, the horizontal-axis follower punctuation group is rotated 90 degrees along the radius axis point. With the horizontal-axis follower punctuation group as the second measurement punctuation, the measurement and calibration of the pipe assembly hole position are accurately completed. Furthermore, the distance deviation fed back by the punctuation receiving feedback end's double receiving endpoints, the reference measurement axis comparison member, and the horizontal-axis follower punctuation group is used as the debugging data reference for the pipe transportation and installation vehicle to position and lift the pipe to be connected during installation, ensuring high-precision alignment during pipe installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a composition diagram of a positioning system for a mine-used pipe transportation and installation vehicle of the present invention.

[0021] Figure 2 It is a state schematic diagram during the assembly of a positioning system for a mine-used pipe transportation and installation vehicle of the present invention.

[0022] In the figure: 1. Inner cavity channel measurement end transmission member; 11. Electric control locking member; 2. Measurement contact driving member; 3. Inner cavity channel measurement and debugging group; 31. Wall thickness measurement end distance adjustment member; 32. Circumference measurement end distance adjustment member; 33. Horizontal axis measurement distance adjustment member; 4. Parallel selection measurement group; 41. Pipe wall to be connected guiding member; 42. Parallel joint transmission seat; 43. Measurement data transmission end; 44. Horizontal sensing unit; 5. Measurement base point calibration group; 51. Reference measurement axis comparison member; 52. End-face non-contact response member; 53. Inner cavity opposite-direction ranging member; 6. Horizontal axis follower punctuation group; 7. Punctuation receiving feedback end. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The present invention will be further described below in conjunction with the specific embodiments. Among them, the drawings are only for illustrative purposes, showing only schematic diagrams, not physical diagrams, and should not be construed as a limitation to this patent. In order to better illustrate the specific embodiments of the present invention, some components in the drawings will be omitted, enlarged, or reduced, which do not represent the dimensions of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted. Based on the specific embodiments of the present invention, all other specific embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0024] Please refer to Figure 1 - Figure 2, A positioning system for a mine pipeline transportation and installation vehicle, including an inner cavity channel measurement end transmission member 1 and a measurement contact driving member 2. On one side of the measurement contact driving member 2, there are installed an inner cavity channel measurement and debugging group 3, a parallel selection measurement group 4, and a measurement base point calibration group 5. The inner cavity channel measurement and debugging group 3 adjusts the measurement orientation of the measurement base point calibration group 5 according to the position of the pipeline to be docked. The measurement base point calibration group 5 is used to obtain the inner diameter of the pipeline to be docked, and the parallel selection measurement group 4 is used to select the circumferential starting point required when the measurement base point calibration group 5 measures. On one side of the inner cavity channel measurement and debugging group 3, there is installed a horizontal axis follower punctuation group 6;

[0025] In this embodiment, the inner cavity channel measurement end transmission member 1 serves as a transmission driving member to drive the inner cavity channel measurement and debugging group 3, the parallel selection measurement group 4, the measurement base point calibration group 5, and the horizontal axis follower punctuation group 6 to the docking point inside the casing. By driving the electric control lock fastener 11 to slide through the measurement contact driving member 2, it is used to move the positions of the inner cavity channel measurement and debugging group 3 and the parallel selection measurement group 4 towards the pipeline at the joint end, ensuring that the inner cavity channel measurement and debugging group 3 and the parallel selection measurement group 4 can stably be at the point to be measured. After the parallel selection measurement group 4 reaches the measurement point, the inner cavity channel measurement and debugging group 3 adjusts the parallel selection measurement group 4 to a horizontal state, making the parallel selection measurement group 4 set as the circumferential starting point, and the measurement base point calibration group 5 located at the circumferential starting point serves as the first measurement punctuation. At the same time, after the parallel selection measurement group 4 completes the horizontal adjustment, the measurement base point calibration group 5 measures the inner diameter of the pipeline at the joint end along the current circumferential starting point, and drives the horizontal axis follower punctuation group 6 to rotate 90 degrees along the radius axis point after measuring the pipeline diameter, making the horizontal axis follower punctuation group 6 serve as the second measurement punctuation. And the punctuation receiving and feedback end 7 is reserved at the position where the inner cavity channel measurement end transmission member 1 is located to mark the bolt assembly end of the pipeline to be connected. The operator uses the distance deviation between the punctuation receiving and feedback end 7, the measurement base point calibration group 5, and the horizontal axis follower punctuation group 6 as the debugging data reference for positioning and lifting when installing the pipeline to be connected, ensuring high-precision alignment during pipeline installation.

[0026] The parallel selection measurement group 4 includes a pipeline wall guiding member 41 to be connected, a parallel joint surface transmission seat 42, a measurement data transmission end 43, and a horizontal sensing unit 44. The parallel joint surface transmission seat 42 is installed on the bottom side of the pipeline wall guiding member 41 to be connected, the measurement data transmission end 43 is installed on the top side of the pipeline wall guiding member 41 to be connected, and the horizontal sensing unit 44 is fixedly connected to the parallel joint surface transmission seat 42. The parallel joint surface transmission seat 42 is used to rotate synchronously along the arc surface of the pipeline outer wall after contacting the pipeline outer wall, and the horizontal sensing unit 44 is used to measure the rotation inclination amount of the parallel joint surface transmission seat 42. The inner cavity channel measurement and debugging group 3 adjusts the lateral distribution points of the pipeline wall guiding member 41 to be connected according to the rotation inclination amount, and then selects the circumferential starting point required by the measurement base point calibration group 5 during measurement;

[0027] In this embodiment, after the wall guiding member 41 to be taken over reaches the pipe docking end, the parallel joint surface driving seat 42 is driven by the wall thickness measuring end distance adjusting member 31 to adjust the longitudinal height of the contact surface of the parallel joint surface driving seat 42, so that the bottom of the parallel joint surface driving seat 42 is kept in contact with the outer wall of the pipe at the joint end. The horizontal sensing unit 44 measures the level of the parallel joint surface driving seat 42 after it is in contact with the outer wall of the pipe at the joint end, and sends the measurement data to the circumference measuring end distance adjusting member 32. The circumference measuring end distance adjusting member 32 adjusts the lateral arrangement points of the parallel joint surface driving seat 42 according to the level data until the horizontal sensing unit 44 feeds back that the state of the parallel joint surface driving seat 42 is horizontal. Then, the measurement base point calibration group 5 measures whether the mounting holes are aligned to ensure the accuracy of the mounting hole measurement marks.

[0028] The measurement base point calibration group 5 includes a reference measurement axis comparison member 51, an end face non-contact response member 52 and an inner cavity opposite distance measuring member 53. The reference measurement axis comparison member 51 is installed at the bottom of the measurement data transmission end 43, and the fixed end of the end face non-contact response member 52 is installed on the outer wall of the reference measurement axis comparison member 51. The movable end of the end face non-contact response member 52 is fixedly connected to the inner cavity opposite distance measuring member 53. The inner cavity measurement and debugging group 3 adjusts the longitudinal height of the end face non-contact response member 52 according to the pipe wall thickness. Then, after the end face non-contact response member 52 is separated from the contact with the outer wall of the pipe joint, the inner cavity opposite distance measuring member 53 stably obtains the inner diameter of the butt joint pipe.

[0029] In this embodiment, after the parallel joint surface driving seat 42 changes the lateral arrangement points and is adjusted to the horizontal state, the end face non-contact response member 52 remains in the same straight line as the mounting hole. According to the telescopic data fed back by the end face non-contact response member 52, it is determined whether the end face non-contact response member 52 is aligned with the assembly hole of the pipe at the joint end. That is, when the end face non-contact response member 52 is in an expanded state, it is aligned with the assembly hole of the pipe at the joint end. When the end face non-contact response member 52 is in an expanded state, it means that the movable end of the end face non-contact response member 52 has not reached the inside of the assembly hole and is in contact and extrusion with the pipe at the joint end, that is, the assembly hole is not aligned with the end face non-contact response member 52, thus ensuring the accuracy of the measurement marking points.

[0030] In this embodiment, after it is determined that the end face non-contact response member 52 is aligned with the assembly hole of the pipe at the joint end, the position where the current parallel joint surface driving seat 42 is located is selected as the circumferential starting point. The inner cavity opposite distance measuring member 53 measures the inner diameter of the pipe at the joint end along the current circumferential starting point, and the second marking point for the X horizontal axis is measured through the diameter parameter.

[0031] The inner cavity channel measurement and debugging group 3 includes a wall thickness measurement end distance adjustment member 31, a circumference measurement end distance adjustment member 32, and a transverse axis measurement distance adjustment member 33. The driving end of the wall thickness measurement end distance adjustment member 31 is fixedly connected to the circumference measurement end distance adjustment member 32. The driving end of the circumference measurement end distance adjustment member 32 is fixedly connected to the pipe wall guiding member 41 to be connected. The driving end of the transverse axis measurement distance adjustment member 33 is installed on the outer wall of the transverse axis follower punctuation group 6.

[0032] In this embodiment, the specific method for measuring the second marked point on the X transverse axis is that after the transverse axis measurement distance adjustment member 33 receives the inner diameter parameter of the pipe at the receiving end, it rotates the transverse axis follower punctuation group 6 by ninety degrees along its radius axis point. After the rotation adjustment, the reference measurement axis comparison member 51 located at the starting point of the circumference is used as the first measurement punctuation, and the transverse axis follower punctuation group 6 is used as the second measurement punctuation.

[0033] One end of the inner cavity channel measurement end transmission member 1 is connected to a punctuation receiving and feedback end 7. The punctuation receiving and feedback end 7 is provided with two receiving endpoints, and the two receiving endpoints are respectively used to obtain the positioning distance signals of the transverse axis follower punctuation group 6 and the reference measurement axis comparison member 51.

[0034] In this embodiment, after determining the measurement punctuation, the connection between the inner cavity channel measurement end transmission member 1 and the wall thickness measurement end distance adjustment member 31 is disconnected through the electric control lock fastener 11, so that the punctuation receiving and feedback end 7 remains in the pipe to be connected, and the reference measurement axis comparison member 51 and the transverse axis follower punctuation group 6 remain in the pipe at the joint end. The distance deviations fed back by the two receiving endpoints of the punctuation receiving and feedback end 7, the reference measurement axis comparison member 51, and the transverse axis follower punctuation group 6 are used as the debugging parameters when the installation cart lifts the pipe to be connected for positioning and installation.

[0035] The measurement data transmission end 43 includes a horizontal measurement approval unit and a reference parameter comparison unit. The horizontal measurement approval unit receives the horizontal induction data of the horizontal sensing unit 44, and then verifies whether the parallel joint surface transmission seat 42 is at the starting point of the pipe circumference. The reference parameter comparison unit receives the diameter parameter measured by the inner cavity opposite distance measuring member 53, and then compares whether the currently measured diameter parameter is unified with the end of the pipe to be docked.

[0036] In this embodiment, the horizontal measurement approval unit receives the horizontal induction data of the horizontal sensing unit 44 and the expansion or contraction state signal of the end face non-contact response member 52, and then determines that after the horizontal sensing unit 44 measures the horizontal, the end face non-contact response member 52 reaches the alignment in the installation hole, that is, the parallel joint surface transmission seat 42 is at the starting point of the pipe circumference. By sending a measurement signal of the diameter parameter to the inner cavity opposite distance measuring member 53, the reference parameter comparison unit verifies whether the currently measured diameter parameter is unified with the end of the pipe to be docked.

[0037] The inner cavity channel measurement end transfer member 1 is installed with an electric control locking member 11. The electric control locking member 11 is arranged between the wall thickness measurement end distance adjusting member 31 and the measurement contact driving member 2. The electric control locking member 11 is used for the separation of the inner cavity channel measurement end transfer member 1 and the inner cavity channel measurement and debugging group 3.

[0038] In this embodiment, the connection between the inner cavity channel measurement end transfer member 1 and the wall thickness measurement end distance adjusting member 31 is disconnected through the electric control locking member 11, so that the punctuation receiving and feedback end 7 remains in the pipeline to be connected, and the measurement base point calibration group 5 and the horizontal axis follower punctuation group 6 remain in the pipeline at the joint end. The distance deviation fed back by the double receiving end points of the punctuation receiving and feedback end 7 and the reference measurement axis control member 51 and the horizontal axis follower punctuation group 6 is used as the debugging parameter when the installation vehicle lifts the pipeline to be connected for positioning and installation.

[0039] The working principle of the present invention is as follows: The pipeline to be connected is sent into the pipeline joint end through the transportation and installation vehicle. The inner cavity channel measurement end transfer member 1 is placed outside the external pipeline. The inner cavity channel measurement and debugging group 3, the parallel selection measurement group 4, and the measurement base point calibration group 5 are synchronously conveyed to the pipeline at the docking end. After the pipeline wall guiding member 41 reaches the pipeline docking end, the wall thickness measurement end distance adjusting member 31 drives the parallel joint surface transmission seat 42 to adjust the longitudinal height of the contact surface of the parallel joint surface transmission seat 42 until the bottom of the parallel joint surface transmission seat 42 fits the surface of the pipeline at the joint end. The levelness of the parallel joint surface transmission seat 42 is measured by the horizontal sensing unit 44. The circumference measurement end distance adjusting member 32 adjusts the lateral arrangement points of the parallel joint surface transmission seat 42 according to the levelness data. After the parallel joint surface transmission seat 42 changes the lateral arrangement points and is adjusted to the horizontal state, the telescopic data fed back by the end face non-contact response member 52 is used to determine whether the end face non-contact response member 52 is aligned with the assembly hole of the pipeline at the joint end. That is, when the end face non-contact response member 52 is in the expanded state, it is aligned and fitted with the assembly hole of the pipeline at the joint end. The position where the current parallel joint surface transmission seat 42 is located is selected as the starting point of the circumference. The inner cavity opposite direction distance measuring member 53 measures the inner diameter of the pipeline at the joint end along the current starting point of the circumference. After the horizontal axis measurement distance adjusting member 33 receives the inner diameter parameter of the pipeline at the joint end, it rotates the horizontal axis follower punctuation group 6 by ninety degrees along the radius axis point. The reference measurement axis control member 51 located at the starting point of the circumference is used as the first measurement punctuation, and the horizontal axis follower punctuation group 6 is used as the second measurement punctuation. The electric control locking member 11 disconnects the connection between the inner cavity channel measurement end transfer member 1 and the wall thickness measurement end distance adjusting member 31, so that the punctuation receiving and feedback end 7 remains in the pipeline to be connected, and the reference measurement axis control member 51 and the horizontal axis follower punctuation group 6 remain in the pipeline at the joint end. The distance deviation fed back by the double receiving end points of the punctuation receiving and feedback end 7 and the reference measurement axis control member 51 and the horizontal axis follower punctuation group 6 is used as the debugging parameter when the installation vehicle lifts the pipeline to be connected for positioning and installation.

[0040] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification is only to illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A positioning system for a mine pipeline transportation and installation vehicle, comprising an inner cavity channel measurement end transmission member (1) and a measurement contact driving member (2), characterized in that, On one side of the measurement contact driving member (2), an inner cavity measurement and debugging group (3), a parallel selection measurement group (4), and a measurement base point calibration group (5) are installed. The inner cavity measurement and debugging group (3) adjusts the measurement orientation of the measurement base point calibration group (5) according to the position of the pipeline to be docked. The measurement base point calibration group (5) is used to obtain the inner cavity diameter of the pipeline to be docked. The parallel selection measurement group (4) is used to select the circumferential starting point required when the measurement base point calibration group (5) measures. On one side of the inner cavity measurement and debugging group (3), a horizontal axis follower punctuation group (6) is installed; The parallel selection measurement group (4) includes a pipe wall guide for the pipe to be connected (41), a parallel joint surface transmission seat (42), a measurement data transmission end (43), and a horizontal sensing unit (44). The parallel joint surface transmission seat (42) is installed on the bottom side of the pipe wall guide for the pipe to be connected (41). The measurement data transmission end (43) is installed on the top side of the pipe wall guide for the pipe to be connected (41). The horizontal sensing unit (44) is fixedly connected to the parallel joint surface transmission seat (42). The parallel joint surface transmission seat (42) is used to rotate synchronously along the arc surface of the pipe outer wall after contacting the pipe outer wall. The horizontal sensing unit (44) is used to measure the rotation inclination of the parallel joint surface transmission seat (42). The inner cavity measurement and debugging group (3) adjusts the lateral distribution points of the pipe wall guide for the pipe to be connected (41) according to the rotation inclination, and then selects the circumferential starting point required by the measurement base point calibration group (5) during measurement; The measurement base point calibration group (5) includes a reference measurement axis comparison member (51), an end face non-contact response member (52), and an inner cavity opposite direction distance measuring member (53). The reference measurement axis comparison member (51) is installed at the bottom of the measurement data transmission end (43). The fixed end of the end face non-contact response member (52) is installed on the outer wall of the reference measurement axis comparison member (51). The movable end of the end face non-contact response member (52) is fixedly connected to the inner cavity opposite direction distance measuring member (53). The inner cavity measurement and debugging group (3) adjusts the longitudinal height of the end face non-contact response member (52) according to the pipe wall thickness. Then, after the end face non-contact response member (52) is separated from the contact with the surface of the pipe joint, the inner cavity opposite direction distance measuring member (53) stably obtains the inner cavity diameter of the docked pipeline; The inner cavity measurement and debugging group (3) includes a wall thickness measurement end distance adjusting member (31), a circumference measurement end distance adjusting member (32), and a horizontal axis measurement distance adjusting member (33). The transmission end of the wall thickness measurement end distance adjusting member (31) is fixedly connected to the circumference measurement end distance adjusting member (32). The transmission end of the circumference measurement end distance adjusting member (32) is fixedly connected to the pipe wall guide for the pipe to be connected (41). The transmission end of the horizontal axis measurement distance adjusting member (33) is installed on the outer wall of the horizontal axis follower punctuation group (6); The measurement data transmitting end (43) includes a horizontal measurement approval unit and a reference parameter comparison unit. The horizontal measurement approval unit receives the horizontal induction data of the horizontal sensing unit (44), and then verifies whether the parallel joint transmission seat (42) is at the starting point of the pipeline circumference. The reference parameter comparison unit receives the diameter parameter measured by the inner cavity opposite distance measuring piece (53), and then compares whether the currently measured diameter parameter is unified with the pipeline end to be docked.

2. The positioning system for a mine pipeline transportation and installation vehicle according to claim 1, characterized in that: One end of the inner cavity channel measurement end transmission piece (1) is connected with a punctuation receiving and feedback end (7). The punctuation receiving and feedback end (7) is provided with two receiving endpoints, and the two receiving endpoints are respectively used to obtain the positioning distance signals of the horizontal axis follower punctuation group (6) and the reference measurement axis reference piece (51).

3. The positioning system for a mine pipeline transportation and installation vehicle according to claim 2, characterized in that: The inner cavity channel measurement end transmission piece (1) is equipped with an electric control lock fastener (11). The electric control lock fastener (11) is arranged between the wall thickness measurement end distance adjusting piece (31) and the measurement contact driving piece (2). The electric control lock fastener (11) is used for the separation of the inner cavity channel measurement end transmission piece (1) and the inner cavity channel measurement and debugging group (3).

4. The usage method of the positioning system for a mine pipeline transportation and installation vehicle according to claim 3, characterized in that, It includes the following steps: Step S1: The pipeline to be connected is sent to the pipeline joint end through a transportation and installation vehicle. The inner cavity channel measurement end transmission piece (1) is placed outside the external pipeline, and the inner cavity channel measurement and debugging group (3), the parallel selection measurement group (4), and the measurement base point calibration group (5) are synchronously conveyed to the pipeline at the docking end. Step S2: After the pipeline wall guiding piece (41) reaches the pipeline docking end, the wall thickness measurement end distance adjusting piece (31) drives the parallel joint transmission seat (42) to adjust the longitudinal height of the contact surface of the parallel joint transmission seat (42) until the bottom of the parallel joint transmission seat (42) fits the surface of the pipeline at the joint end. The horizontal sensing unit (44) measures the levelness of the parallel joint transmission seat (42), and the circumference measurement end distance adjusting piece (32) adjusts the lateral arrangement points of the parallel joint transmission seat (42) according to the levelness data. Step S3: After the parallel joint transmission seat (42) changes the lateral arrangement points and is adjusted to the horizontal state, determine whether the end face non-contact response piece (52) is aligned with the assembly hole of the pipeline at the joint end through the telescopic data fed back by the end face non-contact response piece (52), that is, when the end face non-contact response piece (52) is in the expanded state, it is aligned and fitted with the assembly hole of the pipeline at the joint end. Select the position where the current parallel joint transmission seat (42) is located as the starting point of the circumference, and measure the inner diameter of the pipeline at the joint end along the current starting point of the circumference by the inner cavity opposite distance measuring piece (53). Step S4: After the horizontal axis measurement distance adjusting piece (33) receives the inner diameter parameter of the pipeline at the joint end, rotate the horizontal axis follower punctuation group (6) 90 degrees along its radius axis point. The reference measurement axis reference piece (51) located at the starting point of the circumference is used as the first measurement punctuation, and the horizontal axis follower punctuation group (6) is used as the second measurement punctuation. Step S5: The electric control lock fastener (11) disconnects the connection between the inner cavity channel measurement end transfer member (1) and the wall thickness measurement end distance adjustment member (31), so that the punctuation receiving feedback end (7) remains on the pipeline to be connected, the reference measurement axis comparison member (51) and the horizontal axis follower punctuation group (6) remain on the pipeline at the joint end. The distance deviation fed back by the double receiving endpoints of the punctuation receiving feedback end (7), the reference measurement axis comparison member (51), and the horizontal axis follower punctuation group (6) is used as the debugging parameter when the installation vehicle lifts the pipeline to be connected for positioning and installation.

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