Three-dimensional positioning device and method for tunnel operation trolley

Abstract

The invention relates to the field of three-dimensional positioning devices, in particular to a three-dimensional positioning device and method for a tunnel operation trolley, and the three-dimensional positioning device comprises a laser range finder which is used for measuring the distance between the laser range finder and a tunnel wall surface at least along three coordinate axes, and the controller is used for calculating three-dimensional coordinates of the trolley according to the height and the angle of the laser range finder and the distance between the laser range finder and the wall surface of the tunnel. The three-dimensional positioning method comprises the following steps: measuring the side wall, the front wall surface or the known marker, the vault and the ground of the tunnel along the X, Y and Z directions by the laser range finder respectively, and further determining the X, Y and Z coordinates of the trolley; according to the embodiment of the invention, the laser range finder is used for obtaining the distance measured along at least three coordinate axes, the measurement precision is high, the three-dimensional position information of the trolley in the tunnel can be directly obtained, the construction efficiency is improved, the activity of personnel in the tunnel is reduced, and the potential safety hazard caused by measurement work is reduced.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional positioning devices, and in particular to a three-dimensional positioning device and method for a tunnel operation trolley. Background Art

[0002] Traditional tunnel construction trolleys rely on manual measurement to determine their own positions. Usually, professional surveyors use total stations and other measuring instruments to determine the horizontal position of the trolley in the tunnel. Control points need to be set up in the tunnel, and the position of the trolley relative to these control points is measured. Then, a level is used to perform elevation measurements to determine the vertical position of the trolley. Finally, a steel ruler or a simple distance measuring instrument is used to manually measure the distance between the trolley and the tunnel wall or reference point. Traditional manual measurement methods are not only inefficient, but also prone to errors. Summary of the invention

[0003] The purpose of the present invention is to provide a three-dimensional positioning device and method for a tunnel operation trolley to solve the problem that manual measurement of the three-dimensional coordinates of the tunnel operation trolley is inefficient and there are safety hazards for surveyors in the tunnel.

[0004] In order to solve the above technical problems, the present invention specifically provides the following technical solutions:

[0005] A three-dimensional positioning device for a tunnel operation trolley comprises: a laser rangefinder, which measures the distance between itself and a tunnel wall surface along at least three coordinate axes to obtain three-dimensional position information of the trolley in the tunnel; a worktable, which is used to connect the trolley and the laser rangefinder and provide stable support for the operation of the laser rangefinder; a controller, which is communicatively connected to the laser rangefinder and is used to receive a signal output by the laser rangefinder and calculate the three-dimensional coordinates of the trolley according to the height and angle of each laser rangefinder and the distance between the laser rangefinder and the tunnel wall surface; and a human-computer interaction system, which is communicatively connected to the controller and is used to display the three-dimensional coordinates of the trolley to a user.

[0006] Furthermore, the three coordinate axes are respectively an X-axis, a Y-axis and a Z-axis, wherein the Z-axis is vertical, and the X-axis and the Y-axis are horizontal and perpendicular to each other.

[0007] Furthermore, it also includes: a three-axis driving system, which is used to drive the laser rangefinder to rise and fall along the Z axis, rotate around the U axis, and rotate around the R axis to adjust the height and angle of the laser rangefinder, wherein the U axis is coaxial with any one of the X axis, the Y axis and the Z axis, and the R axis is perpendicular to the U axis and the Z axis.

[0008] Furthermore, the three-axis drive system includes: a Z-axis linear drive for adjusting the height of the laser rangefinder in the vertical direction; a U-axis rotation drive for rotating the laser rangefinder around the U-axis; and an R-axis rotation drive for rotating the laser rangefinder around the R-axis.

[0009] Furthermore, the Z-axis linear drive includes: a ball screw, the axis of which is arranged along the vertical direction, and the two ends are rotatably connected to the trolley through two bearing seats respectively; a screw nut, coaxially mounted on the ball screw, and vertically slidably connected to the trolley through a guide rail; a first motor, fixedly connected to the trolley through a positioning end cover of the bearing seat, for driving the ball screw to rotate to drive the screw nut to move vertically; a support plate, fixedly connected to the screw nut and the work table, so that the work table can rise and fall synchronously with the screw nut.

[0010] Furthermore, each of the bearing seats includes a positioning end cover and a bearing, the positioning end cover is fixedly connected to the supporting foot, the outer ring of the bearing is connected to the positioning end cover, the inner ring of the bearing is connected to the ball screw, and the supporting foot is connected to the pad installed on the trolley through a bolt pair.

[0011] Furthermore, the U-axis rotation driver includes: a sleeve shaft, rotatably connected to the worktable, and its axis is set along any one direction of the X, Y, and Z axes; a second motor, fixedly connected to the worktable, used to drive the sleeve shaft to rotate around its own axis; a rangefinder bracket, fixedly connected to the sleeve shaft and the laser rangefinder, so that the laser rangefinder rotates synchronously with the sleeve shaft.

[0012] Furthermore, the sleeve shaft is respectively sleeved on the output shaft of the second motor and the rangefinder bracket, and outputs torque through two keys respectively.

[0013] Furthermore, the R-axis driver includes: a rotating shaft, rotatably connected to the rangefinder bracket and fixedly connected to the rangefinder, with the axis being horizontally arranged and perpendicular to the axis of the sleeve shaft; a third motor, fixedly connected to the rangefinder bracket, for driving the rotating shaft to rotate around its own axis so that the rangefinder rotates synchronously with the rotating shaft.

[0014] A three-dimensional positioning method for a tunnel operation trolley, the three-dimensional positioning method is performed using the three-dimensional positioning device of the claim, and the three-dimensional positioning method comprises the following steps: aiming the laser measuring instrument at a known marker in the tunnel, measuring the straight-line distance D between the laser measuring instrument and the known marker, obtaining the height Zr of the laser rangefinder in the Z-axis direction, the pitch angle θU in the U-axis direction, and the yaw angle θR in the R-axis direction, and then calculating the three-dimensional coordinates (Xr, Yr, Zr) of the laser rangefinder based on the three-dimensional coordinates (Xm, Ym, Zm) of the known marker by the following formulas: Xr = Xm-D × cosθU × sinθR; Yt = Ym-D × cosθU × cosθRn; Zr = Zm-D × sinθU.

[0015] Compared with the prior art, this application has the following beneficial effects:

[0016] Provided are a three-dimensional positioning device and method for a tunnel operation trolley, which utilizes a laser rangefinder to obtain distances measured along at least three coordinate axes, has high measurement accuracy, and can directly obtain three-dimensional position information of the trolley in the tunnel, thereby improving construction efficiency, reducing personnel activities in the tunnel, and reducing safety hazards caused by measurement work. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0018] Figure 1 A front view of a three-axis drive system according to an embodiment of the present invention;

[0019] Figure 2 A cross-sectional view of a three-axis drive system cut along an intersection plane of an X-axis and a Y-axis according to an embodiment of the present invention;

[0020] The numbers in the figure represent the following:

[0021] 11-laser rangefinder; 12-workbench; 13-support foot; 14-pad; 21-ball screw; 22-bearing seat; 23-positioning end cover; 24-bearing; 25-screw nut; 26-first motor; 27-support plate; 28-guide rail; 31-sleeve shaft; 32-second motor; 33-rangefinder bracket; 34-key; 41-rotating shaft;

[0022] 42-Third motor. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In order to accurately position the work trolley for tunnel construction, this embodiment proposes a three-dimensional positioning device and method for a tunnel work trolley. The device uses laser measurement technology to accurately position the trolley and can adjust the height and posture of the laser rangefinder 11 as needed.

[0025] The three-dimensional positioning device includes:

[0026] The laser rangefinder 11 measures the distance between itself and the tunnel wall along at least three coordinate axes to obtain the three-dimensional position information of the trolley in the tunnel;

[0027] A workbench 12 is used to connect the trolley and the laser rangefinder 11 to provide stable support for the operation of the laser rangefinder 11;

[0028] The controller is communicatively connected to the laser rangefinder 11, and is used to receive the signal output by the laser rangefinder 11, and calculate the three-dimensional coordinates of the trolley according to the height and angle of each laser rangefinder 11 and the distance between the laser rangefinder 11 and the tunnel wall;

[0029] The human-computer interaction system is connected to the controller for displaying the three-dimensional coordinates of the trolley to the user.

[0030] The three-dimensional positioning method comprises the following steps:

[0031] The laser rangefinder 11 emits laser beams along the three directions of X, Y and Z, and then:

[0032] The left and right walls of the tunnel are measured along the X-axis direction. By measuring the distance between the trolley and the left and right side walls, the lateral offset of the trolley relative to the center line of the tunnel is calculated, and then the X-axis coordinate of the trolley is determined.

[0033] Measure the front wall of the tunnel or known markers along the Y-axis direction. By measuring the distance between itself and the front wall of the tunnel or the pre-set reflective markers, combined with the trolley's own driving record, the longitudinal displacement of the trolley in the tunnel is accurately calculated, and then the Y-axis coordinate of the trolley is determined.

[0034] The tunnel vault and ground are measured along the Z-axis direction. By measuring the distance between the trolley and the top and bottom of the tunnel, the vertical offset of the trolley relative to the tunnel centerline is calculated, and then the Z-axis coordinate of the trolley is determined. This helps to identify possible height changes in the tunnel, such as changes in the vault height or ground undulations, and ensure the safety of the trolley operation.

[0035] Furthermore, if you want the laser rangefinder 11 to emit laser beams along the three directions of X, Y, and Z, you need to allow one laser rangefinder 11 to rotate in three directions, or you need at least three laser rangefinders 11 facing different directions. As the trolley moves, each laser rangefinder 11 also needs to be fine-tuned in height and angle to adapt to the changes in the height and angle of the trolley.

[0036] To achieve this goal, the three-dimensional positioning device also includes: a three-axis drive system for driving the laser rangefinder 11 to rise and fall along the Z axis, rotate around the U axis, and rotate around the R axis, providing height and angle adjustment for the measurement work of the laser rangefinder 11.

[0037] Specifically, the three-axis drive system includes:

[0038] The Z-axis linear drive is used to adjust the height of the laser rangefinder 11 along the vertical direction (Z-axis).

[0039] The U-axis rotation driver is used to rotate the laser rangefinder 11 around the U-axis to adjust its pitch angle, wherein the three U-axes face different directions respectively, and each U-axis is coaxial with the X-axis, Y-axis and Z-axis to which each laser rangefinder 11 is aligned.

[0040] The R-axis rotation driver is used to rotate the laser rangefinder 11 around the R-axis to adjust its left and right angles, wherein the R-axis is perpendicular to the U-axis and the Z-axis.

[0041] The three-axis drive system can accurately adjust the height, pitch angle and yaw angle of each laser rangefinder 11, so that the laser rangefinder 11 can be accurately aligned with the X-axis, Y-axis and Z-axis, or with known markers preset in the X, Y and Z directions, where the known markers refer to laser reflectors or other obstacles.

[0042] Figure 1 The main view of the three-axis drive system is shown, combined with Figure 1 , the Z-axis linear drive is a ball screw 21 slide, which includes:

[0043] The ball screw 21 has an axis arranged in the vertical direction, and its two ends are rotatably connected to the trolley through two bearing seats 22;

[0044] The screw nut 25 is coaxially mounted on the ball screw 21 and vertically slidably connected to the trolley via a guide rail 28;

[0045] A first motor 26 is fixedly connected to the trolley through a positioning end cover 23 of a bearing seat 22, and is used to drive the ball screw 21 to rotate so as to drive the screw nut 25 to move vertically;

[0046] The support plate 27 is fixedly connected to the screw nut 25 and the workbench 12, so that the workbench 12 can rise and fall synchronously with the screw nut 25;

[0047] The travel sensor is fixedly connected to a positioning end cover 23 of a bearing seat 22 and is used to measure the moving distance of the support plate 27. The travel sensor is not shown in the figure. The travel sensor is used to obtain the moving distance of the laser rangefinder in the Z-axis direction.

[0048] Among them, each bearing seat 22 includes a positioning end cover 23 and a bearing 24, the positioning end cover 23 is fixedly connected to the support foot 13, the outer ring of the bearing 24 is connected to the positioning end cover 23, the inner ring of the bearing 24 is connected to the ball screw 21, the support foot 13 is a channel steel, and the support foot 13 is connected to the pad 14 installed on the trolley through a bolt pair.

[0049] Figure 2 The sectional view of the three-axis drive system cut along the intersection of the X-axis and the Y-axis is shown. Figure 2 .

[0050] U-axis rotary drive includes:

[0051] The sleeve shaft 31 is rotatably connected to the worktable 12, and the axis is set along any direction of the X, Y, and Z axes as needed;

[0052] The second motor 32 is fixedly connected to the workbench 12 and is used to drive the sleeve shaft 31 to rotate around its own axis;

[0053] The rangefinder bracket 33 is fixedly connected to the sleeve shaft 31 and the laser rangefinder 11, so that the laser rangefinder 11 rotates synchronously with the sleeve shaft 31;

[0054] The U-axis photoelectric encoder is installed on the sleeve shaft 31 and is used to measure the rotation angle of the sleeve shaft 31. The U-axis photoelectric encoder is not shown in the figure.

[0055] The sleeve shaft 31 is respectively sleeved on the output shaft of the second motor 32 and the distance meter bracket 33 , and outputs torque through two keys 34 .

[0056] R-axis drive includes:

[0057] A rotating shaft 41 is rotatably connected to the rangefinder bracket 33 and fixedly connected to the rangefinder, with an axis arranged horizontally and perpendicular to the axis of the sleeve shaft 31;

[0058] The third motor 42 is fixedly connected to the rangefinder bracket 33 and is used to drive the rotating shaft 41 to rotate around its own axis so that the rangefinder rotates synchronously with the rotating shaft 41;

[0059] The R-axis photoelectric encoder is installed on the rotating shaft 41 and is used to measure the rotation angle of the rotating shaft 41. The R-axis photoelectric encoder is not shown in the figure.

[0060] The rangefinder bracket 33 is U-shaped, and both ends of the rotating shaft 41 are connected to the rangefinder bracket 33 through two bearings 24 respectively.

[0061] When three laser rangefinders 11 are used, the three-axis drive system is used to drive the laser rangefinders 11 to move adaptively following the movement of the trolley, so that the laser rangefinders 11 are always aimed at the preset known markers, and the position and posture of the trolley are determined based on the distance information obtained by laser measurement, combined with known reference points or feature points, using algorithms such as triangulation, thereby obtaining the three-dimensional coordinates of the trolley in real time.

[0062] When using a laser rangefinder 11, the three-axis drive system is used to drive the laser rangefinder 11 toward known markers in the X, Y, and Z directions in turn, so that the laser rangefinder 11 is aligned with the preset known markers in turn, and the position and posture of the trolley are determined based on the distance information obtained by laser measurement, combined with known reference points or feature points, using algorithms such as triangulation, thereby intermittently obtaining the three-dimensional coordinates of the trolley.

[0063] The specific three-dimensional positioning method is as follows:

[0064] Determine the coordinates (Xm, Ym, Zm) of the known marker, and obtain the following through the travel sensor, U-axis photoelectric encoder, and R-axis photoelectric encoder: the height Zr of the laser rangefinder in the Z-axis direction, the pitch angle θU in the U-axis direction, the yaw angle θR in the R-axis direction, and the straight-line distance D to the known marker, and then calculate the laser rangefinder coordinates (Xr, Yr, Zr).

[0065] Calculate the unit direction vector of the laser beam:

[0066] nx=cosθU×sinθR;

[0067] ny=cosθU×cosθR;

[0068] nz = sinθU;

[0069] Calculate the position difference using the measured distance D:

[0070] ΔX = D × nx;

[0071] ΔY=D×ny;

[0072] ΔZ = D × nz;

[0073] Solve for the coordinates of the laser rangefinder:

[0074] Xr=Xm-ΔX;

[0075] Yr=Ym-ΔY;

[0076] Zr=Zm-ΔZ.

[0077] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A three-dimensional positioning device for a tunnel operation trolley, characterized in that: include: A laser rangefinder measures the distance between itself and the tunnel wall along at least three coordinate axes to obtain the three-dimensional position information of the trolley in the tunnel; A workbench, used to connect the trolley and the laser rangefinder, and provide stable support for the operation of the laser rangefinder; A controller, communicatively connected to the laser rangefinder, for receiving a signal output by the laser rangefinder, and calculating the three-dimensional coordinates of the trolley according to the height and angle of each laser rangefinder and the distance between the laser rangefinder and the tunnel wall; The human-computer interaction system is communicatively connected to the controller and is used to display the three-dimensional coordinates of the trolley to the user.

2. A three-dimensional positioning device for a tunnel operation trolley according to claim 1, characterized in that: The three coordinate axes are respectively an X-axis, a Y-axis and a Z-axis, wherein the Z-axis is vertical, and the X-axis and the Y-axis are horizontal and perpendicular to each other.

3. A three-dimensional positioning device for a tunnel operation trolley according to claim 2, characterized in that: It also includes: a three-axis driving system, which is used to drive the laser rangefinder to rise and fall along the Z axis, rotate around the U axis, and rotate around the R axis to adjust the height and angle of the laser rangefinder, wherein the U axis is coaxial with any one of the X axis, the Y axis, and the Z axis, and the R axis is perpendicular to the U axis and the Z axis.

4. A three-dimensional positioning device for a tunnel operation trolley according to claim 3, characterized in that: The three-axis drive system comprises: A Z-axis linear drive, used for adjusting the height of the laser rangefinder in the vertical direction; A U-axis rotation driver, used for rotating the laser rangefinder around the U-axis; The R-axis rotation driver is used to rotate the laser rangefinder around the R-axis.

5. A three-dimensional positioning device for a tunnel operation trolley according to claim 4, characterized in that: The Z-axis linear drive comprises: The ball screw has an axis arranged in the vertical direction, and both ends are rotatably connected to the trolley through two bearing seats; A screw nut is coaxially mounted on the ball screw and vertically slidably connected to the trolley via a guide rail; A first motor, fixedly connected to the trolley through a positioning end cover of the bearing seat, for driving the ball screw to rotate so as to drive the screw nut to move vertically; The support plate is fixedly connected to the screw nut and the workbench, so that the workbench can be raised and lowered synchronously with the screw nut.

6. A three-dimensional positioning device for a tunnel operation trolley according to claim 5, characterized in that: Each of the bearing seats includes a positioning end cover and a bearing, the positioning end cover is fixedly connected to the supporting foot, the outer ring of the bearing is connected to the positioning end cover, the inner ring of the bearing is connected to the ball screw, and the supporting foot is connected to the pad installed on the trolley through a bolt pair.

7. A three-dimensional positioning device for a tunnel operation trolley according to claim 4, characterized in that: The U-axis rotary driver comprises: A sleeve shaft is rotatably connected to the worktable, and its axis is arranged along any one direction of the X, Y, and Z axes; A second motor, fixedly connected to the worktable, for driving the sleeve shaft to rotate around its own axis; The rangefinder bracket is fixedly connected to the sleeve shaft and the laser rangefinder, so that the laser rangefinder rotates synchronously with the sleeve shaft.

8. A three-dimensional positioning device for a tunnel operation trolley according to claim 7, characterized in that: The sleeve shaft is respectively sleeved on the output shaft of the second motor and the distance meter bracket, and outputs torque through two keys respectively.

9. A three-dimensional positioning device for a tunnel operation trolley according to claim 7, characterized in that: The R-axis driver comprises: A rotating shaft, rotatably connected to the rangefinder bracket and fixedly connected to the rangefinder, with an axis arranged horizontally and perpendicular to the axis of the sleeve shaft; The third motor is fixedly connected to the rangefinder bracket and is used to drive the rotating shaft to rotate around its own axis so that the rangefinder rotates synchronously with the rotating shaft.

10. A three-dimensional positioning method for a tunnel operation trolley, characterized in that: The three-dimensional positioning method is performed using the three-dimensional positioning device according to claim 3, and the three-dimensional positioning method comprises the following steps: Aim the laser measuring instrument at a known marker in the tunnel, measure the straight-line distance D between the laser measuring instrument and the known marker, obtain the height Zr of the laser rangefinder in the Z-axis direction, the pitch angle θU in the U-axis direction, and the yaw angle θR in the R-axis direction, and then calculate the three-dimensional coordinates (Xr, Yr, Zr) of the laser rangefinder based on the three-dimensional coordinates (Xm, Ym, Zm) of the known marker by the following formula: Xr=Xm-D×cosθU×sinθR; Yr=Ym-D×cosθU×cosθRn; Zr=Zm-D×sinθU.

Images