Continuous tracking and positioning method of underground tunneling equipment based on gyro measurement robot

Abstract

The invention relates to a continuous tracking and positioning method for underground tunneling equipment based on a gyro measurement robot, which comprises the following steps: 1, acquiring the distance and angle information between the current gyro measurement robot and two control points, the gyro measurement robot is arranged at the side wall position of one side of a roadway, the two control points are positioned at the side wall position of the other side of the roadway in front and back, and the gyro measurement robot is arranged in front of the two control points; the two control points are respectively provided with a group of prism devices; 2, performing adjustment calculation by using the measurement value obtained in the step 1 to obtain the current position of the gyro measurement robot; 3, determining a search range of tunneling equipment, and starting first tracking measurement; 4, moving the gyro measurement robot forwards, and re-measuring the position of the gyro measurement robot after moving the station; 5, the current rear prism device on the other side of the roadway is moved to the position in front of the current front prism device, and the new coordinate positions of the moved prism devices are measured and stored; and 6, repeating the steps 1-3, and continuing to complete the measurement of the next working interval until all measurement tasks are completed. The search efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of underground coordinate positioning, in particular to a continuous tracking and positioning method of underground tunneling equipment based on a gyroscopic measurement robot. Background Art

[0002] Underground coal mine tunnels must be excavated along the direction of the strata. This involves uncertainties such as avoiding dangerous objects, inclined shafts, going up and downhill, and floor tilt. To ensure that coal mine tunneling equipment safely advances along the planned path and direction, accurate measurement of the equipment's spatial position and trajectory is essential. Tunneling equipment posture measurement is a long-duration, short-range, semi-enclosed measurement technology. Tunneling tunnels are typically buried deep underground, subject to GNSS signal denial, complex electromagnetic interference, and weakened geomagnetic signals. The tunneling equipment's working space within these tunnels is narrow and long, continuously expanding, creating a pioneering, unstructured environment. The tunnel environment is dim, with repetitive wall textures, complex and variable lighting, and severe dust and water mist. Tunneling equipment travels slowly, making startup and shutdown more complex and cumbersome, and the rock-breaking loads of the tunneling machine are subject to significant impact and vibration. These conditions place stringent demands on tunneling equipment posture measurement technology.

[0003] In the existing technology, no matter which method is used, the underground control point must be used as an absolute reference to obtain the spatial position of the tunneling equipment in the entire working area. Using a surveying robot (or total station) is one of the common ways to establish a coordinate reference underground. However, as the tunneling machine continues to operate in the tunnel, the distance between the machine body and the current control point gradually becomes farther, and the tracking effect of the surveying robot on the tunneling equipment decreases accordingly. In serious cases, it will affect the overall fusion positioning accuracy of the system, and the control point close to the tunneling path must be reselected. However, the underground surveying space is limited, and the cost of pre-establishing control points with a density interval that meets the operation requirements is high, and it affects work efficiency. Summary of the Invention

[0004] The purpose of the present invention is to overcome the limitations, low efficiency and low reliability of existing measurement robot tracking and positioning methods, improve the intelligence level of underground comprehensive tunneling, and provide a continuous tracking and positioning method for underground tunneling equipment based on gyro measurement robots.

[0005] The above-mentioned purpose of the present invention is achieved through the following technical solutions:

[0006] The continuous tracking and positioning method of underground tunneling equipment based on a gyroscopic measurement robot includes the following steps:

[0007] Step 1: Obtain the distance and angle information between the current gyro measurement robot and two control points. The gyro measurement robot is set at one side of the tunnel, and the two control points are located in front and behind of each other on the other side of the tunnel. A set of prism devices are installed at each control point.

[0008] Step 2: Use the measurement value obtained in step 1 to perform adjustment calculation to obtain the current position of the gyro measurement robot;

[0009] Step 3: Determine the search range for the tunneling equipment and start the first tracking measurement;

[0010] Step 4: Move the gyroscopic measurement robot forward and re-measure its own position after moving.

[0011] Step 5: Move the current rear prism device on the other side of the lane to a position in front of the current front prism device, and measure and store the new coordinate position of the moved prism device;

[0012] Step 6: After moving the station, repeat steps 1 to 3 to continue measuring the next work area until all measurement tasks are completed.

[0013] Furthermore, step 1 includes:

[0014] Step 1-1: The gyroscopic measurement robot is installed on one side of the tunnel. Control points P1 and P2 are set on the other side of the tunnel. The coordinates of the two control points are pre-determined. The gyroscopic measurement robot and control point P1 are approximately at the same mileage position in the tunnel.

[0015] Step 1-2: The gyroscopic measurement robot first performs static north search to determine the true north direction corresponding to 0 degrees of the horizontal code disk, and determines the control point search direction H0-90° based on the pre-known approximate direction of the tunnel H0. Then, the aiming part is rotated to the position of control point P1 to start search measurement, and the search order is determined from back to front.

[0016] Furthermore, step 2 includes:

[0017] Step 2-1: Use P1 coordinates (x1, y1, z1), P2 coordinates (x2, y2, z2), gyroscope to measure the robot coordinates (x O ,y O ,z O ), the plane distance from the gyro measurement robot O to P1 is d1, the plane distance to P2 is d2, and the plane distance between P1 and P2 is; The horizontal angle between the two control points measured by the gyroscopic measurement robot is θ, which is calculated as: The total error of the other two angles is δθ=180°-∠OP2P1-∠OP1P2-θ. If δθ is greater than the set threshold, it is considered that the measurement is abnormal and should be re-measured. If the conditions are met, Perform error compensation separately, then:

[0018] Step 2-2: Calculate the plane coordinates and azimuth of the gyro measurement robot O point It can be calculated from the known coordinates:

[0019]

[0020] Step 2-3: Calculate the average value of the control points P1 and P2 to get the elevation coordinate Z of the gyro measurement robot. O .

[0021] Furthermore, step 3 includes:

[0022] Step 3-1: Based on the tunnel width W and the distance L between the total station and the working surface, calculate the horizontal angle range of the search area. The vertical angle range is set based on experience. The horizontal angle search range is: (H0, H0-β), where

[0023]

[0024] Step 3-2: Use step search to divide the search level range into n equal parts. Search within the angle range and determine whether the target is successfully matched, and continue to rotate after each measurement is completed Horizontal angle.

[0025] Moreover, in step 4, the measuring robot is required to move to a position on the opposite side of the prism P2 lane, approximately at the same mileage position in the lane.

[0026] Moreover, in step 5, the next installation position of the prism passes the control point P2 and moves to the position P1' along the side of the road.

[0027] The advantages and positive effects of the present invention are:

[0028] (1) The present invention proposes an adjustment method and an anomaly recognition method for backcalculating the coordinates of a gyroscopic measurement robot with only two starting control points, thereby improving the accuracy and reliability of its own coordinate calculation.

[0029] (2) The present invention proposes a step-by-step search scheme that uses the north-finding value of the gyroscopic measurement robot combined with the tunnel orientation to improve search efficiency and avoid missing targets during large-scale searches.

[0030] (3) The present invention proposes a method for performing station-shift measurement using a gyroscopic measurement robot and a prism, which solves the problem of continuous tracking measurement in multiple areas underground. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic diagram of the principle of continuous tracking and positioning of the gyroscopic measurement robot underground;

[0032] Figure 2It is a schematic diagram of the underground installation and use of the gyro measurement robot of the present invention. DETAILED DESCRIPTION

[0033] The structure of the present invention will be further described below with reference to the accompanying drawings and by way of examples. It should be noted that this embodiment is descriptive and not restrictive.

[0034] A continuous tracking and positioning method for underground tunneling equipment based on a gyroscopic measurement robot, see Figure 1-Figure 2 , the invention point is: comprising the following steps:

[0035] Step 1: Obtain the distance and angle information between the current gyro measurement robot and the two control points. The gyro measurement robot is set at the side of one side of the tunnel, and the two control points are located in front and behind at the other side of the tunnel. A set of prism devices are installed at each of the two control points. Among them, control point P1 is located at the far end of the tunnel (away from the working surface, i.e., the rear of the tunnel), and control point P2 is located near the working surface of the tunnel. The gyro measurement robot is located parallel to control point P1. The gyro measurement robot, control point P1, and control point P2 approximately form a right triangle. The measurement diagram is shown in the attached figure. Figure 1 shown.

[0036] Step 1 specifically includes:

[0037] Step 1-1: The gyroscopic measurement robot is installed on one side of the tunnel. Control points P1 and P2 are set on the other side of the tunnel (this example uses the right side only; the principle is the same for the left side). The coordinates of the two control points are pre-determined by professional surveyors. The gyroscopic measurement robot and control point P1 are approximately at the same mileage position in the tunnel.

[0038] Step 1-2: The gyroscopic measurement robot first performs static north search to determine the true north direction corresponding to 0 degrees of the horizontal code disk, and determines the control point search direction H0-90° based on the pre-known approximate direction of the tunnel H0. Then, the aiming part is rotated to the position of control point P1 to start search measurement, and the search order is determined from back to front.

[0039] Step 2: Use the measurement value obtained in step 1 to perform adjustment calculation to obtain the current position of the gyro measurement robot; including:

[0040] Step 2-1: As attached Figure 1 As shown, P1 coordinates (x1, y1, z1), P2 coordinates (x2, y2, z2), gyro measurement robot coordinates (x O ,y O ,z O ), the plane distance from the gyro measurement robot O to P1 is d1, the plane distance to P2 is d2, and the plane distance between P1 and P2 is The gyroscopic measurement robot measures the horizontal angle between the two control points as θ, and calculates Usually the horizontal angle measurement accuracy of the gyro measurement robot is 0.5 seconds to 1 second. Compared with other measurement values, the angle measurement value can be approximated to the true value. The total error of the other two angles is δθ=180°-∠OP2P1-∠OP1P2-θ. If δθ is greater than the set threshold, it is considered that the measurement is abnormal and should be re-measured. If the conditions are met, Perform error compensation separately, then:

[0041] Step 2-2: Calculate the plane coordinates and azimuth of the gyro measurement robot O point It can be calculated from the known coordinates:

[0042]

[0043] Step 2-3: Calculate the average value of the control points P1 and P2 to get the elevation coordinate Z of the gyro measurement robot. O .

[0044] Step 3: Determine the search range for the tunneling equipment and start the first tracking measurement;

[0045] Step 3 includes:

[0046] Step 3-1: Based on the tunnel width W and the distance L between the total station and the working surface, calculate the horizontal angle range of the search area. The vertical angle range is set based on experience. The horizontal angle search range is: (H0, H0-β), where

[0047]

[0048] Step 3-2: In this step, step search is used to divide the search level range into n equal parts. Search within the angle range and determine whether the target is matched successfully. Continue to rotate after each measurement is completed. Horizontal angle to avoid missing the target.

[0049] Step 4: Move the gyroscopic measurement robot forward and re-measure its own position after moving. Specifically: the measurement robot is required to move to the position on the opposite side of the prism P2 lane, approximately at the same mileage position in the lane.

[0050] Step 5: Move the current rear prism device on the other side of the lane to the front position of the current front prism device, measure and store the new coordinate position of the moved prism device; specifically: the next installation position of the prism passes the control point P2 position and moves along the lane side to the P1' position as shown in the figure.

[0051] Step 6: After moving the station, repeat steps 1 to 3 to continue measuring the next work area until all measurement tasks are completed.

[0052] In the above technical solution, during initial use, the coordinates of control points P1 and P2 serve as initial conditions, allowing the user to organize personnel to complete precise position measurements. Furthermore, the prism devices at P1 and P2 are installed close to the roof, at approximately the same height as the measuring robot. Once the measuring robot is installed, the installer adjusts the telescope's collimation axis to be roughly parallel to the roadway.

[0053] In summary, the continuous tracking and positioning method of the underground gyro measurement robot proposed in the present invention uses two limited control points as the starting point of reproduction, transmits the coordinates through the gyro measurement robot, continuously forward recursively solves, forms an underground control baseline, and completes the continuous tracking measurement of the underground tunneling equipment, fully ensuring the positioning accuracy in each working area.

[0054] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein, and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. Non-essential improvements, adjustments or replacements made by those skilled in the art based on the contents of this specification are all within the scope of protection claimed by the present invention.

Claims

1. A continuous tracking and positioning method for underground tunneling equipment based on a gyroscopic measurement robot, characterized in that: The steps include: Step 1: Obtain the distance and angle information between the current gyro measurement robot and two control points. The gyro measurement robot is set at one side of the tunnel, and the two control points are located in front and behind of each other on the other side of the tunnel. A set of prism devices are installed at each control point. Step 2: Use the measurement value obtained in step 1 to perform adjustment calculation to obtain the current position of the gyro measurement robot; Step 3: Determine the search range for the tunneling equipment and start the first tracking measurement; Step 4: Move the gyroscopic measurement robot forward and re-measure its own position after moving; Step 5: Move the current rear prism device on the other side of the lane to a position in front of the current front prism device, and measure and store the new coordinate position of the moved prism device; Step 6: After moving the station, repeat steps 1 to 3 to continue measuring the next work area until all measurement tasks are completed.

2. The continuous tracking and positioning method for underground tunneling equipment based on a gyroscopic measurement robot according to claim 1 is characterized in that: Step 1 includes: Step 1-1: The gyroscopic measurement robot is installed on one side of the tunnel. Control points P1 and P2 are set on the other side of the tunnel. The coordinates of the two control points are pre-determined. The gyroscopic measurement robot and control point P1 are approximately at the same mileage position in the tunnel. Step 1-2: The gyroscopic measurement robot first performs static north search to determine the true north direction corresponding to 0 degrees of the horizontal code disk, and determines the control point search direction H0-90° based on the pre-known approximate direction of the tunnel H0. Then, the aiming part is rotated to the position of control point P1 to start search measurement, and the search order is determined from back to front.

3. The continuous tracking and positioning method for underground tunneling equipment based on a gyroscopic measurement robot according to claim 2 is characterized in that: Step 2 includes: Step 2-1: Use P1 coordinates (x1, y1, z1), P2 coordinates (x2, y2, z2), gyroscope to measure the robot coordinates (x O ,y O ,z O ), the plane distance from the gyro measurement robot O to P1 is d1, the plane distance to P2 is d2, and the plane distance between P1 and P2 is; The horizontal angle between the two control points measured by the gyroscopic measurement robot is θ, which is calculated as: The total error of the other two angles is δθ=180°-∠OP2P1-∠OP1P2-θ. If δθ is greater than the set threshold, it is considered that the measurement is abnormal and should be re-measured. If the conditions are met, Perform error compensation separately, then: Step 2-2: Calculate the plane coordinates and azimuth of the gyro measurement robot O point It can be calculated from the known coordinates: Step 2-3: Calculate the average value of the control points P1 and P2 to get the elevation coordinate Z of the gyro measurement robot. O .

4. The continuous tracking and positioning method for underground tunneling equipment based on a gyroscopic measurement robot according to claim 1, characterized in that: Step 3 includes: Step 3-1: Based on the tunnel width W and the distance L between the total station and the working surface, calculate the horizontal angle range of the search area. The vertical angle range is set based on experience. The horizontal angle search range is: (H0, H0-β), where Step 3-2: Use step search to divide the search level range into n equal parts. Search within the angle range and determine whether the target is successfully matched, and continue to rotate after each measurement is completed Horizontal angle.

5. The continuous tracking and positioning method for underground tunneling equipment based on a gyroscopic measurement robot according to claim 1, characterized in that: In step 4, the measurement robot is required to move to the vicinity of the opposite side of the lane of the control point P2, approximately at the same mileage position in the lane.

6. The continuous tracking and positioning method for underground tunneling equipment based on a gyroscopic measurement robot according to claim 1, characterized in that: In step 5, the next installation position of the prism passes the control point P2 and moves along the side of the road to the position P1'.

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