Vertical shaft full-section tunneling hanging scaffold and hydraulic formwork centering device, system and method

Abstract

The invention discloses a vertical shaft full-section tunneling hanging scaffold and hydraulic formwork centering device, system and method, and the device comprises a base station and a receiving station which are used for monitoring and obtaining three-dimensional coordinates of a position arranged on a hanging scaffold in real time; the laser emitter is used for emitting a horizontal laser beam, the elbow eyepiece is used for changing the horizontal laser beam emitted by the laser emitter by 90 degrees, and a vertical laser beam is emitted downwards through a gap between the hanging scaffold and the well wall; the photoelectric position sensor is used for detecting and processing the vertical point position of the vertical laser beam emitted by the laser emitter on the hydraulic template and outputting a two-dimensional coordinate of the vertical point position; the tilt angle sensor is used for leveling the posture of the hydraulic template; on the basis of the GNSS and the laser transmitter, the sensor technology and the monitoring algorithm are integrated, real-time intelligent leveling and centering monitoring of the hanging scaffold and the hydraulic formwork is achieved, the construction efficiency is improved, and the construction safety is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of tunneling equipment technology, and in particular to a vertical shaft full-face tunneling platform and hydraulic template centering device, system and method. Background Technology

[0002] As a crucial piece of equipment in vertical shaft construction, the hoisting platform serves multiple purposes, including housing the drilling equipment and protecting the safety of personnel at the working face. During construction, any deviation is amplified in a deep well, threatening the stability of the overall equipment structure and the smooth progress of the work. Tilting, scraping, jamming, or other malfunctions can severely impact the construction schedule and even lead to major accidents such as equipment damage and personnel injuries.

[0003] The hoisting platform of a full-face tunneling machine integrates multiple functions such as a rock grabber, grouting equipment, and a ventilation system. The alignment and leveling technology of the hoisting platform is the "lifeline" of kilometer-long vertical shaft construction, directly affecting safety, efficiency, quality, and equipment lifespan. Hydraulic formwork in kilometer-long vertical shaft construction serves multiple functions, including equipment support and construction synchronization, and is a core guarantee for the safety and efficiency of deep well projects. The alignment and leveling of hydraulic formwork is a key link in the quality control of vertical shaft construction, and is of great significance for ensuring the quality of shaft forming, improving construction efficiency, ensuring construction safety, and reducing construction costs. Currently, a specialized device is needed for efficient and precise leveling and alignment of hydraulic formwork. Summary of the Invention

[0004] The main objective of this invention is to provide a device, system, and method for centering a vertical shaft full-face excavation platform and hydraulic template, which aims to solve existing technical problems.

[0005] To achieve the above objectives, the present invention provides a leveling and alignment device for a vertical shaft cross-section excavation platform and a hydraulic formwork, comprising:

[0006] The base station and the receiving station are configured as follows: the base station is installed on the fixed plate at the wellhead of the vertical shaft, and is equipped with an external radio and an external power supply; the receiving station is installed on the hanging platform and is used to monitor and acquire the three-dimensional coordinates of the location set on the hanging platform in real time.

[0007] A laser emitter and a curved eyepiece are mounted on a hanging platform. The laser emitter is used to emit a horizontal laser beam, and the curved eyepiece is used to change the horizontal laser beam emitted by the laser emitter by 90° so that a vertical laser beam is emitted downward through the gap between the hanging platform and the well wall.

[0008] A photoelectric position sensor, mounted on a hydraulic template, is used to detect the position of the vertical laser beam emitted by the laser emitter on the hydraulic template and output the two-dimensional coordinates of the vertical position.

[0009] An inclination sensor, mounted on the hydraulic template, is used for leveling the hydraulic template's posture.

[0010] Furthermore, there are four receiving stations, one of which is located at the center of the hanging platform, and the other three receiving stations are distributed at intervals around the center of the hanging platform.

[0011] Furthermore, the tilt sensor is positioned on the parallel lines where the four cables of the fixed hydraulic template intersect.

[0012] Furthermore, both the base station and the receiving station employ GNSS measurement equipment.

[0013] The leveling and alignment system for the vertical shaft cross-section excavation platform and hydraulic formwork includes the leveling and alignment device for the platform and hydraulic formwork in the full-section excavation of the vertical shaft as described above. The reference station and receiving station, laser transmitter and curved eyepiece, and photoelectric position sensor together constitute the measurement system, and the tilt sensor constitutes the sensor system. It also includes a monitoring system, which includes a main control module, a data acquisition module, a monitoring algorithm module, and a human-machine interaction module.

[0014] The method for leveling and aligning the shaft cross-section excavation platform and hydraulic formwork, using the leveling and alignment system described above, includes the following steps:

[0015] Data collection:

[0016] Obtain the three-dimensional coordinate data of the location on the suspended platform and the coordinates of the center point of the suspended platform;

[0017] Obtain the two-dimensional coordinates of the center point of the hydraulic template and the template's attitude data;

[0018] Data processing:

[0019] The planar equation of the suspended platform is calculated based on the obtained three-dimensional coordinate data of the suspended platform. The offset distance dis of the suspended platform center is calculated based on the projection of the obtained three-dimensional coordinate data of the suspended platform center point and the coordinates of the theoretical center point.

[0020] The current attitude and position of the hoisting platform are calculated based on the prism coordinates measured by the GNSS receiving station;

[0021] Control law calculation:

[0022] The cable lifting or lowering amount is calculated based on the target posture of the suspended platform and the hydraulic template, the deviation angle of the current posture of the suspended platform and the posture data of the template, and the known distance from the center point of the suspended platform and the template to the cable suspension point.

[0023] Based on the obtained two-dimensional coordinates of the hoisting platform, the two-dimensional coordinates of the hydraulic template and the theoretical coordinates of its well center are calculated to determine the coordinate difference. The target displacement of the hydraulic cylinder is then determined based on the calculated coordinate difference, and the target position adjustment value of the hoisting platform and the hydraulic template is obtained.

[0024] Furthermore, the formula for calculating the center offset distance dis of the hoisting platform is as follows:

[0025]

[0026] Where Xv and Yv represent the two-dimensional coordinates of the hanging plate.

[0027] Furthermore, the formula for calculating the current attitude angle of the hoisting platform is as follows:

[0028]

[0029] Where A, B, and C represent the normal vectors of the plane where the current crane is located, calculated from the obtained three-dimensional coordinates; α is the roll angle; β is the pitch angle; and γ is the yaw angle.

[0030] Furthermore, the formula for calculating the cable lifting or lowering amount is as follows:

[0031]

[0032] Where S represents the lifting or lowering amount of the cable of the hoisting platform or hydraulic formwork; d x，y，z This represents the distance d between the current lifting point and the center point.

[0033] Furthermore, the formula for calculating the target displacement is as follows:

[0034]

[0035] Where, d x d y This represents the displacement value of the hydraulic support relative to the center point coordinate system.

[0036] The beneficial effects of this invention are reflected in:

[0037] High precision: GNSS and laser positioning systems offer high measurement accuracy and perform data verification to confirm data correctness, enabling precise control of the hanging platform's attitude and position.

[0038] Real-time performance: The system can monitor and adjust the attitude and position of the hoisting platform in real time to ensure construction accuracy.

[0039] Intelligent: Advanced monitoring algorithms are used to automatically monitor the posture and position of the hoisting platform, reducing manual intervention.

[0040] Safety: Fault diagnosis and safety protection functions are set up to ensure construction safety. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the leveling and centering device for the hanging platform and hydraulic template during full-section shaft excavation according to the present invention.

[0042] Figure 2 This is a schematic diagram of the receiving station layout of the present invention;

[0043] Figure 3 This is a schematic diagram of the relevant structure of the measurement system of the present invention;

[0044] Figure 4 This is a schematic diagram of the tilt sensor arrangement structure of the present invention;

[0045] Figure 5 This is a schematic diagram of the coordinate system of the lifting platform of the present invention;

[0046] Figure 6 This is a schematic diagram of the leveling and centering system of the hanging platform and hydraulic template during full-section shaft excavation according to the present invention.

[0047] Explanation of reference numerals in the attached figures:

[0048] A. Fixed platform; B. Suspended platform; C. Hydraulic formwork;

[0049] 1. Base station; 2. Receiver station one; 3. Receiver station two; 4. Receiver station three; 5. Receiver station four; 6. Laser emitter; 7. Curved eyepiece; 8. Photoelectric position sensor; 9. Tilt sensor. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Please see Figure 1-5 The present invention provides a leveling and centering device for a vertical shaft cross-section excavation platform and a hydraulic template, comprising: a reference station 1 and a receiving station. The reference station 1 is set on a fixed plate A at the shaft opening of the vertical shaft, and is equipped with an external radio and an external power supply. The receiving station is set on the platform B and is used to monitor and obtain the three-dimensional coordinates of the location set on the platform B in real time.

[0052] Specifically, the receiving station can use the F-DW100 GNSS receiver from Four-Faith Company;

[0053] The laser emitter 6 and the curved eyepiece 7 are mounted on the hanging platform B. The laser emitter 6 is used to emit a horizontal laser beam, and the curved eyepiece 7 is used to change the horizontal laser beam emitted by the laser emitter 6 by 90° and emit a vertical laser beam downward through the gap between the hanging platform B and the well wall.

[0054] The photoelectric position sensor 8 is installed on the hydraulic template C to detect the position of the vertical laser beam emitted by the laser emitter 6 on the hydraulic template C and output the two-dimensional coordinates of the vertical position.

[0055] Specifically, the photoelectric position sensor 8 can be a Leica Rugby 680 laser rangefinder with a measurement range of 100m, a measurement accuracy of ±2mm within 30m and 3mm beyond 30m, a resolution of 0.1m, a sampling frequency of 50Hz, an operating environment power supply of 10~30V DC, and IP65 rating.

[0056] Tilt sensor 9 is installed on hydraulic template C and is used for leveling the posture of hydraulic template C.

[0057] Specifically, the tilt sensor 9 can take the Aerospace Great Wall high-precision tilt meter LE-30 as an example, with a measurement range of ±10° and a measurement accuracy of ±0.006°.

[0058] In one embodiment, there are four receiving stations, one of which is located at the center of the hanging platform B (i.e., receiving station 3 4), and the other three receiving stations are distributed at intervals around the center of the hanging platform B (i.e., receiving station 1 2, receiving station 2 3, and receiving station 4 5).

[0059] In one embodiment, the tilt sensor 9 is positioned on the parallel lines where the four cables of the fixed hydraulic template C intersect.

[0060] In one embodiment, both the base station 1 and the receiving station employ GNSS measurement equipment.

[0061] Please see Figure 6 The present invention also provides a leveling and alignment system for the vertical shaft cross-section excavation platform and hydraulic template, including the leveling and alignment device for the platform B and hydraulic template C in the full-section excavation of the vertical shaft as described above. The reference station 1, the receiving station, the laser emitter 6, the curved eyepiece 7, and the photoelectric position sensor 8 together constitute a measurement system, and the tilt sensor 9 constitutes a sensor system. It also includes a monitoring system, which includes a main control module, a data acquisition module, a monitoring algorithm module, and a human-machine interaction module.

[0062] This invention also provides a method for leveling and aligning the shaft cross-section excavation platform and hydraulic formwork, using the leveling and alignment system described above, including the following steps:

[0063] Data collection:

[0064] Obtain the three-dimensional coordinate data of the location set on the hanging platform B and the coordinates of the center point of the hanging platform B;

[0065] Obtain the two-dimensional coordinates of the center point of the hydraulic template C and the attitude data of the template;

[0066] Data processing:

[0067] The plane equation of the suspended platform B is calculated based on the obtained three-dimensional coordinate data of the suspended platform B. The center offset distance dis of the suspended platform B is calculated based on the projection of the obtained three-dimensional coordinate data of the center point of the suspended platform B and the coordinates of the theoretical center point.

[0068] The current attitude and position of the hoisting platform B are calculated based on the prism coordinates measured by the GNSS receiving station.

[0069] Control law calculation:

[0070] The cable lifting or lowering amount is calculated based on the target posture of the suspended platform B and the hydraulic template C, the deviation angle of the current posture of the suspended platform B and the posture data of the template, and the known distance between the center point of the suspended platform B and the template and the cable suspension point.

[0071] Based on the obtained two-dimensional coordinates of the hoisting platform B, the obtained two-dimensional coordinates of the hydraulic template C, and the theoretical coordinates of its well center, the coordinate difference is calculated. Based on the calculated coordinate difference, the target displacement of the hydraulic cylinder is completed, and the target position adjustment value of the hoisting platform B and the hydraulic template C is obtained.

[0072] Specifically, the formula for calculating the center offset distance dis of the hoisting platform B is as follows:

[0073]

[0074] Where Xv and Yv represent the two-dimensional coordinates of the hanging plate B.

[0075] Specifically, the formula for calculating the current attitude angle of the hoisting platform B is as follows:

[0076]

[0077]

[0078] Where A, B, and C represent the normal vectors of the plane where the current hoisting platform B is located, calculated from the obtained three-dimensional coordinates; α is the roll angle; β is the pitch angle; and γ is the yaw angle.

[0079] Specifically, the formula for calculating the cable lifting or lowering amount is as follows:

[0080]

[0081] Where S represents the lifting or lowering amount of the cable of the hoisting platform B or hydraulic formwork C; d x，y，z This represents the distance d between the current lifting point and the center point.

[0082] It should be noted that the cable lifting or lowering amount 's' calculated here only represents the lifting amount using the center adjustment method. The center adjustment method involves fixing the center point of the hoisting platform as a reference, and then lifting and lowering the cables at symmetrical points. For example... Figure 5 As shown, the origin of the cable lifting point coordinate system represents the center point of the lifting platform. Using the center point as a reference, if cable lifting point 1 is raised by an amount of x, then cable lifting point 3 simultaneously descends by (-x) amounts. Correspondingly, if cable lifting point 2 is raised by an amount of y, then cable lifting point 4 descends by (-y) amounts. Of course, this only uses the center adjustment method as an example. In actual production, there are various combinations of methods for adjusting the lifting platform, such as using cable lifting point 1 as a reference. In actual production, I need to determine the cable adjustment method based on the actual situation and determine the actual adjustment value s of the lifting platform's cable based on different adjustment methods.

[0083] Specifically, the formula for calculating the target displacement is as follows:

[0084]

[0085] Where, d x d y This represents the displacement value of the hydraulic support relative to the center point coordinate system.

[0086] In addition, this application also provides subsequent precision leveling and alignment steps, as follows:

[0087] Leveling accuracy

[0088] (1) Leveling accuracy of the suspended platform. First, based on the four three-dimensional coordinates of the instrument setting location on the suspended platform obtained by the GNSS receiving station, the error of the measurement data is checked. If the positional error is greater than twice the standard error (5mm), the data coordinates are reacquired. Second, the checked error conformity data is used to model the suspended platform plane, restore the plane position state of the suspended platform during measurement, and use redundant observation data for joint adjustment. The least squares method is used to calculate the plane model of the suspended platform and the coordinate standard error of the model is calculated. Third, the calculated model coordinate standard error is used to calculate the correction error mps of the cable adjustment value of the suspended platform according to the error propagation law. Here, taking the maximum error of the measurement data (5mm) as an example, the leveling correction error mps of the suspended platform is ±0.75mm.

[0089] (2) Template leveling accuracy. First, the measurement data is checked, and data with errors exceeding the limit are discarded. The adjustment value of the template cable is calculated using the measurement data that meets the requirements. According to the instrument selected in the plan, the maximum measurement error of the tilt sensor is 0.008°. According to the error propagation law, the leveling correction error of the hydraulic template is ±0.84 mm.

[0090] Centering accuracy

[0091] (1) Alignment accuracy of the hanging platform. Since the GNSS receiving station needs to provide the coordinates of the center point of the hanging platform during alignment, a planar triangulation network is constructed based on the measurement data from four sets of receiving stations. The least squares method is used to perform multi-data fusion adjustment on the data from the central GNSS receiving station. Taking the maximum measurement error (2.5mm) as an example, the alignment correction error (mpd) of the hanging platform's center point is ±1.12mm. With subsequent supplementary correction using algorithms, the alignment correction error (mpd) of the hanging platform can be reduced to below 1mm.

[0092] (2) Template Alignment Accuracy. In this technical solution, a laser + bent-tube eyepiece combination system and a photoelectric position sensor are used to measure the center point coordinates of the template for alignment. The laser emission accuracy is 3mm, and the photoelectric position sensor measurement accuracy is 0.71mm. According to the error propagation law, the measurement error is 3.08mm. To reduce the measurement error, the 50Hz sampling frequency of the photoelectric position sensor is fully utilized, and all data collected within a certain time (0.2s) are fused and adjusted using an algorithm. The alignment correction error (mmd) of the hydraulic template is ±0.97mm.

[0093] It should be noted that if the embodiments of the present invention involve directional indicators such as up, down, left, right, front, back, etc., the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture as shown in the attached figure. If the specific posture changes, the directional indicators will also change accordingly.

[0094] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied. Furthermore, "multiple" refers to two or more. Moreover, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A leveling and centering device for the vertical shaft excavation platform and hydraulic formwork, characterized in that... ,include: The base station and the receiving station are configured as follows: the base station is installed on the fixed plate at the wellhead of the vertical shaft, and is equipped with an external radio and an external power supply; the receiving station is installed on the hanging platform and is used to monitor and acquire the three-dimensional coordinates of the location set on the hanging platform in real time. A laser emitter and a curved eyepiece are mounted on a hanging platform. The laser emitter is used to emit a horizontal laser beam, and the curved eyepiece is used to change the horizontal laser beam emitted by the laser emitter by 90° so that a vertical laser beam is emitted downward through the gap between the hanging platform and the well wall. A photoelectric position sensor, mounted on a hydraulic template, is used to detect the position of the vertical laser beam emitted by the laser emitter on the hydraulic template and output the two-dimensional coordinates of the vertical position. An inclination sensor, mounted on the hydraulic template, is used for leveling the hydraulic template's posture.

2. The leveling and centering device for the vertical shaft cross-section excavation platform and hydraulic formwork as described in claim 1, characterized in that: The receiving station is provided in four locations, with one receiving station located at the center of the hanging platform and the other three receiving stations distributed at intervals around the center of the hanging platform.

3. The leveling and centering device for the vertical shaft cross-section excavation platform and hydraulic formwork as described in claim 1, characterized in that: The tilt sensor is positioned on the parallel lines where the four cables of the fixed hydraulic template intersect.

4. The leveling and centering device for the vertical shaft cross-section excavation platform and hydraulic formwork as described in claim 1, characterized in that: Both the base station and the receiving station use GNSS measurement equipment.

5. The leveling and alignment system for the vertical shaft cross-section excavation platform and hydraulic formwork as described in claim 1, characterized in that: The system includes a leveling and centering device for the hoisting platform and hydraulic template during full-face shaft excavation as described in claims 1-4, wherein the reference station and receiving station, laser transmitter and curved eyepiece, and photoelectric position sensor together constitute a measurement system, and the tilt sensor constitutes a sensor system; it also includes a monitoring system, which includes a main control module, a data acquisition module, a monitoring algorithm module, and a human-machine interaction module.

6. A method for leveling and aligning the shaft cross-section excavation platform and hydraulic formwork, using the leveling and alignment system as described in claim 4, characterized in that: Includes the following steps, Data collection: Obtain the three-dimensional coordinate data of the location on the suspended platform and the coordinates of the center point of the suspended platform; Obtain the two-dimensional coordinates of the center point of the hydraulic template and the template's attitude data; Data processing: The planar equation of the suspended platform is calculated based on the obtained three-dimensional coordinate data of the suspended platform. The offset distance dis of the suspended platform center is calculated based on the projection of the obtained three-dimensional coordinate data of the suspended platform center point and the coordinates of the theoretical center point. The current attitude and position of the hoisting platform are calculated based on the prism coordinates measured by the GNSS receiving station; Control law calculation: The cable lifting or lowering amount is calculated based on the target posture of the suspended platform and the hydraulic template, the deviation angle of the current posture of the suspended platform and the posture data of the template, and the known distance from the center point of the suspended platform and the template to the cable suspension point. Based on the obtained two-dimensional coordinates of the hoisting platform, the two-dimensional coordinates of the hydraulic template and the theoretical coordinates of its well center are calculated to determine the coordinate difference. The target displacement of the hydraulic cylinder is then determined based on the calculated coordinate difference, and the target position adjustment value of the hoisting platform and the hydraulic template is obtained.

7. The method for leveling and aligning the vertical shaft cross-section excavation platform and hydraulic formwork as described in claim 6, characterized in that: The formula for calculating the center offset distance (dis) of the hoisting platform is as follows: Where Xv and Yv represent the two-dimensional coordinates of the hanging plate.

8. The method for leveling and aligning the vertical shaft cross-section excavation platform and hydraulic formwork as described in claim 6, characterized in that: The formula for calculating the current attitude angle of the hoisting platform is as follows: Where A, B, and C represent the normal vectors of the plane where the current crane is located, calculated from the obtained three-dimensional coordinates; α is the roll angle; β is the pitch angle; and γ is the yaw angle.

9. The method for leveling and aligning the vertical shaft cross-section excavation platform and hydraulic formwork as described in claim 6, characterized in that: The formula for calculating the cable lifting or lowering amount is as follows. Where S represents the lifting or lowering amount of the cable of the hoisting platform or hydraulic formwork; d x，y，z This represents the distance d between the current lifting point and the center point.

10. The method for leveling and aligning the vertical shaft cross-section excavation platform and hydraulic formwork as described in claim 6, characterized in that: The formula for calculating the target displacement is as follows. Where, d x d y This represents the displacement value of the hydraulic support relative to the center point coordinate system.

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