Center line calibration method based on trigonometric function under condition of no erection of total station at underground roadway intersection

Abstract

The invention relates to the technical field of mine roadway measurement, in particular to a center line calibration method based on a trigonometric function under the condition that a total station is not erected at an underground roadway intersection. According to the centerline calibration method based on the trigonometric function under the condition that the total station is not erected at the underground roadway intersection, the effect of breaking through the limitation of an underground complex environment is achieved by setting an indirect measurement and trigonometric function resolving process. Aiming at the rigid requirement that instruments and stations must be erected at cross points in a traditional method, the method adopts an indirect measurement mode, selects control points of a stable region of the side wall of a roadway, constructs a spatial triangulation network in combination with temporary observation points, and solves key parameters by utilizing the sine and cosine theorem, so that the dependence on cross point erection conditions is thoroughly eliminated; measurement personnel can complete center line calibration without entering a roof crushing area, a narrow channel or a pipeline dense area, the major technical problem that the roadway tunneling direction is out of control due to environmental limitation is solved, and basic guarantee is provided for efficient mine construction.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine roadway surveying, in particular to a method for calibrating a center line at a cross of a mine roadway based on trigonometric functions without setting up a total station. BACKGROUND

[0002] Mining refers to the process of extracting valuable minerals or geological materials from the earth's crust, which is the core link of mineral resources development and utilization. Underground roadway construction is a key link in mine engineering, involving systematic operations such as excavation, support, and supporting engineering construction. In the process of mining, the construction of underground roadways requires accurate center line calibration to ensure that the roadway is excavated according to the designed direction. Traditional center line calibration methods include: 1. Total station intersection method: requires setting up instruments at the intersection point, but when there are no conditions for setting up at the intersection point due to narrow space, broken roof, and obstacles, the method cannot be operated; 2. Laser pointing instrument: requires pre-calibration of the center line point, which cannot be calibrated when excavating at the intersection point; 3. Visual aiming method and hanging compass method: rely on manual light alignment, with low precision.

[0003] These traditional methods have a complicated implementation process, low efficiency, and are prone to large errors. They generally have the defects of insufficient precision, complex operation, and high technical requirements for measurement personnel, which cannot meet the needs of efficient and accurate construction in mines. The following shortcomings exist: 1. The center line cannot be calibrated when the measurement instrument cannot be set up at the intersection point; 2. Manual methods have large errors and cannot guarantee precision; 3. Traditional geometric methods require known intersection point coordinates, and cannot calculate the calibrated center line if the coordinates are unknown; 4. There is a high risk of safety hazards, and sometimes the underground pipelines and equipment need to be removed or moved to meet the instrument setup conditions, increasing the risk of construction safety; in addition, personnel frequently climb high places during instrument setup, which poses a risk of falling.

[0004] Therefore, the present application provides a method for calibrating the center line of a roadway excavation by using trigonometric functions and the sine law when a total station cannot be set up at the intersection point and the intersection point coordinates are unknown, to solve the problems in the background art. SUMMARY

[0005] The present application aims to provide a method for calibrating the center line of a mine roadway intersection based on trigonometric functions without setting up a total station, to solve the problems of difficulty in center line calibration when a total station cannot be set up at the intersection point, failure of traditional geometric methods when the intersection point coordinates are unknown, insufficient precision of manual methods, and safety risks during instrument setup.

[0006] To achieve the above objectives, the present invention aims to provide a method for centerline calibration based on trigonometric functions at the intersection of underground roadways without the use of a total station, comprising the following steps: S1. Select known coordinate control points with good visibility at the intersection of the tunnels. and And select temporary points with good visibility. ; S2, at the control point Set up the total station and measure to the temporary point. distance and horizontal angle ; S3, at the control point Set up the total station and measure to the temporary point. distance and horizontal angle ; S4, Calculation : ; S5. Calculate control points using the law of cosines. and control points Distance between ; S6. Obtain the theoretical design centerline azimuth angle based on the tunnel design drawings. At the same time, the azimuth angle of the line connecting the control points was obtained by measuring with a total station. The design centerline azimuth α refers to the clockwise horizontal angle between the design centerline direction of the tunnel and the standard north direction, representing the extension direction of the tunnel design; Azimuth of the control point connection line This refers to the clockwise horizontal angle between the direction of the line connecting control point A and control point B and the standard north direction. It is used to determine the direction of the line connecting control points A and B with known coordinates, based on the theoretical design centerline azimuth angle. Azimuth angle of the line connecting the control points Calculate control points Place Angle with the theoretical design centerline and control points Place Angle with the theoretical design centerline ; S7. Calculate the intersection angle ; S8. Calculate the distance using the law of sines. , ; S9, From control point Rotation Angle, measuring distance along the direction of the telescope Calibration point Or from the control point Rotation Angle, measuring distance along the direction of the telescope Calibration point ,point That is, a centerline point on the centerline of the intersection design; S10. Repeat steps S2 to S9 for calibration. , Point, connection - - This forms the final design centerline.

[0007] As a further improvement to this technical solution, in step S6... and The calculation includes roadway slope correction operations, specifically: When the tunnel has an inclination angle hour, And correct them simultaneously. Substitute the value into step S7 for calculation.

[0008] As a further improvement to this technical solution, the application of the sine theorem in step S8 must satisfy the condition for the triangle to hold: .

[0009] As a further improvement to this technical solution, step S9 involves marking the location. The three-dimensional coordinates are transformed using the following formula: ; ; .

[0010] As a further improvement to this technical solution, the control point in step S1 and The selection must meet the following requirements: .

[0011] As a further improvement to this technical solution, the distance measurement accuracy of the total station in steps S2 and S3 is improved. Must meet ,in, This indicates the measured distance, in kilometers, and the angular measurement accuracy of the total station. Must meet .

[0012] As a further improvement to this technical solution, the roadway slope correction operation is performed according to the following piecewise function: .

[0013] As a further improvement to this technical solution, the measurement to the temporary point in steps S2 and S3 is... At a distance of [distance], at a dust concentration or humidity In this environment, use the multi-frequency ranging mode to measure distance. Specifically:

[0014] in, , For the first Ranging values ​​at various frequencies, The standard deviation of the ranging values ​​corresponding to the frequency. This indicates that at least three different frequencies are used.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention overcomes the limitations of complex underground environments by setting up indirect measurement and trigonometric function calculation processes. Addressing the rigid requirement of traditional methods to set up instruments at intersections, this invention employs an indirect measurement mode. By selecting control points in stable areas of the roadway sidewalls and constructing a spatial triangulation network using temporary observation points, key parameters are calculated using the sine and cosine theorems. This completely eliminates the dependence on intersection setup conditions, allowing surveyors to complete centerline calibration without entering areas with fractured roofs, narrow passages, or dense pipelines. This solves the major technical problem of uncontrolled roadway excavation due to environmental limitations, providing a fundamental guarantee for efficient mine construction.

[0016] 2. In this invention, a high-precision calibration effect is achieved by setting up a dynamic azimuth correction and three-dimensional coordinate transformation mechanism. Traditional manual visual inspection methods have certain directional deviations, leading to offset of the roadway end. This invention uses a dual-control-point azimuth linkage correction technology to calculate the azimuth in real time based on the design centerline azimuth. , The angle is calculated, and a dynamic compensation algorithm for the roadway inclination angle is introduced. Through the conversion of horizontal projection distance and elevation correction formula, the measurement data is converted into three-dimensional spatial coordinates, eliminating systematic errors caused by slope, thereby improving calibration accuracy. Especially in the case of steep roadways, it can still maintain the relative accuracy threshold and meet the highest requirements of high-precision construction specifications in mines.

[0017] 3. This invention achieves a safe, efficient, and collaboratively optimized effect by setting up a fully automated operation system. Traditional methods suffer from two major drawbacks due to the need for instrument setup: firstly, the risk of falls due to personnel climbing broken roofs; and secondly, the increased probability of secondary accidents due to equipment dismantling. This invention, by setting up a mode from ground operation to remote calibration, allows surveyors to work entirely in a stable area and remotely calibrate the centerline point using a total station, completely avoiding the risks of working at heights. It also shortens the calibration time for single points, improves efficiency, and eliminates downtime losses caused by equipment dismantling. This achieves a dual breakthrough of zero measurement accident rate and zero construction delay, constructing a three-in-one protection system for personnel safety, equipment safety, and construction safety. Attached Figure Description

[0018] Figure 1 The control point of the present invention and and temporary points A diagram illustrating the triangular relationship.

[0019] Figure 2 The midline point of this invention A schematic diagram of the sine theorem calculation model. Detailed Implementation

[0020] 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 some embodiments of the present invention, and not all embodiments. 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.

[0021] In one specific embodiment, such as Figure 1 and Figure 2 As shown, this invention provides a method for centerline calibration based on trigonometric functions at the intersection of underground roadways without the use of a total station, comprising the following steps: Step 1: Select known coordinate control points with good visibility at the intersection of the tunnels. and And select temporary points with good visibility. Simultaneous control points and The selection must meet the following requirements: .

[0022] Step 2: At the control point Set up the total station and measure to the temporary point. distance and horizontal angle .

[0023] Step 3: At the control point Set up the total station and measure to the temporary point. distance and horizontal angle .

[0024] Meanwhile, the total station's distance measurement accuracy Must meet ,in, This indicates the measured distance, in kilometers, and the angular measurement accuracy of the total station. Must meet .

[0025] And in dust concentration or humidity In this environment, use the multi-frequency ranging mode to measure distance. Specifically:

[0026] in, , For the first Ranging values ​​at various frequencies, The standard deviation of the ranging values ​​corresponding to the frequency. This indicates that at least three different frequencies are used.

[0027] Step 4: Calculation : .

[0028] Step 5: Calculate the control points using the Law of Cosines and control points Distance between .

[0029] Step 6: Obtain the theoretical design centerline azimuth angle based on the tunnel design drawings. At the same time, the azimuth angle of the line connecting the control points was obtained by measuring with a total station. Based on theoretical design, the centerline azimuth angle is... Azimuth angle of the line connecting the control points Calculate control points Place Angle with the theoretical design centerline and control points Place Angle with the theoretical design centerline .

[0030] When the tunnel has an inclination angle At that time, the roadway slope correction operation is performed according to the following piecewise function: .

[0031] Step 7: Calculate the intersection angle .

[0032] Step 8: Calculate the distance using the law of sines. , (must meet) ).

[0033] Step 9: From the control point Rotation Angle, measuring distance along the direction of the telescope Calibration point Or from the control point Rotation Angle, measuring distance along the direction of the telescope Calibration point ,point This refers to a centerline point on the centerline of the intersection design, and also a calibration point. The three-dimensional coordinates are transformed using the following formula: ; ; .

[0034] Step 10: Repeat steps S2 to S9 for calibration. , Point, connection - - This forms the final design centerline.

[0035] The beneficial effects of the present invention will be illustrated below through specific embodiments: The following construction challenges exist at the intersection of a -320m horizontal roadway in a certain iron mine: 1. Fractured roof zone (rock mass stability coefficient 0.15); 2. Dense pipeline area (coverage rate 78%); 3. Tunnel dip angle 12°. Traditional total station intersection methods are not feasible; the method of this invention is used for centerline calibration.

[0036] Implementation process: 1. Control point layout.

[0037] Selecting stable control points and temporary points : (102.36, 85.47, -320.50); (108.91, 92.63, -320.30); (104.17, 90.58, -320.40).

[0038] Verify visibility: - - There is no obstruction. (satisfy Require).

[0039] 2. Implementation of anti-interference ranging.

[0040] Environmental parameters: dust concentration ( Threshold).

[0041] Enable tri-frequency ranging (25kHz / 50kHz / 100kHz).

[0042] Control points are set up in stable areas, eliminating the need for surveyors to enter the fractured roof area and thus eliminating the risk of falls from heights.

[0043]

[0044] Weighted fusion results: Similarly, the calculation yields... .

[0045] Multi-frequency ranging technology can eliminate dust interference, thereby improving accuracy.

[0046] 3. Calculation of core parameters.

[0047] Measured , .

[0048] .

[0049] .

[0050] 4. Key steps in slope correction.

[0051] Design parameters: Centerline azimuth angle , .

[0052] Original angle , .

[0053] The tunnel has an angle of inclination , .

[0054] Thus eliminate Elevation deviation caused by tilt angle.

[0055] Through an innovative dual mechanism of dynamic azimuth correction and slope compensation, directional deviation is compressed. At the end of a 200m roadway, the lateral offset is reduced from 2.6m using traditional methods to 0.46m, and the elevation error is controlled within 3cm. This is especially effective in steeply inclined roadways ( In scenarios with a radius of 25°, the accuracy is still better than 1 / 1500 through a segmented correction model.

[0056] 5. Centerline point marking.

[0057] Calculation of intersection angle: .

[0058] Distance calculation: .

[0059] Coordinate transformation of point P: ; ; .

[0060] By constructing a triangulation network from control points to temporary points, centerline calibration was successfully completed in traditionally restricted surveying areas such as areas with fractured roofs and dense pipelines, completely resolving the problem of uncontrolled tunnel excavation direction caused by environmental limitations. Furthermore, the entirely scaffold-free design eliminates two major risk sources: 1. Avoiding personnel climbing fractured roofs (reducing fall accidents); 2. Eliminating the need to dismantle underground equipment (reducing the rate of secondary accidents). This reduces single-point calibration time, improves efficiency, and decreases the number of surveying personnel, thereby lowering overall construction costs.

[0061] In summary, this invention overcomes the limitations of complex underground environments by establishing an indirect measurement and trigonometric function calculation process. Addressing the rigid requirement of traditional methods to set up instruments at intersections, this invention employs an indirect measurement mode. By selecting control points in stable areas of the roadway sidewalls and constructing a spatial triangulation network using temporary observation points, key parameters are calculated using the sine and cosine theorems. This completely eliminates the dependence on intersection setup conditions, allowing surveyors to complete centerline calibration without entering areas with broken roofs, narrow passages, or dense pipelines. This solves the major technical problem of uncontrolled roadway excavation due to environmental limitations, providing a fundamental guarantee for efficient mine construction. Simultaneously, by setting up a dynamic azimuth correction and three-dimensional coordinate transformation mechanism, high-precision calibration is achieved. Traditional manual visual inspection methods suffer from directional deviations, leading to roadway terminal offsets. This invention addresses this by using a dual-control-point azimuth linkage correction technology, calculating the design centerline azimuth in real time. , The invention incorporates a dynamic compensation algorithm for roadway dip angles, converting measurement data into three-dimensional spatial coordinates through horizontal projection distance conversion and elevation correction formulas. This eliminates systematic errors caused by slope, thereby improving calibration accuracy. Especially in steep roadway scenarios, it maintains a relative accuracy threshold, meeting the highest requirements of high-precision mining construction specifications. Furthermore, by setting up a fully automated, setup-free operation system, it achieves safe, efficient, and collaborative optimization. Traditional methods suffer from two major drawbacks due to instrument setup requirements: the risk of falls from broken roofs and the increased probability of secondary accidents due to equipment dismantling. This invention addresses these issues by establishing a ground-to-remote calibration mode, allowing surveyors to operate entirely in stable areas and remotely calibrate centerline points using a total station. This completely avoids the risks of working at heights, shortens single-point calibration time, improves efficiency, and eliminates production losses caused by equipment dismantling. This achieves a dual breakthrough of zero measurement accident rate and zero construction delay, constructing a three-in-one guarantee system for personnel safety, equipment safety, and construction safety.

[0062] 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 to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A method for calibrating the centerline of a crossheading intersection in a mine without setting up a total station, characterized in that, The method comprises the following steps: S1, select a well-ventilated known coordinate control point at the cross of the roadway and , and select a well-ventilated temporary point ; S2, at the control point Set up a total station, measure the distance to the temporary point and horizontal angle to the temporary point ; S3, at the control point Erecting a total station, measuring the distance to the temporary point and horizontal angle ;​ S4, compute : ; S5, calculate the distance between the control points by the cosine theorem and the control points between them ; S6. Obtain the theoretical design centerline azimuth angle based on the tunnel design drawings. At the same time, the azimuth angle of the line connecting the control points was obtained by measuring with a total station. Based on theoretical design, the centerline azimuth angle is designed. Azimuth angle of the line connecting the control points Calculate control points Place Angle with the theoretical design centerline and control points Place Angle with the theoretical design centerline ; S7, calculating the intersection angle ; S8. Calculate distance by the sine theorem , ; S9, from control point rotating angle, measured along the direction of the telescope calibration point or from control point rotating angle, measured along the direction of the telescope calibration point , point That is, a center point on the center line of the intersection design S10, repeat steps S2 to S9 calibration 、 point, connect - - form the final design centerline.

2. The method according to claim 1, wherein, The step S6 and The calculation of the step S6 comprises a tunnel slope correction operation, in particular: When the roadway has an inclination angle , , and the values are simultaneously corrected in step S7.

3. The method for centerline calibration based on trigonometric functions at the intersection of underground roadways under the condition of no total station setup, as described in claim 1, is characterized in that... The application of the sine theorem in the step S8 needs to meet the triangle formation condition: .

4. The method according to claim 2, wherein, The three-dimensional coordinates of the point calibrated in the step S9 are converted by the formula: ； ； 。 5. The method of claim 1, wherein, The control point in the step S1 and The selection of the control point needs to satisfy: .

6. The method of claim 1, wherein, The ranging accuracy of the total station in the step S2 and the step S3 Must satisfy , wherein, represents a measured distance, in units of kilometers, and the angle measuring accuracy of the total station Must satisfy .

7. The method according to claim 2, wherein the method is characterized by, The tunnel gradient correction operation is corrected according to the following segmented function when being executed: 。 8. The method of claim 1, wherein, The step S2 and step S3 measure the distance to the temporary point The dust concentration Or humidity Environment, enable multi-frequency ranging mode to measure distance Specifically: wherein , is the range value for the nth frequency, is the standard deviation of the range values for the corresponding frequencies, is the standard deviation of the range values for the corresponding frequencies, , indicates that at least three different frequencies are employed.

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