Laser projection lofting device for tunnel

Abstract

The invention discloses a laser projection lofting device for a tunnel, and belongs to the technical field of laser projection lofting, the laser projection lofting device comprises a supporting mechanism, the supporting mechanism comprises a supporting base, the surface of the supporting base is rotatably connected with a hinge frame, the top of one side of the hinge frame is rotatably connected with an upper supporting plate, and the upper supporting plate is rotatably connected with a lower supporting plate; a power box and a handrail are fixedly connected to the surface of the supporting base, two damping mechanisms are fixedly connected to the upper surface of the hinged frame, an adjusting mechanism is fixedly connected to the tops of the damping mechanisms, a display screen is fixedly connected to one side of the upper surface of the hinged frame, and two light supplementing lamps are fixedly connected to the front side of the upper surface of the hinged frame. And a plurality of self-locking universal wheels are fixedly connected to the bottom of the supporting base. On the basis that laser projection lofting is achieved, the laser projection lofting device can adapt to various lofting terrains, and errors caused by manual positioning can be reduced.

Description

Technical Field

[0001] This invention relates to the field of laser projection layout technology, and more specifically, to a laser projection layout device for tunnels. Background Technology

[0002] In tunnel construction, layout is a crucial step, as its accuracy and efficiency directly affect the tunnel's excavation outline, support structure, and lining quality. Traditional tunnel layout methods mainly rely on surveying instruments such as total stations. Operators need to measure and mark design outline points, anchor bolt positions, steel arch installation points, etc., one by one on the tunnel rock wall or initial support surface. This method has the following significant drawbacks: low efficiency, requiring point-by-point measurement and marking, cumbersome procedures, long time consumption, affecting the overall construction progress; poor visualization, marking a series of discrete points, making it difficult for construction personnel to intuitively understand the overall shape of the design outline and component positions, easily leading to over-excavation, under-excavation, or installation deviations. In recent years, although some projector-based layout technologies have emerged, ordinary projectors have poor stability, insufficient accuracy, and insufficient brightness in the harsh tunnel environment (high dust, strong vibration, low visibility). Therefore, it is urgent to develop a new type of device that can adapt to the tunnel construction environment and achieve high-precision, high-efficiency, and highly visualized layout. Summary of the Invention

[0003] In view of the problems existing in the prior art, the purpose of the present invention is to provide a laser projection layout device for tunnels. The present invention can not only realize laser projection layout, but also adapt to various terrains for layout, and can reduce the error of manual positioning.

[0004] To solve the above problems, the present invention adopts the following technical solution:

[0005] A laser projection layout device for tunnels includes: a support mechanism, the support mechanism including a support base, a hinge frame rotatably connected to the surface of the support base, an upper support plate rotatably connected to the top of one side of the hinge frame, a power supply box and a handrail fixedly connected to the surface of the support base, two sets of shock-absorbing mechanisms fixedly connected to the upper surface of the hinge frame, an adjustment mechanism fixedly connected to the top of the shock-absorbing mechanisms, a display screen fixedly connected to one side of the upper surface of the hinge frame, two supplementary lights fixedly connected to the front side of the upper surface of the hinge frame, and multiple self-locking casters fixedly connected to the bottom of the support base.

[0006] As a preferred embodiment of the present invention, the support base and the inner wall of the upper support plate are provided with limit grooves on both sides, the left and right sides of the upper and lower hinge frame are rotatably connected with sliding wheels, and the sliding wheels are slidably connected to the surface of the limit grooves. The surface of the hinge frame is rotatably connected with an electric push rod, and the top end of the electric push rod is rotatably connected to the other side of the hinge frame.

[0007] In a preferred embodiment of the present invention, the shock absorption mechanism includes a shock absorption seat fixedly connected to the upper surface of the hinge frame. Two first spring telescopic rods are fixedly connected to the surface of the shock absorption seat. A first connecting seat is fixedly connected to one end of the inner side of the first spring telescopic rod. A first connecting rod is rotatably connected to the surface of the first connecting seat. The two first connecting rods are rotatably connected to the bottom of the shock absorption plate. Two second connecting rods are rotatably connected to the bottom of the shock absorption plate. The two second connecting rods are elastically connected through a second spring telescopic rod.

[0008] In a preferred embodiment of the present invention, guide rods are fixedly connected to the surface of the shock absorber seat and to both sides of the second spring telescopic rod. A first toothed plate is slidably connected to the surface of the guide rod. The two first toothed plates are elastically connected by a third spring telescopic rod. Two second toothed plates are fixedly connected to the surfaces of both sides of the shock absorber plate. Two rotating shafts are rotatably connected to the surface of the shock absorber seat. A plurality of first gears that mesh with the first toothed plates and the second toothed plates are fixedly connected to the surface of the rotating shafts.

[0009] In a preferred embodiment of the present invention, the adjustment mechanism includes a mounting base fixedly connected to the upper surface of the shock-absorbing plate, a sliding seat slidably connected to the surface of the mounting base, a rotating seat rotatably connected to the surface of the sliding seat, an adjustment seat slidably connected to the surface of the rotating seat, and a total station and a projection device fixedly connected to the surface of the adjustment seat.

[0010] In a preferred embodiment of the present invention, an electric telescopic rod is fixedly connected to the back of the mounting base, and the piston rod of the electric telescopic rod is fixedly connected to the sliding base. A first servo motor is fixedly connected to the surface of the sliding base. Synchronous pulleys are fixedly connected to both the surface of the output shaft of the first servo motor and the surface of the rotating base, and the two synchronous pulleys are connected by a synchronous belt drive. A second servo motor is fixedly connected to the surface of the rotating base. A second gear is fixedly connected to the surface of the output shaft of the second servo motor. A third gear plate that meshes with the second gear is fixedly connected to the surface of the adjusting base.

[0011] As a preferred embodiment of the present invention, the projection device is internally equipped with an intelligent positioning unit, an automatic ranging unit, a main control computing unit, and a laser projection unit;

[0012] The intelligent positioning unit is used to determine the precise three-dimensional coordinates and attitude of the equipment in the tunnel using a total station, and to monitor the tilt angle of the device in real time. The automatic ranging unit is used to continuously measure the actual distance from the device to the tunnel face, providing key data for graphic scaling calculation. The main control computing unit is used to receive and process positioning, ranging and attitude data, calculate the projected graphics and angles, and coordinate the operation sequence and parameters of the laser projection unit. The laser projection unit is used to project lasers and control the laser beam to scan rapidly on the tunnel face to form clear outlines and blast hole position design graphics, and uses green visible lasers with a wavelength of 520-535nm as the light source.

[0013] The display screen is equipped with an interactive unit, which is used to convert design drawings of various formats into instructions that the device can recognize, and can automatically call up the corresponding cross-sectional graphics according to the mileage marker. It also provides a human-machine interface and supports wireless remote control.

[0014] In a preferred embodiment of the present invention, the intelligent positioning unit includes a spatial positioning subunit and an attitude sensing subunit. The spatial positioning subunit is used to accurately determine the three-dimensional coordinates of the projection device host in the tunnel global control network. The attitude sensing subunit is used to accurately measure the tilt attitude of the projection device host itself, where the tilt attitude is the rotation angle around its own coordinate axis. The formula for converting spherical coordinates to rectangular coordinates for the spatial positioning subunit is: Where X P Y P and Z P X0, Y0, and Z0 are the three-dimensional coordinates of the target point, in meters; X0, Y0, and Z0 are the three-dimensional coordinates of the total station, in meters; S is the slope distance measured by the total station, in meters; θ v θ is the vertical angle measured by a total station, expressed in radians. h The horizontal angle is measured by a total station and the unit is radians.

[0015] The automatic ranging unit includes a ranging sensor subunit and a signal processing and control subunit. The ranging sensor subunit is used to transmit ranging signals and receive signals returned from the working face to obtain raw physical quantities related to distance. The calculation formula of the sensor subunit is as follows: Where c is the speed of light in a vacuum, which is equal to 3 × 10⁻⁶. 8 M / s, n is the atmospheric refractive index, f is the modulation frequency of the laser in Hertz, Δ is the phase difference between the transmitted and received signals in radians, and the signal processing control subunit is used to obtain the weak phase difference signal from the ranging sensor subunit, filter, amplify and solve it to eliminate noise interference, calculate a high-precision distance value, and transmit the calculated distance value to the main control computing unit of the system in real time through the communication interface;

[0016] The main control computing unit includes a data fusion processing subunit, a coordinate transformation subunit, and a projection control subunit. The data fusion processing subunit receives raw data from the intelligent positioning unit and the automatic ranging unit in real time through various interfaces, performs validity checks on the raw data, and uses Kalman filtering to smooth the data, eliminating jumps and noise caused by vibration and dust in the tunnel. At the same time, it timestamps all asynchronously arriving sensor data to ensure that the data is aligned in time, providing a consistent basis for subsequent calculations. The coordinate transformation subunit is used to transform the coordinates of two-dimensional points on the design drawings to the real three-dimensional space and calculate the deflection angle that the laser beam should have. The projection control subunit is used to receive the galvanometer deflection command and laser switching command calculated by the core algorithm, generate high-precision, high-speed analog or digital signals, and directly drive the laser and galvanometer motor to move.

[0017] As a preferred embodiment of the present invention, the laser projection unit includes a laser source subunit, a beam shaping and expanding subunit, a beam deflection and scanning subunit, and a synchronization control subunit;

[0018] The laser source subunit is used to generate highly stable and high-intensity visible laser light. The beam shaping and expanding subunit shapes the tiny elliptical spot emitted by the laser diode into a perfect circular point and expands its diameter to form a collimated beam. The beam deflection and scanning subunit is used to precisely and quickly control the laser beam to scan on a two-dimensional plane according to the instructions calculated by the main control unit to draw the required contour pattern. The synchronization and control subunit is used to receive the instruction stream from the main control unit and coordinate the lighting or extinguishing of the laser source subunit with the precise synchronization of the galvanometer position.

[0019] Compared with the prior art, the advantages of this invention are:

[0020] (1) The present invention provides a stable foundation through the support base, and the rotating connection between the hinge frame and the upper support plate enables flexible adjustment at multiple angles to adapt to uneven tunnel ground. The shock absorption mechanism absorbs the vibration of equipment operation and environment to ensure projection stability. The adjustment mechanism accurately positions the total station and projection equipment. The display screen and supplementary light provide human-computer interaction and lighting support. The self-locking universal wheels facilitate movement and fixation, improving overall portability and environmental adaptability. The modular design reduces installation time, the shock absorption mechanism reduces vibration interference and ensures projection accuracy. At the same time, the self-locking universal wheel design allows the device to be quickly deployed in curved or straight tunnels.

[0021] (2) This invention reduces spatial positioning accuracy error through formulaic coordinate transformation by intelligent positioning unit, and the automatic ranging unit adopts phase method ranging formula, combined with Kalman filtering of main control unit to eliminate environmental noise and improve the matching degree between projected graphics and actual contour of the working face, effectively preventing over-excavation and under-excavation. At the same time, the adjustment mechanism and the interactive unit that supports wireless control reduce the layout time and improve the construction progress, which is especially suitable for high-efficiency construction needs such as the Sichuan-Tibet line. The damping vibration of the shock absorption mechanism ensures that the device operates stably under blasting impact. The green laser light source has strong penetrating power and still maintains clear projection on the working face with water or dust. The design of self-locking universal wheels and articulated frame allows the device to be quickly deployed on curved sections, and the remote control function avoids personnel from approaching the working face, reducing safety risks. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of a laser projection layout device for tunnels according to the present invention;

[0023] Figure 2 This is a schematic diagram showing the unfolded support mechanism in a laser projection layout device for tunnels according to the present invention.

[0024] Figure 3 This is a schematic diagram of the vibration damping mechanism in a laser projection layout device for tunnels according to the present invention;

[0025] Figure 4 This is a first-view schematic diagram of the adjustment mechanism in a laser projection layout device for tunnels according to the present invention;

[0026] Figure 5 This is a second-view schematic diagram of the adjustment mechanism in a laser projection layout device for tunnels according to the present invention.

[0027] Explanation of the labels in the diagram:

[0028] 1. Support mechanism; 101. Support base; 102. Hinge frame; 103. Upper support plate; 104. Limiting groove; 105. Sliding wheel; 106. Electric push rod; 2. Power supply box; 3. Shock absorption mechanism; 301. Shock absorption seat; 302. First spring telescopic rod; 303. First connecting seat; 304. First connecting rod; 305. Shock absorption support plate; 306. Second connecting rod; 307. Second spring telescopic rod; 308. Guide rod; 309. First toothed plate; 310. Third spring telescopic rod; 31 1. Second gear plate; 312. Rotating shaft; 313. First gear; 4. Adjusting mechanism; 401. Mounting base; 402. Sliding base; 403. Electric telescopic rod; 404. Rotating base; 405. Adjusting base; 406. Total station; 407. Projection equipment; 408. First servo motor; 409. Synchronous pulley; 410. Synchronous belt; 411. Second servo motor; 412. Second gear; 413. Third gear plate; 5. Display screen; 6. Supplemental light; 7. Self-locking caster wheel; 8. Handrail. Detailed Implementation

[0029] 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. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0030] Example:

[0031] Please see Figure 1-5 A laser projection layout device for tunnels includes: a support mechanism 1, which includes a support base 101. A hinge frame 102 is rotatably connected to the surface of the support base 101. An upper support plate 103 is rotatably connected to the top of one side of the hinge frame 102. A power supply box 2 and a handrail 8 are fixedly connected to the surface of the support base 101. Two sets of shock-absorbing mechanisms 3 are fixedly connected to the upper surface of the hinge frame 102. An adjustment mechanism 4 is fixedly connected to the top of the shock-absorbing mechanism 3. A display screen 5 is fixedly connected to one side of the upper surface of the hinge frame 102. Two supplementary lights 6 are fixedly connected to the front side of the upper surface of the hinge frame 102. Multiple self-locking casters 7 are fixedly connected to the bottom of the support base 101.

[0032] In a specific embodiment of the invention, a stable foundation is provided by the support base 101, the hinge frame 102 and the upper support plate 103 are rotatably connected to achieve flexible multi-angle adjustment to adapt to uneven tunnel surfaces, the shock absorption mechanism 3 absorbs vibrations from equipment operation and the environment to ensure projection stability, the adjustment mechanism 4 precisely positions the total station 406 and the projection equipment 407, the display screen 5 and the supplementary light 6 provide human-computer interaction and lighting support, the self-locking casters 7 facilitate movement and fixation, improve overall portability and environmental adaptability, the modular design reduces installation time, the shock absorption mechanism 3 reduces vibration interference and ensures projection accuracy, and the self-locking casters 7 design allows the device to be quickly deployed in curved or straight tunnels. The intelligent positioning unit uses a formula... Coordinate transformation reduces spatial positioning accuracy errors. The automatic ranging unit uses a phase-based ranging formula, combined with Kalman filtering in the main control unit, to eliminate environmental noise and improve the matching degree between the projected graphic and the actual contour of the tunnel face, effectively preventing over-excavation and under-excavation. At the same time, the adjustment mechanism 4 and the interactive unit supporting wireless control reduce the layout time and improve the construction progress, making it particularly suitable for high-efficiency construction needs such as the Sichuan-Tibet Highway. The damping vibration of the shock absorption mechanism 3 ensures stable operation of the device under blasting impact. The green laser light source has strong penetrating power and maintains clear projection even on water-filled or dusty tunnel faces. The design of the self-locking universal wheels 7 and the articulated frame 102 allows the device to be quickly deployed on curved sections, and the remote control function avoids personnel approaching the tunnel face, reducing safety risks.

[0033] Specifically, the support base 101 and the upper support plate 103 have limit grooves 104 on both sides of their inner walls. The left and right sides of the hinge frame 102 are rotatably connected to sliding wheels 105, and the sliding wheels 105 are slidably connected to the surface of the limit grooves 104. The surface of the hinge frame 102 is rotatably connected to an electric push rod 106, and the top of the electric push rod 106 is rotatably connected to the other side of the hinge frame 102.

[0034] In a specific embodiment of the present invention, the sliding connection between the limiting groove 104 and the sliding wheel 105 ensures that the articulated frame 102 can smoothly extend and retract under the drive of the electric push rod 106, realizing stepless adjustment of the support height. The linear movement of the electric push rod 106 pushes the articulated frame 102 to slide along the limiting groove 104. The sliding wheel 105 reduces frictional resistance, improves adjustment accuracy and automation level, avoids manual adjustment errors, and the electric push rod 106 provides stable thrust, enabling the device to quickly adapt to changes in tunnel slope. Furthermore, the limiting groove 104 is designed to prevent displacement and improve safety.

[0035] Specifically, the shock absorption mechanism 3 includes a shock absorption seat 301 fixedly connected to the upper surface of the hinge frame 102. Two first spring telescopic rods 302 are fixedly connected to the surface of the shock absorption seat 301. A first connecting seat 303 is fixedly connected to one end of the inner side of the first spring telescopic rod 302. A first connecting rod 304 is rotatably connected to the surface of the first connecting seat 303. The two first connecting rods 304 are rotatably connected to the bottom of the shock absorption plate 305. Two second connecting rods 306 are rotatably connected to the bottom of the shock absorption plate 305. The two second connecting rods 306 are elastically connected through a second spring telescopic rod 307.

[0036] In a specific embodiment of the present invention, the shock absorption mechanism 3 absorbs multidimensional vibrations through the elastic deformation of the first spring telescopic rod 302 and the second spring telescopic rod 307. The hinge of the first connecting rod 304 and the second connecting rod 306 converts longitudinal vibrations into lateral displacements. Energy is dissipated by the first spring telescopic rod 302 and the second spring telescopic rod 307, significantly reducing the impact of mechanical vibrations and blasting impacts in the tunnel. The first spring telescopic rod 302 and the second spring telescopic rod 307 provide multi-directional buffering, protecting the equipment and extending its service life. At the same time, the shock absorption plate 305 ensures stable projection of the projection device 407 and avoids image jitter.

[0037] Specifically, guide rods 308 are fixedly connected to the surface of the shock absorber 301 and to both sides of the second spring telescopic rod 307. A first toothed plate 309 is slidably connected to the surface of the guide rod 308. The two first toothed plates 309 are elastically connected through a third spring telescopic rod 310. Two second toothed plates 311 are fixedly connected to the surfaces of both sides of the shock absorber plate 305. Two rotating shafts 312 are rotatably connected to the surface of the shock absorber 301. Multiple first gears 313 that mesh with the first toothed plates 309 and the second toothed plates 311 are fixedly connected to the surface of the rotating shafts 312.

[0038] In a specific embodiment of the present invention, the guide rod 308 guides the first toothed plate 309 to slide, the third spring telescopic rod 310 provides the restoring force, the first gear 313 meshes with the first toothed plate 309 and the second toothed plate 311 to convert vertical vibration into gear rotation, the energy is dispersed by the displacement of the first toothed plate 309 and the second toothed plate 311 to optimize the vibration damping efficiency, the structure of the first gear 313, the first toothed plate 309 and the second toothed plate 311 amplifies the damping stroke to cope with high frequency vibration, the guide rod 308 prevents off-center loading, so that the damping mechanism 3 maintains stability in the complex environment of the tunnel and reduces the risk of over-excavation and under-excavation.

[0039] Specifically, the adjustment mechanism 4 includes a mounting base 401 fixedly connected to the upper surface of the shock-absorbing plate 305, a sliding seat 402 slidably connected to the surface of the mounting base 401, a rotating seat 404 rotatably connected to the surface of the sliding seat 402, an adjustment seat 405 slidably connected to the surface of the rotating seat 404, and a total station 406 and a projection device 407 fixedly connected to the surface of the adjustment seat 405.

[0040] In a specific embodiment of the present invention, the adjustment mechanism 4 is fixed to the shock-absorbing support plate 305 by the mounting base 401, the sliding base 402 moves horizontally along the mounting base 401, the rotating base 404 realizes pitch adjustment, and the adjustment base 405 finely adjusts the vertical position of the total station 406 and the projection device 407 to achieve multi-degree-of-freedom precision positioning. The sliding base 402 and the rotating base 404 cooperate to enable the device to quickly align with the tunnel face, adapt to the curved section of the tunnel, improve the projection accuracy, and the overall structure is compact, reducing space occupation.

[0041] Specifically, an electric telescopic rod 403 is fixedly connected to the back of the mounting base 401, and the piston rod of the electric telescopic rod 403 is fixedly connected to the sliding base 402. A first servo motor 408 is fixedly connected to the surface of the sliding base 402. Synchronous pulleys 409 are fixedly connected to both the surface of the output shaft of the first servo motor 408 and the surface of the rotating base 404. The two synchronous pulleys 409 are connected by a synchronous belt 410. A second servo motor 411 is fixedly connected to the surface of the rotating base 404. A second gear 412 is fixedly connected to the surface of the output shaft of the second servo motor 411. A third gear plate 413 that meshes with the second gear 412 is fixedly connected to the surface of the adjusting base 405.

[0042] In a specific embodiment of the present invention, the electric telescopic rod 403 drives the sliding seat 402 to move horizontally, the first servo motor 408 controls the rotation of the rotating seat 404 through the synchronous pulley 409 and the synchronous belt 410, and the second servo motor 411 adjusts the height of the adjusting seat 405 through the second gear 412 and the third gear plate 413. The fully electric adjustment improves efficiency and accuracy. The first servo motor 408 and the second servo motor 411 ensure smooth movement and avoid human operation errors. The synchronous belt 410 reduces noise, enabling the device to operate reliably in dusty environments, and the remote control function improves safety.

[0043] Specifically, the projection device 407 is equipped with an intelligent positioning unit, an automatic ranging unit, a main control computing unit, and a laser projection unit.

[0044] The intelligent positioning unit is used to determine the precise three-dimensional coordinates and attitude of the equipment in the tunnel using a total station 406, while monitoring the tilt angle of the device in real time. The automatic ranging unit is used to continuously measure the actual distance from the device to the tunnel face, providing key data for graphic scaling calculation. The main control calculation unit is used to receive and process positioning, ranging and attitude data, calculate the projected graphics and angles, and coordinate the operation sequence and parameters of the laser projection unit. The laser projection unit is used to project lasers and control the laser beam to scan rapidly on the tunnel face to form clear outlines and blast hole position design graphics, and uses green visible lasers with a wavelength of 520-535nm as the light source.

[0045] The display screen 5 has an internal interactive unit that converts design drawings in various formats into instructions that the device can recognize. It can also automatically call up the corresponding cross-sectional graphics according to the mileage marker, and provide a human-machine interface that supports wireless remote control.

[0046] In a specific embodiment of the present invention, the intelligent positioning unit acquires the three-dimensional coordinates and attitude of the equipment through a total station 406, the automatic distance measuring unit measures the distance to the working face, the main control calculation unit fuses the data and calculates the projection parameters, the laser projection unit uses a 520-535nm green laser to scan and form the outline, the interactive unit converts drawings and supports wireless control, integrates an intelligent layout process, the main control unit automatically processes data, reduces manual intervention, the green laser has high visibility and clear projection, and the wireless control allows for remote operation, reducing safety risks.

[0047] Specifically, the intelligent positioning unit includes a spatial positioning subunit and an attitude perception subunit. The spatial positioning subunit is used to accurately determine the three-dimensional coordinates of the projection device host in the tunnel's global control network. The attitude perception subunit is used to accurately measure the tilt attitude of the projection device host itself, which is the rotation angle around its own coordinate axis. The formula for converting spherical coordinates to rectangular coordinates for the spatial positioning subunit is: Where X P Y P and Z P X0, Y0, and Z0 are the three-dimensional coordinates of the target point, in meters; X0, Y0, and Z0 are the three-dimensional coordinates of the total station 406, in meters; S is the slope distance measured by the total station 406, in meters; θ v The vertical angle θ is measured by a total station 406 and is in radians. h The horizontal angle is measured by a total station 406 and the unit is radians.

[0048] The automatic ranging unit includes a ranging sensor subunit and a signal processing and control subunit. The ranging sensor subunit is used to transmit ranging signals and receive signals returned from the working face, acquiring raw physical quantities related to distance. The calculation formula for the sensor subunit is as follows: Where c is the speed of light in a vacuum, which is equal to 3 × 10⁻⁶. 8 M / s, n is the atmospheric refractive index, f is the modulation frequency of the laser in Hertz, Δ is the phase difference between the transmitted and received signals in radians. The signal processing and control subunit is used to obtain the weak phase difference signal from the ranging sensor subunit, filter, amplify and solve it, eliminate noise interference, calculate a high-precision distance value, and transmit the calculated distance value to the main control computing unit of the system in real time through the communication interface.

[0049] The main control computing unit includes a data fusion processing subunit, a coordinate transformation subunit, and a projection control subunit. The data fusion processing subunit receives raw data from the intelligent positioning unit and the automatic ranging unit in real time through various interfaces, performs validity checks on the raw data, and uses Kalman filtering to smooth the data, eliminating jumps and noise caused by vibration and dust in the tunnel. At the same time, it timestamps all asynchronously arriving sensor data to ensure that the data is aligned in time, providing a consistent basis for subsequent calculations. The coordinate transformation subunit is used to transform the coordinates of two-dimensional points on the design drawings to the real three-dimensional space and calculate the deflection angle that the laser beam should have. The projection control subunit is used to receive the galvanometer deflection command and laser switching command calculated by the core algorithm, generate high-precision, high-speed analog or digital signals, and directly drive the laser and galvanometer motor to move.

[0050] In a specific embodiment of the present invention, the spatial positioning subunit of the intelligent positioning unit calculates coordinates using the total station 406 ranging formula, the attitude sensing subunit monitors the tilt angle, the automatic ranging unit uses the phase ranging formula to obtain the distance, the data fusion subunit of the main control calculation unit aligns multi-sensor data, and the coordinate transformation subunit maps two-dimensional drawings to three-dimensional space. The formula dimensions are unified to ensure calculation consistency. The phase ranging accuracy is high, and Kalman filtering suppresses dust interference, improving reliability in complex environments.

[0051] Specifically, the laser projection unit includes a laser source subunit, a beam shaping and expanding subunit, a beam deflection and scanning subunit, and a synchronization control subunit;

[0052] The laser source subunit is used to generate highly stable, high-intensity visible laser light. The beam shaping and expanding subunit shapes the tiny elliptical spot emitted by the laser diode into a perfect circular point and expands its diameter to form a collimated beam. The beam deflection and scanning subunit is used to precisely and quickly control the laser beam to scan on a two-dimensional plane according to the instructions calculated by the main control unit to draw the required contour pattern. The synchronization and control subunit is used to receive the instruction stream from the main control unit and coordinate the lighting or extinguishing of the laser source subunit with the precise synchronization of the galvanometer position.

[0053] In a specific embodiment of the present invention, the laser source subunit generates stable visible laser light; the beam shaping and expanding subunit shapes the elliptical spot into a circular collimated beam; the beam deflection and scanning subunit controls the laser scanning through a galvanometer; the synchronous control subunit coordinates the movement of the laser switch and the galvanometer; the laser beam scanning speed is fast, forming a complete pattern instantly; the beam shaping and expanding improves the uniformity of the spot and reduces speckle; the synchronous control ensures the continuity of the pattern, avoids distortion, and meets the requirements of optical surface explosion.

[0054] A method for using a laser projection layout device for tunnels includes the following steps:

[0055] First, the support mechanism 1 serves as the foundation. The device is fixed to the tunnel floor by the support base 101 and the self-locking casters 7. The articulated frame 102 adjusts its height along the limiting groove 104 under the drive of the electric push rod 106 to adapt to the changes in the longitudinal slope of the tunnel. The shock absorption mechanism 3 then plays its role in absorbing the vibration generated by the rock drilling rig or blasting to ensure the stability of the core equipment. The adjustment mechanism 4, under the control of the electric telescopic rod 403, the first servo motor 408 and the second servo motor 411, drives the total station 406 and the projection equipment 407 to perform horizontal, pitch and vertical adjustments so that the equipment is accurately aligned with the tunnel face.

[0056] After the device is positioned, the intelligent unit starts working. The spatial positioning subunit of the intelligent positioning unit measures the coordinates of the device itself using a total station 406. The attitude sensing subunit synchronously monitors the tilt angle of the device to ensure the accuracy of the projection reference. The automatic distance measuring unit measures the distance to the working face in real time using the phase method formula. The main control calculation unit then fuses all the data. The data fusion subunit uses Kalman filtering to remove dust and vibration noise. The coordinate transformation subunit converts the two-dimensional points in the design drawings into three-dimensional spatial coordinates and calculates the laser beam deflection angle. The projection control subunit generates the galvanometer drive signal.

[0057] Finally, the laser projection unit performs projection. The laser source subunit emits 520-535nm green visible laser, the beam shaping and expanding subunit shapes the light spot into a circle and expands the beam, and the beam deflection and scanning subunit quickly scans with a galvanometer to project the position of the blast hole or the outline of the support onto the working face. The synchronization control subunit ensures that the laser switch and the graphic scanning are synchronized to avoid interruptions. Throughout the process, the interactive unit provides a human-machine interface through the display screen 5, supports wireless remote control, and realizes a fully automated process from data input to graphic projection.

[0058] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concept, should be covered within the scope of protection of the present invention.

Claims

1. A laser projection layout device for tunnels, characterized in that, include: The support mechanism (1) includes a support base (101), a hinge frame (102) is rotatably connected to the surface of the support base (101), an upper support plate (103) is rotatably connected to the top of one side of the hinge frame (102), a power supply box (2) and a handrail (8) are fixedly connected to the surface of the support base (101), two sets of shock absorption mechanisms (3) are fixedly connected to the upper surface of the hinge frame (102), an adjustment mechanism (4) is fixedly connected to the top of the shock absorption mechanism (3), a display screen (5) is fixedly connected to one side of the upper surface of the hinge frame (102), two supplementary lights (6) are fixedly connected to the front side of the upper surface of the hinge frame (102), and multiple self-locking casters (7) are fixedly connected to the bottom of the support base (101).

2. The laser projection layout device for tunnels according to claim 1, characterized in that, Limiting grooves (104) are provided on both sides of the inner wall of the support base (101) and the upper support plate (103). Sliding wheels (105) are rotatably connected to the upper and lower left and right sides of the hinge frame (102), and the sliding wheels (105) are slidably connected to the surface of the limiting grooves (104). An electric push rod (106) is rotatably connected to the surface of the hinge frame (102), and the top end of the electric push rod (106) is rotatably connected to the other side of the hinge frame (102).

3. The laser projection layout device for tunnels according to claim 2, characterized in that, The shock absorption mechanism (3) includes a shock absorption seat (301) fixedly connected to the upper surface of the hinge frame (102). Two first spring telescopic rods (302) are fixedly connected to the surface of the shock absorption seat (301). A first connecting seat (303) is fixedly connected to one end of the inner side of the first spring telescopic rod (302). A first connecting rod (304) is rotatably connected to the surface of the first connecting seat (303). The two first connecting rods (304) are rotatably connected to the bottom of the shock absorption plate (305). Two second connecting rods (306) are rotatably connected to the bottom of the shock absorption plate (305). The two second connecting rods (306) are elastically connected through a second spring telescopic rod (307).

4. The laser projection layout device for tunnels according to claim 3, characterized in that, Guide rods (308) are fixedly connected to the surface of the shock absorber (301) and to both sides of the second spring telescopic rod (307). A first toothed plate (309) is slidably connected to the surface of the guide rod (308). The two first toothed plates (309) are elastically connected by a third spring telescopic rod (310). Two second toothed plates (311) are fixedly connected to the surfaces of both sides of the shock absorber plate (305). Two rotating shafts (312) are rotatably connected to the surface of the shock absorber (301). Multiple first gears (313) are fixedly connected to the surface of the rotating shafts (312) and respectively mesh with the first toothed plates (309) and the second toothed plates (311).

5. A laser projection layout device for tunnels according to claim 4, characterized in that, The adjustment mechanism (4) includes a mounting base (401) fixedly connected to the upper surface of the shock-absorbing plate (305), a sliding seat (402) slidably connected to the surface of the mounting base (401), a rotating seat (404) rotatably connected to the surface of the sliding seat (402), an adjustment seat (405) slidably connected to the surface of the rotating seat (404), and a total station (406) and a projection device (407) fixedly connected to the surface of the adjustment seat (405).

6. A laser projection layout device for tunnels according to claim 5, characterized in that, An electric telescopic rod (403) is fixedly connected to the back of the mounting base (401), and the piston rod of the electric telescopic rod (403) is fixedly connected to the sliding seat (402). A first servo motor (408) is fixedly connected to the surface of the sliding seat (402). A synchronous pulley (409) is fixedly connected to both the surface of the output shaft of the first servo motor (408) and the surface of the rotating seat (404). The two synchronous pulleys (409) are connected by a synchronous belt (410). A second servo motor (411) is fixedly connected to the surface of the rotating seat (404). A second gear (412) is fixedly connected to the surface of the output shaft of the second servo motor (411). A third toothed plate (413) that meshes with the second gear (412) is fixedly connected to the surface of the adjusting seat (405).

7. A laser projection layout device for tunnels according to claim 6, characterized in that, The projection device (407) is internally equipped with an intelligent positioning unit, an automatic ranging unit, a main control computing unit, and a laser projection unit; The intelligent positioning unit is used to determine the precise three-dimensional coordinates and attitude of the equipment in the tunnel using a total station (406), and at the same time monitor the tilt angle of the device in real time. The automatic ranging unit is used to continuously measure the actual distance from the device to the tunnel face, providing key data for graphic scaling calculation. The main control calculation unit is used to receive and process positioning, ranging and attitude data, calculate the projected graphics and angles, and coordinate the operation sequence and parameters of the laser projection unit. The laser projection unit is used to project lasers and control the laser beam to scan rapidly on the tunnel face to form clear outlines and blast hole position design graphics, and uses green visible lasers with a wavelength of 520-535nm as the light source. The display screen (5) is equipped with an interactive unit inside. The interactive unit is used to convert design drawings of various formats into instructions that the device can recognize, and can automatically call the corresponding cross-sectional graphics according to the mileage station. It also provides a human-machine interface and supports wireless remote control.

8. A laser projection layout device for tunnels according to claim 7, characterized in that, The intelligent positioning unit includes a spatial positioning subunit and an attitude sensing subunit. The spatial positioning subunit is used to accurately determine the three-dimensional coordinates of the projection device host in the tunnel's global control network. The attitude sensing subunit is used to accurately measure the tilt attitude of the projection device host itself, where the tilt attitude is the rotation angle around its own coordinate axis. The formula for converting spherical coordinates to rectangular coordinates for the spatial positioning subunit is: Where X P Y P and Z P X0, Y0, and Z0 are the three-dimensional coordinates of the target point in meters, respectively; X0, Y0, and Z0 are the three-dimensional coordinates of the total station (406) in meters; S is the slope distance measured by the total station (406) in meters; θ v The vertical angle θ is measured by a total station (406) in radians. h The horizontal angle is measured by a total station (406) and the unit is radians; The automatic ranging unit includes a ranging sensor subunit and a signal processing and control subunit. The ranging sensor subunit is used to transmit ranging signals and receive signals returned from the working face to obtain raw physical quantities related to distance. The calculation formula of the sensor subunit is as follows: Where c is the speed of light in a vacuum, which is equal to 3 × 10⁻⁶. 8 M / s, n is the atmospheric refractive index, f is the modulation frequency of the laser in Hertz, Δ is the phase difference between the transmitted and received signals in radians, and the signal processing control subunit is used to obtain the weak phase difference signal from the ranging sensor subunit, filter, amplify and solve it to eliminate noise interference, calculate a high-precision distance value, and transmit the calculated distance value to the main control computing unit of the system in real time through the communication interface; The main control computing unit includes a data fusion processing subunit, a coordinate transformation subunit, and a projection control subunit. The data fusion processing subunit receives raw data from the intelligent positioning unit and the automatic ranging unit in real time through various interfaces, performs validity checks on the raw data, and uses Kalman filtering to smooth the data, eliminating jumps and noise caused by vibration and dust in the tunnel. At the same time, it timestamps all asynchronously arriving sensor data to ensure that the data is aligned in time, providing a consistent basis for subsequent calculations. The coordinate transformation subunit is used to transform the coordinates of two-dimensional points on the design drawings to the real three-dimensional space and calculate the deflection angle that the laser beam should have. The projection control subunit is used to receive the galvanometer deflection command and laser switching command calculated by the core algorithm, generate high-precision, high-speed analog or digital signals, and directly drive the laser and galvanometer motor to move.

9. A laser projection layout device for tunnels according to claim 8, characterized in that, The laser projection unit includes a laser source subunit, a beam shaping and expanding subunit, a beam deflection and scanning subunit, and a synchronization control subunit; The laser source subunit is used to generate highly stable and high-intensity visible laser light. The beam shaping and expanding subunit shapes the tiny elliptical spot emitted by the laser diode into a perfect circular point and expands its diameter to form a collimated beam. The beam deflection and scanning subunit is used to precisely and quickly control the laser beam to scan on a two-dimensional plane according to the instructions calculated by the main control unit to draw the required contour pattern. The synchronization and control subunit is used to receive the instruction stream from the main control unit and coordinate the lighting or extinguishing of the laser source subunit with the precise synchronization of the galvanometer position.

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