A device for positioning a blasthole at a working face of an underground excavation and a method of using the device

Abstract

The application relates to the technical field of underground cavern construction equipment, and particularly discloses an underground cavern construction working face blast hole positioning device and a using method thereof. A laser positioner is arranged at the top of a rack; a laser emitter comprises a plurality of laser radiation light sources, the plurality of laser radiation light sources are arranged according to the profile of a working face, and are controlled through a control unit; and the light beams generated by the laser radiation light sources are projected on the working face after being enlarged by a concave mirror. According to the scheme, the laser positioner and a range finder are arranged on the rack, the independent control light sources of the laser emitter correspond to the working face profile and the number of blast holes, manual point marking is not needed, and the scheme adapts to the requirements of various working face profiles; the control unit realizes the cooperative matching of light source lighting, distance adjustment and calibration, one person can complete the positioning operation, manual operation errors are reduced, and the scheme adapts to the complex construction environment of underground caverns.

Description

Technical Field

[0001] This invention relates to the field of underground cavern construction equipment technology, specifically to a blast hole positioning device for the working face of underground cavern construction and its usage method. Background Technology

[0002] In underground cavern construction (tunnels, mine roadways, etc.), the accuracy and efficiency of borehole positioning during blasting excavation at the working face directly affect the blasting effect, excavation quality, and construction safety. With the increasing scale of current construction and the growing complexity of cross-sectional shapes (circular, rectangular, irregular), the requirements for progress and contour smoothness have increased, highlighting the significant shortcomings of existing positioning technologies.

[0003] Current technology primarily relies on manual measurement and marking, requiring 2-3 people using tools such as measuring tapes and total stations to mark borehole points at the working face according to drawings. For cross-sections exceeding 10 square meters, a single positioning operation can take over 30 minutes, with irregular cross-sections taking even longer. Construction often involves cyclic excavation, requiring positioning after each cycle, resulting in inefficient operations that hinder construction progress. Furthermore, the underground environment is dark, dusty, and confined, making manual measurement prone to errors: total station aiming is affected by dust, resulting in an error of ±10mm; measuring tapes struggle to ensure vertical measurement; chalk or spray paint markings are easily blurred, with point diameters exceeding 5mm, deviating by over 10% compared to the 42-50mm borehole diameter; the cumulative error from step-by-step measurements can also lead to over-excavation of the working face by 5-15cm, requiring additional backfilling and increasing costs.

[0004] In practical applications, some projects have introduced simple laser positioning equipment, but these have significant limitations: they can only project a single, fixed outline, making them unsuitable for irregular cross-sections; module replacement is cumbersome and costly; there is no distance detection and adjustment mechanism, and when the distance deviation at the working face exceeds 0.5m, the laser spot shifts, requiring manual repositioning of the equipment; using ordinary tripods for support makes it difficult to maintain the posture on uneven ground, and equipment tilting causes the laser axis to become non-perpendicular, with deviations exceeding ±8mm. Furthermore, existing equipment is separate from its support and adjustment mechanisms; height adjustment relies on manually tightening the brackets, horizontal calibration requires repeated adjustments, a rangefinder must be carried separately, and data is manually read and calculated. The "measurement → calculation → adjustment" process is disconnected, lacking closed-loop control, making it difficult to guarantee accuracy and efficiency.

[0005] In summary, the technical problems to be solved by this invention are: 1. Traditional manual positioning is inefficient and its accuracy is easily affected by the environment, making it difficult to adapt to complex cross-sections and high-intensity construction; 2. Existing laser equipment has poor contour adaptability, lacks dynamic distance adjustment capability, and exhibits unstable posture; 3. The equipment has low integration and lacks a collaborative control mechanism, making it impossible to form a closed-loop positioning system. The aim is to provide a highly efficient and accurate automatic positioning solution that adapts to complex cross-sections, overcoming these technical bottlenecks. Summary of the Invention

[0006] The purpose of this invention is to provide a hole positioning device for the working face of underground cavern construction and its usage method, thereby solving the above-mentioned technical problems.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a blast hole positioning device for underground cavern construction face, comprising a frame, a laser locator and a rangefinder;

[0008] The laser positioner is located at the top of the frame; the laser positioner includes a housing, a telescopic cylinder, an electric push rod, a laser emitter, and a concave mirror; the telescopic cylinder is located on both sides of the housing, and the concave mirror is located at the end of the telescopic cylinder; the electric push rod is located at the end of the housing away from the working face, and the telescopic rod of the electric push rod is connected to the telescopic cylinder to drive the telescopic cylinder to extend and retract, thereby adjusting the distance between the concave mirror and the working face; the laser emitter is located inside the housing and is coaxially arranged with the concave mirror;

[0009] The rangefinder is located at the end of the housing and is used to measure the distance from the concave mirror to the working face;

[0010] The laser emitter includes multiple laser emission sources, which are set according to the contour of the working face and controlled by a control unit. The beams generated by the laser emission sources are magnified by concave mirrors and then projected onto the working face.

[0011] The frame is a triangular lifting support, which includes three telescopic support legs. The top of the three telescopic support legs is supported by a central ring, and the top of the central ring is equipped with a lifting platform. The lifting platform is controlled by a lifting push bar. A laser positioner is installed on the lifting platform.

[0012] A height sensor is installed at the bottom of the lifting platform.

[0013] As a further technical solution of the above solution, the bottom of the telescopic support leg is detachably provided with a mounting block, and the bottom of the mounting block is provided with a foot and a ground plug.

[0014] A method for using a borehole positioning device at the working face of an underground cavern construction site, the method comprising the following steps:

[0015] Step S1: The operator inputs the contour parameters of the upper working face into the control unit according to the design drawings of the underground cavern.

[0016] Step S2: According to the blasting plan, the operator inputs the borehole layout parameters into the control unit, including the number of boreholes and the borehole distribution pattern parameters. The number of boreholes is the same as the number of laser emission sources to be lit on the laser emitter. One borehole corresponds to one laser positioning point.

[0017] Step S3: The operator inputs three sets of reference parameters into the control unit, based on the construction progress and the excavation cycle advance:

[0018] 1) Initial design distance between the concave mirror and the working face ;

[0019] 2) Initial distance between the laser emitter and the concave mirror ;

[0020] 3) Initial design height of the lifting platform That is, the vertical corresponding height between the laser locator axis and the center of the working face, which is calculated based on the difference between the design elevation of the working face and the ground elevation;

[0021] Step S4: The operator activates the height sensor at the bottom of the lifting platform to output the corrected height of the lifting platform in real time. The control unit will correct the height. and initial design height In comparison, if the initial height deviation Then, make initial height adjustments to ensure that the initial attitude of the device meets the basic positioning requirements;

[0022] Step S5: After receiving the parameters input in S1-S3, the control unit runs the contour matching algorithm to generate a laser projection contour model that matches the face contour and borehole layout. The model includes the coordinate information of all borehole positioning points. The control unit then calculates the number of boreholes... And the borehole distribution parameters, using coordinate mapping logic to filter out the corresponding parameters on the laser emitter. Each laser emission source sends an independent lighting signal to these sources while keeping unselected sources off, ensuring that the laser dot matrix formed by the lit sources matches the designed borehole layout outline.

[0023] As a further technical solution to the above scheme, in step S1, the working face includes a circular working face, a rectangular working face, and an irregularly shaped working face. For the circular working face, the radius needs to be accurately input; for the rectangular working face, the length and width need to be input; and for the irregularly shaped working face, the coordinates of the key points of the contour need to be input. , ... , The number of key points is set, and the origin of the coordinate system is set to the center of the working face.

[0024] As a further technical solution to the above scheme, in step S2, if the boreholes are evenly distributed, the circular face needs to input the central angle of adjacent boreholes. For rectangular or irregularly shaped working faces, the spacing between adjacent boreholes needs to be entered. If the boreholes are not uniformly distributed, the coordinates of each borehole relative to the center of the working face must be entered. , ... , This represents the number of blast holes.

[0025] As a further technical solution to the above scheme, the operator activates the rangefinder installed on the telescopic drum. The rangefinder transmits a distance measurement signal towards the working face and measures the actual straight-line distance between the concave mirror and the working face. ;

[0026] Control unit combined with initial design distance The actual straight-line distance between the concave mirror and the working face and initial spacing The adjustment amount of the concave mirror is derived from the optical projection ratio. The calculation formula is as follows:

[0027] ;

[0028] In the formula, Let be the initial distance between the laser emitter and the concave mirror. This is the actual straight-line distance between the concave mirror and the working face. This is the initial design distance between the concave mirror and the working face. This is the adjustment amount of the concave mirror relative to its initial position;

[0029] After the calculation is completed, the control unit determines the adjustment amount. The system uses positive and negative attributes. A positive value indicates that the telescopic cylinder needs to extend to increase the distance, while a negative value indicates that the telescopic cylinder needs to retract to decrease the distance. The adjustment amount is converted into a pulse control signal for the electric actuator. The electric actuator drives the telescopic rod to slide smoothly along the axial direction of the outer shell. During the adjustment process, it receives feedback data from the rangefinder in real time. When the distance between the concave mirror and the working face approaches the initial design distance... The laser emitter automatically slows down; after adjustment, the actual distance between the laser emitter and the concave mirror is recorded. And send a notification that the adjustment is complete.

[0030] As a further technical solution to the above scheme, the height of the lifting platform is adjusted based on a height sensor to correct vertical offset;

[0031] 1) Height data acquisition: The height sensor at the bottom of the lifting platform collects the actual height of the lifting platform after calibration in real time. And transmit the data to the control unit;

[0032] 2) Vertical deviation calculation: The control unit calculates the vertical deviation based on the initial design height. Compared with the corrected actual height Calculate vertical deviation ;

[0033] In the formula, This is the calibrated actual height of the lifting platform. The initial design height of the lifting platform, This refers to the vertical deviation between the actual height of the lifting platform and the designed height; if This indicates that the lifting platform is too high. This indicates that the lifting platform is too low;

[0034] 3) Automatic Height Adjustment: The control unit sends an adjustment command to the lifting push rod, which moves the lifting platform, adjusting the platform height by an amount... for: , This refers to the height deviation of the lifting platform; that is, the height deviation is the time for descent. When the height deviation is negative, it rises. During the adjustment process, the height sensor provides real-time feedback data. At this time, the control unit issues a stop command to ensure that the axis of the laser positioner is precisely aligned with the center of the working face in the vertical direction;

[0035] The operator uses a level to measure the horizontality of the center ring of the triangular lifting support. If there is a horizontal deviation, the operator calculates the difference in length adjustment required for the three telescopic legs and manually adjusts the length of the telescopic legs until the level shows the center ring is perfectly horizontal. After the horizontal adjustment is completed, the height sensor collects the adjusted height of the lifting platform for the second time. If the height deviation The control unit automatically repeats height correction and fine-tunes the height of the lifting platform to ensure that both the horizontal and vertical postures meet the positioning requirements.

[0036] After the laser projection adjustment was completed, the operator used a total station to measure the positioning points of each blast hole actually projected on the working face and recorded the horizontal deviation. , , Number of boreholes, vertical deviation During measurement, the center of the laser spot is used as the reference, and each positioning point is measured three times and the average value is taken. At the same time, the height sensor records the current measured height of the lifting platform. ;

[0037] The operator inputs the deviation data into the control unit, which then adjusts the settings according to a preset accuracy range. and , ;

[0038] If all positioning point deviations are within the acceptable range, the positioning is deemed successful; if any positioning point deviation exceeds the acceptable range, the correction process is automatically triggered, and the measured height recorded by the height sensor is considered. Compared to the initial design height The difference can be used to make a preliminary judgment on the type of deviation.

[0039] As a further technical solution to the above scheme, after determining the type of deviation, corrective measures are implemented for different causes of deviation.

[0040] Rangefinder measurement error correction: If the deviation is caused by contamination of the rangefinder lens, clean the lens, select 3 evenly spaced measurement points on the working face, remeasure the distance between the concave mirror and the working face, and take the average value. After inputting the control unit, the adjustment amount of the concave mirror relative to the initial position is re-evaluated, and the position of the concave mirror is adjusted until the deviation is eliminated;

[0041] Laser emitter and concave mirror misalignment correction: Turn off the device power, use a coaxiality calibrator to check the coaxiality. If the deviation exceeds... Loosen the concave mirror fixing bolts and fine-tune until the axis coincides. After re-fixing, perform steps S5-S11 for verification.

[0042] Vertical deviation correction: If the vertical deviation If the distance is outside the range, the control unit retrieves the measured height recorded by the height sensor. Compared to the initial design height Calculate the amount of height that needs to be adjusted. In the formula, To supplement the vertical deviation with adjustment amount, The average vertical deviation of all out-of-tolerance boreholes is calculated; a command is sent to the lifting push rod to fine-tune the height, and the adjustment is confirmed by the height sensor. , To adjust the fine-tuning height of the rear lifting platform, the vertical deviation of the blast hole is then checked to ensure it meets the requirements.

[0043] Correction of face profile deviation: Use a total station to remeasure the actual face profile parameters, update the profile database in the control unit, generate a new laser projection profile, and ensure that the laser point matches the actual face profile.

[0044] After the correction is completed, a second inspection is performed; when the deviations of all borehole positioning points meet the requirements... and Upon successful positioning, the control unit automatically records complete positioning data, including input parameters, adjustment amounts, deviation data, height values ​​recorded by the height sensor throughout the process, and corrective measures, generating a positioning record report for construction archiving and traceability. Input parameters include the profile, boreholes, reference distance, and height; adjustment amounts include the adjustment of the concave mirror relative to its initial position. Lifting platform height adjustment range and vertical deviation supplementary adjustment amount Deviation data includes horizontal deviation. and vertical deviation The altitude value recorded by the altitude sensor throughout the entire process includes the calibrated altitude. Actual height after correction Adjusted height Measuring height and fine-tuning height .

[0045] Compared with the prior art, the present invention has the following advantages and beneficial effects: By setting up a laser locator and a rangefinder on the frame, the laser emitter independently controls the light source to correspond to the face contour and the number of blast holes, eliminating the need for manual point-by-point marking and adapting to the requirements of various face contours; the control unit realizes the coordinated operation of light source lighting, distance adjustment and calibration, allowing a single person to complete the positioning operation, reducing manual operation errors and adapting to the complex construction environment of underground caverns. Attached Figure Description

[0046] Figure 1 This is a schematic diagram showing the usage status of this device.

[0047] Figure 2 This is a schematic diagram of the internal structure of a laser positioner.

[0048] Figure 3 This is a schematic diagram of the palm face reflected on a concave mirror.

[0049] Figure 4 This is a schematic diagram of the frame structure.

[0050] Figure 5 This is a schematic diagram of the mounting block.

[0051] The meanings of the labels in the diagram are as follows:

[0052] Frame-1; Telescopic support leg-101; Center ring-102; Lifting platform-103;

[0053] Laser locator-2; Housing-201; Telescopic cylinder-202; Electric push rod-203; Laser emitter-204; Concave mirror-205;

[0054] Rangefinder-3;

[0055] Mounting block-4; Foot-401; Ground plug-402. Detailed Implementation

[0056] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, so as to provide a better understanding of the concept of the present invention, the technical problem solved, the technical features constituting the technical solution, and the technical effects brought about.

[0057] like Figures 1-5 As shown, a blast hole positioning device for underground cavern construction face includes a frame 1, a laser locator 2, and a rangefinder 3.

[0058] The laser positioner 2 is located on the top of the frame 1. The laser positioner 2 includes a housing 201, a telescopic cylinder 202, an electric push rod 203, a laser emitter 204, and a concave mirror 205. The telescopic cylinder 202 is located on both sides of the housing 201, and the concave mirror 205 is located at the end of the telescopic cylinder 202. The electric push rod 203 is located at the end of the housing 201 away from the working face. The telescopic rod of the electric push rod 203 is connected to the telescopic cylinder 202 to drive the telescopic cylinder 202 to extend and retract, thereby adjusting the distance between the concave mirror 205 and the working face. The laser emitter 204 is located inside the housing 201 and is coaxially arranged with the concave mirror 205.

[0059] The rangefinder 3 is located at the end of the housing 201 and is used to measure the distance from the concave mirror 205 to the working face;

[0060] The laser emitter 204 includes multiple laser emission sources, which are set according to the contour of the working face and controlled by a control unit. The beam generated by the laser emission sources is magnified by the concave mirror 205 and then projected onto the working face.

[0061] The frame 1 is a triangular lifting support, which includes three telescopic support legs 101. The top of the three telescopic support legs 101 is supported by a central ring 102. The top of the central ring 102 is provided with a lifting platform 103. The lifting platform 103 is controlled to lift by a lifting push bar. The laser positioner 2 is installed on the lifting platform 103.

[0062] A height sensor is installed at the bottom of the lifting platform 103.

[0063] The bottom of the telescopic support leg 101 is detachably provided with a mounting block 4, and the bottom of the mounting block 4 is provided with a foot 401 and a ground plug 402.

[0064] When using this device, the frame 1 is first set up at the construction site on the working face and supported and fixed by the telescopic support legs 101 at the bottom of the frame 1. The frame 1 serves as the supporting foundation for the entire device, providing a stable installation platform for the laser locator 2 and ensuring that the laser locator 2 does not shift during the positioning process. The laser locator 2 is the core component for realizing borehole positioning. The multi-source design of the laser emitter 2 can flexibly adapt to working faces with different contours such as circles, rectangles, and irregular shapes. By controlling the number and distribution of the illuminated light sources, the number and arrangement of boreholes can be directly correlated. The beam magnification function of the concave mirror 205 can magnify the small beam generated by the laser emission source into a clearly visible positioning spot, avoiding the problem of the positioning point being difficult to identify due to the dim lighting in the underground cavern, while ensuring the visibility of the spot on the working face and providing a clear mark for subsequent drilling operations.

[0065] In the design of the laser positioner 2, the outer shell 201 not only protects the internal structure from dust and collisions, but also provides a stable sliding guide for the telescopic cylinder 202, ensuring that the telescopic cylinder 202 will not deviate when sliding. The fixed design of the laser emitter 204 ensures that the direction of its emitted beam is stable, avoiding positioning deviation due to the uniqueness of the emitter. The sliding design of the telescopic cylinder 202 can realize the position adjustment of the concave mirror 205. By telescopically sliding the telescopic cylinder 202, the relative distance between the concave mirror 205 and the laser emitter 204 is changed, thereby adjusting the projection position of the laser spot on the working face. Both the concave mirror 205 and the laser emitter 204 are circular structures and are arranged coaxially. This ensures that the laser emission source on the laser emitter 204 is evenly distributed within the same circumference or area, which is compatible with the common distribution pattern of boreholes in circular and rectangular working faces. This avoids uneven distribution of the light source due to mismatch in structural shape. Coaxial arrangement is a core structural requirement to ensure positioning accuracy. The coaxial design ensures that each beam emitted by the laser emitter 204 can be projected perpendicularly to the central area of ​​the concave mirror 205. After being magnified by the concave mirror 205, the beam will not be deflected, thus ensuring that the laser spot can be accurately projected to the designed position on the working face. If the two are not coaxial, the beam will cause the positioning point to shift due to the deviation of the refraction angle, which will seriously affect the positioning accuracy of the borehole.

[0066] The light source arrangement provides a sufficient number of light sources to cover blasting operations with varying numbers of boreholes. Whether it's a dozen or more boreholes, the required number of light sources can be selected to meet the needs without replacing the laser emitter 204. The independent control function of each light source is implemented by the control unit. The control unit can accurately select the light source to be lit based on the input face contour parameters and borehole arrangement parameters, avoiding confusion of positioning points caused by lighting multiple light sources. At the same time, independent control also makes it easy to shut down only the faulty light source and activate the backup light source when a light source fails, without affecting the continuity of the overall positioning operation and improving the reliability of the device.

[0067] The electric push rod 203 serves as the power source for the telescopic cylinder 202. Compared to manual adjustment, it offers higher precision and more stable speed, enabling millimeter-level telescopic adjustment to meet the stringent accuracy requirements of borehole positioning. The electric push rod 203 is mounted on the housing 201 to ensure stable connection with the telescopic cylinder 202 and prevent loosening during adjustment. The control unit calculates the required adjustment amount for the telescopic cylinder 202 based on the distance measured by the rangefinder 3 and sends pulse signals to the electric push rod 203 to control its telescopic length, thereby adjusting the position of the concave mirror 205 and reducing errors and workload associated with manual adjustment.

[0068] The triangular lifting support adopts a triangular structural design, utilizing the stability advantage of a triangle to maintain the overall stability of the device on uneven ground in underground caverns, preventing tilting due to ground bumps. The three telescopic support legs 101 can be individually adjusted in length, facilitating leveling the support on uneven ground and providing a horizontal reference for subsequent positioning operations. The central ring 102 serves as the mounting carrier for the lifting platform 103, ensuring that the platform moves vertically during lifting without horizontal deviation. The lifting function of the platform 103 is controlled by a lifting push rod. The height of the laser positioner 2 is adjusted according to the required height of the working face. A height sensor on the platform 103 collects height data in real time and transmits it to the control unit. The control unit compares the actual height with the designed height and drives the lifting push rod to adjust the height, aligning the axis of the laser positioner 2 with the center of the working face vertically, eliminating vertical positioning deviations. In practical use, a folding frame can be installed on the lifting push rod for support. The folding frame can prevent the lifting push rod from bending or shifting due to excessive force during driving, ensuring the smoothness of the lifting action. The fixing ring of the lifting push rod can fix the lifting push rod in place to prevent it from loosening during operation. The hinged design of the connecting rod and the telescopic support leg 101 allows the folding frame to adjust its angle as the length of the telescopic support leg 101 is adjusted, ensuring that the lifting push rod always drives the lifting platform 103 vertically without affecting the lifting accuracy. At the same time, the folding structure also facilitates storage during transportation, reducing the area occupied. The foot 401 and the ground plug 402 are detachable, allowing the device to adapt to different ground conditions. When the underground cavern floor is soft soil, the ground plug 402 can be installed and inserted into the ground to enhance the device's anti-overturning ability and prevent the device from sliding during positioning. When the ground is hard rock or concrete, the ground plug 402 can be removed and the foot 401 can be used for support. The foot 401 is designed to be rotatable, so that its bottom fits tightly with the uneven ground, improving the stability of the device. Two support designs are provided to ensure that the device remains stable under different geological conditions.

[0069] A method for using a borehole positioning device at the working face of an underground cavern construction site includes the following steps:

[0070] Step S1: Based on the design drawings of the underground cavern, the operator inputs the contour parameters of the working face into the control unit. For circular working faces, the radius needs to be accurately input; for rectangular working faces, the length and width need to be input; and for irregularly shaped working faces, the coordinates of key contour points need to be input. , ... , The number of key points is set, and the origin of the coordinate system is set to the center of the working face.

[0071] Step S2: According to the blasting plan, the operator inputs the borehole layout parameters into the control unit, including the number of boreholes and the distribution pattern of the boreholes. If the boreholes are evenly distributed, the central angle of adjacent boreholes needs to be input for a circular working face. For rectangular or irregularly shaped working faces, the spacing between adjacent boreholes needs to be entered. If the boreholes are not uniformly distributed, the coordinates of each borehole relative to the center of the working face must be entered. , ... , The number of boreholes must be the same as the number of laser emission sources to be lit on the laser emitter 204, with one borehole corresponding to one laser positioning point.

[0072] Step S3: The operator inputs three sets of reference parameters into the control unit, based on the construction progress and the excavation cycle advance:

[0073] 1) Initial design distance between concave mirror 205 and the working face ;

[0074] 2) Initial distance between laser emitter 204 and concave mirror 205 ;

[0075] 3) Initial design height of lifting platform 103 That is, the vertical corresponding height between the axis of the laser locator 2 and the center of the working face, which is calculated based on the difference between the design elevation of the working face and the ground elevation;

[0076] In step S4, the operator activates the height sensor at the bottom of the lifting platform 103 and sends a zero-point calibration command through the control unit. The height sensor automatically completes zero-point calibration with the ground at the bottom of the triangular lifting bracket as the reference plane, and outputs the corrected height of the lifting platform in real time after calibration. The control unit will correct the height. and initial design height In comparison, if the initial height deviation Then, make initial height adjustments to ensure that the initial attitude of the device meets the basic positioning requirements;

[0077] Step S5: After receiving the parameters input in S1-S3, the control unit runs the contour matching algorithm to generate a laser projection contour model that matches the face contour and borehole layout. The model includes the coordinate information of all borehole positioning points. The control unit then calculates the number of boreholes... And the borehole distribution parameters, and through coordinate mapping logic, the corresponding parameters on laser emitter 204 are selected. Each laser emission source sends an independent lighting signal to these sources while keeping unselected sources off, ensuring that the laser dot matrix formed by the lit sources matches the design borehole layout outline.

[0078] In step S6, the operator activates the rangefinder 3 installed on the telescopic cylinder 202. The rangefinder 3 transmits a distance measurement signal towards the working face to measure the actual straight-line distance between the concave mirror 205 and the working face. ;

[0079] Step S7, the control unit combines the initial design distance The actual straight-line distance between the concave mirror and the working face and initial spacing The adjustment amount of concave mirror 205 was derived by using the optical projection ratio. The calculation formula is as follows:

[0080] ;

[0081] In the formula, The initial distance between the laser emitter 204 and the concave mirror 205 is... This represents the actual straight-line distance between the concave mirror 205 and the working face. This is the initial design distance between the concave mirror 205 and the working face. This is the adjustment amount of the concave mirror 205 relative to its initial position;

[0082] After the calculation is completed, the control unit determines the adjustment amount. The system has positive and negative attributes. A positive value indicates that the telescopic cylinder 202 needs to extend to increase the distance, while a negative value indicates that the telescopic cylinder 202 needs to retract to decrease the distance. The adjustment amount is converted into a pulse control signal for the electric push rod 203. The electric push rod 203 drives the telescopic rod to slide smoothly along the axial direction of the outer shell 201. During the adjustment process, it receives feedback data from the rangefinder 3 in real time. When the distance between the concave mirror 205 and the working face approaches the initial design distance... The speed will automatically decrease; after adjustment, the actual distance between the laser emitter 204 and the concave mirror 205 will be recorded. And send a notification that the adjustment is complete;

[0083] Step S8: Adjust the height of the lifting platform 103 based on the height sensor to correct the vertical offset;

[0084] 1) Height data acquisition: The height sensor at the bottom of the lifting platform 103 collects the current actual height of the lifting platform 103 in real time. And transmit the data to the control unit;

[0085] 2) Vertical deviation calculation: The control unit calculates the vertical deviation based on the initial design height. Compared with the corrected actual height Calculate vertical deviation ;

[0086] In the formula, This is the corrected actual height of the lifting platform 103. The initial design height for lifting platform 103, The vertical deviation between the actual height and the design height of the lifting platform 103; if This indicates that the lifting platform 103 is too high. This indicates that the lifting platform 103 is too low;

[0087] 3) Automatic Height Adjustment: The control unit sends an adjustment command to the lifting push rod, which moves the lifting platform 103, adjusting the height of the lifting platform accordingly. for: , This refers to the height adjustment range of the lifting platform 103. The height deviation of the lifting platform 103; that is, the height deviation is the positive descent. When the height deviation is negative, it rises. During the adjustment process, the height sensor provides real-time feedback data. When the laser positioner 2 axis is precisely aligned with the center of the working face in the vertical direction, the control unit issues a stop command to ensure that the axis of the laser positioner 2 is precisely aligned with the center of the working face in the vertical direction.

[0088] Step S9: The operator uses a level to measure the levelness of the center ring 102 of the triangular lifting bracket. If there is a level deviation, the operator calculates the length difference that the three telescopic legs need to be adjusted, and manually adjusts the length of the telescopic legs until the level shows that the center ring 102 is completely level. After the level adjustment is completed, the height sensor collects the adjusted height of the lifting platform 103 for the second time. If the height deviation The control unit automatically repeats step S8, fine-tuning the height of the lifting platform 103 to ensure that both the horizontal and vertical postures meet the positioning requirements.

[0089] Step S10: After the laser projection adjustment is completed, the operator uses a total station to measure the positioning points of each blast hole actually projected on the working face and records the horizontal deviation. , , Number of boreholes, vertical deviation During measurement, the center of the laser spot is used as the reference, and each positioning point is measured three times and the average value is taken. At the same time, the height sensor records the current measured height of the lifting platform 103. ;

[0090] In step S11, the operator inputs the deviation data into the control unit, and the control unit adjusts the data according to the preset accuracy range. and , ;

[0091] If all positioning point deviations are within the acceptable range, the positioning is deemed successful; if any positioning point deviation exceeds the acceptable range, the correction process is automatically triggered, and the measured height recorded by the height sensor is considered. Compared to the initial design height The difference can be used to make a preliminary judgment on the type of deviation;

[0092] Step S12: Implement corrective measures for different causes of deviation;

[0093] Rangefinder 3 measurement error correction: If the deviation is caused by lens contamination of rangefinder 3, clean the lens, select 3 evenly spaced measurement points on the working face, remeasure the distance between the concave mirror 205 and the working face, and take the average value. After inputting the control unit, repeat step S7 to adjust the position of concave mirror 205 until the deviation is eliminated;

[0094] Laser emitter 204 and concave mirror 205 misalignment correction: Turn off the power to the device and use a coaxiality calibrator to check the coaxiality. If the deviation exceeds... Loosen the concave mirror 205 fixing bolt and fine-tune it until the axis coincides. After re-fixing, perform steps S5-S11 to verify.

[0095] Vertical deviation correction: If the vertical deviation If the distance is outside the range, the control unit retrieves the measured height recorded by the height sensor. Compared to the initial design height Calculate the amount of height that needs to be adjusted. In the formula, To supplement the vertical deviation with adjustment amount, The average vertical deviation of all out-of-tolerance boreholes is calculated; a command is sent to the lifting push rod to fine-tune the height, and the adjustment is confirmed by the height sensor. , To adjust the fine-tuning height of the rear lifting platform 103, the vertical deviation of the blast hole is then checked to see if it meets the requirements.

[0096] Correction of face profile deviation: Use a total station to remeasure the actual face profile parameters, update the profile database in the control unit, re-execute steps S5-S11, generate a new laser projection profile, and ensure that the laser point matches the actual face profile.

[0097] Step S13: After completing the correction, repeat steps S10-S11 for a second check; when the deviations of all borehole positioning points meet the requirements... and Upon successful positioning, the control unit automatically records complete positioning data, including input parameters, adjustment amounts, deviation data, height values ​​recorded by the height sensor throughout the process, and corrective measures, generating a positioning record report for construction archiving and traceability. Input parameters include the profile, boreholes, reference distance, and height; adjustment amounts include the adjustment of the concave mirror relative to its initial position. Lifting platform height adjustment range and vertical deviation supplementary adjustment amount Deviation data includes horizontal deviation. and vertical deviation The altitude value recorded by the altitude sensor throughout the entire process includes the calibrated altitude. Actual height after correction Adjusted height Measuring height and fine-tuning height .

[0098] When using this device, step S4 requires zero-point calibration of the lifting platform. The automatic zero-point calibration of the lifting platform is existing technology, and its implementation directly relies on the mature "displacement sensor reference surface calibration logic" in the industrial field, as detailed below:

[0099] The automatic zero-point calibration adopts the conventional zero-point calibration scheme of existing industrial-grade displacement sensors. After the control unit issues the zero-point calibration command, the height sensor at the bottom of the lifting platform (which belongs to the existing conventional displacement detection components) takes the ground at the bottom of the triangular lifting bracket as the reference plane and automatically completes the zero-point calibration through the existing conventional process of "reference plane signal acquisition - data filtering and noise reduction - zero-point parameter storage". After calibration, the actual height data of the lifting platform is output in real time with the reference plane as the zero point.

[0100] This calibration method is a common technique for displacement detection in industrial automation equipment. For example, machine tools and automated measuring equipment widely use this type of zero-point calibration logic. Personnel in the relevant technical field can implement it directly based on existing technology without additional innovative design.

[0101] In step S5, the contour matching algorithm is also existing technology, as described in two patent documents with publication numbers CN110288622B and CN104408726B.

[0102] The control unit in this patent is a modular embedded control unit based on existing industrial automation technology. It is a conventional integration of existing technology, and its core consists of "hardware components + preset software program". The specific components and functions are as follows:

[0103] I. Core Components (all are existing industrial standard parts / conventional technologies)

[0104] Hardware components:

[0105] Core processor: Employs an embedded microcontroller (such as the STM32 series, Arduino Mega, or other mature models) to run the algorithm and coordinate all control logic;

[0106] Interface module: Includes analog signal interface (connects to height sensor and rangefinder to receive detection data), digital output interface (connects to electric actuator and light source drive circuit to send control commands), and human-machine interface (connects to touch screen / buttons to receive manual input parameters);

[0107] Storage module: Uses Flash chip + SD card (existing storage device) to store input parameters, preset algorithms, deviation data and positioning reports.

[0108] Software component:

[0109] Preset control program: written in existing programming languages ​​such as C / Python, integrating "contour matching algorithm", "adjustment calculation logic" and "deviation judgment and correction logic", without breaking through existing technologies;

[0110] Data processing module: Filters and calculates distance and height data collected by the sensor (such as vertical deviation and concave mirror adjustment), all using existing mathematical operation logic.

[0111] II. Functional Implementation Logic (Conventional Linkages in Existing Technologies)

[0112] All operations of the control unit are implemented through the existing conventional process of "hardware receiving signals → software processing → hardware executing instructions," for example:

[0113] Receive face parameters → Processor runs preset contour matching algorithm → Output light source lighting command;

[0114] Receive data from the rangefinder / height sensor → calculate the adjustment amount using software → send control signals to the electric actuator / lifting push rod;

[0115] Receive deviation data → Software compares with preset accuracy range → Triggers corresponding correction command.

[0116] In summary, this control unit is an integrated application of existing embedded processors, interface modules, and conventional control programs. It does not involve any innovative technological breakthroughs. Those skilled in the art can directly select existing hardware components and write corresponding programs to implement all functions based on the control requirements in the patent.

[0117] The terms "connection" and "fixing" appearing in the description of this invention can refer to fixed connection, processing and forming, welding, or mechanical connection. The specific meaning of the above terms in this invention should be understood according to the specific circumstances.

[0118] In the description of this invention, the terms "center," "upper," "lower," "horizontal," "inner," and "outer," etc., are used only to indicate the orientation or positional relationship for the convenience of describing this invention and to simplify the description, and do not indicate or imply a specific orientation that the device or element referred to must have, and therefore should not be construed as a limitation of this invention.

[0119] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A hole positioning device for the working face of an underground cavern construction site, characterized in that: Includes a frame (1), a laser locator (2), and a rangefinder (3); The laser positioner (2) is located on the top of the frame (1); the laser positioner (2) includes a housing (201), a telescopic cylinder (202), an electric push rod (203), a laser emitter (204), and a concave mirror (205); the telescopic cylinder (202) is located on both sides of the housing (201), and the concave mirror (205) is located at the end of the telescopic cylinder (202); the electric push rod (203) is located at the end of the housing (201) away from the working face, and the telescopic rod of the electric push rod (203) is connected to the telescopic cylinder (202) to drive the telescopic cylinder (202) to extend and retract, thereby adjusting the distance between the concave mirror (205) and the working face; the laser emitter (204) is located inside the housing (201) and is coaxially arranged with the concave mirror (205); The rangefinder (3) is set at the end of the housing (201) and is used to measure the distance from the concave mirror (205) to the working face; The laser emitter (204) includes multiple laser emission sources, which are set according to the contour of the working face and controlled by the control unit. The beam generated by the laser emission source is magnified by the concave mirror (205) and projected onto the working face. The frame (1) is a triangular lifting bracket, which includes three telescopic support legs (101). The top of the three telescopic support legs (101) is supported by a central ring (102). The top of the central ring (102) is provided with a lifting platform (103). The lifting platform (103) is controlled to lift by a lifting push bar. A laser positioner (2) is installed on the lifting platform (103). The bottom of the lifting platform (103) is provided with a height sensor.

2. The hole positioning device for underground cavern construction face as described in claim 1, characterized in that: The bottom of the telescopic support leg (101) is detachably provided with a mounting block (4), and the bottom of the mounting block (4) is provided with a foot (401) and a ground plug (402).

3. A method for using a borehole positioning device at the working face of an underground cavern construction site, characterized in that: The method of use is implemented using the underground cavern construction face blast hole positioning device according to any one of claims 1 to 2, and includes the following steps: Step S1: The operator inputs the contour parameters of the upper working face into the control unit according to the design drawings of the underground cavern. Step S2: According to the blasting plan, the operator inputs the borehole layout parameters to the control unit, including the number of boreholes and the borehole distribution pattern parameters. The number of boreholes is the same as the number of laser emission sources to be lit on the laser emitter (204). One borehole corresponds to one laser positioning point. Step S3: The operator inputs three sets of baseline parameters into the control unit, based on the construction progress and the excavation cycle advance: 1) Initial design distance between the concave mirror (205) and the working face ; 2) Initial distance between the laser emitter (204) and the concave mirror (205) ; 3) Initial design height of the lifting platform (103) That is, the vertical corresponding height between the axis of the laser locator (2) and the center of the working face is calculated based on the difference between the design elevation of the working face and the ground elevation; Step S4: The operator activates the height sensor at the bottom of the lifting platform (103) to output the corrected height of the lifting platform in real time. The control unit will correct the height. and initial design height In comparison, if the initial height deviation Then, make initial height adjustments to ensure that the initial attitude of the device meets the basic positioning requirements; Step S5: After receiving the parameters input in steps S1-S3, the control unit runs a contour matching algorithm to generate a laser projection contour model that matches the face contour and borehole layout. The model includes the coordinate information of all borehole positioning points. The control unit then calculates the number of boreholes... And the borehole distribution parameters, and filter out the corresponding parameters on the laser emitter (204) through coordinate mapping logic. Each laser emission source sends an independent lighting signal to these sources while keeping unselected sources off, ensuring that the laser dot matrix formed by the lit sources matches the designed borehole layout outline.

4. The method of using the blast hole positioning device at the working face of underground cavern construction as described in claim 3, characterized in that: In step S1, the working face includes a circular working face, a rectangular working face, and an irregularly shaped working face. For a circular working face, the radius needs to be accurately input; for a rectangular working face, the length and width need to be input; and for an irregularly shaped working face, the coordinates of the key points of the contour need to be input. , ... , The number of key points is set, and the origin of the coordinate system is set to the center of the working face.

5. The method of using the blast hole positioning device at the working face of underground cavern construction as described in claim 3, characterized in that: In step S2, if the blast holes are evenly distributed, the central angles of adjacent blast holes need to be input for the circular working face. For rectangular or irregularly shaped working faces, the spacing between adjacent boreholes needs to be entered. ; If the boreholes are not uniformly distributed, the coordinates of each borehole relative to the center of the tunnel face must be entered. , ... , This represents the number of blast holes.

6. The method of using the blast hole positioning device at the working face of underground cavern construction as described in claim 3, characterized in that: Step S5 is followed by: The operator starts the rangefinder (3) installed on the telescopic cylinder (202). The rangefinder (3) transmits a distance measurement signal to the working face and measures the actual straight-line distance between the concave mirror (205) and the working face. ; Control unit combined with initial design distance The actual straight-line distance between the concave mirror (205) and the working face and initial spacing The adjustment amount of the concave mirror (205) is derived from the optical projection ratio. The calculation formula is as follows: ； In the formula, Let be the initial distance between the laser emitter (204) and the concave mirror (205). The actual straight-line distance between the concave mirror (205) and the working face is given. The initial design distance between the concave mirror (205) and the working face is given. The adjustment amount of the concave mirror (205) relative to its initial position; After the calculation is completed, the control unit determines the adjustment amount. Positive and negative attributes are used. A positive value indicates that the telescopic cylinder (202) needs to extend to increase the distance, while a negative value indicates that the telescopic cylinder (202) needs to retract to decrease the distance. The adjustment amount is converted into a pulse control signal for the electric push rod (203). The electric push rod (203) drives the telescopic rod to slide smoothly along the axial direction of the outer shell (201). During the adjustment process, the data is received in real time from the rangefinder (3). When the distance between the concave mirror (205) and the working face approaches the initial design distance... The speed is automatically reduced; after adjustment, the actual distance between the laser emitter (204) and the concave mirror (205) is recorded. And send a notification that the adjustment is complete.

7. The method of using the blast hole positioning device at the working face of underground cavern construction as described in claim 3, characterized in that: Step S5 is followed by: The height of the lifting platform (103) is adjusted based on the height sensor to correct vertical offset: 1) Height data acquisition: The height sensor at the bottom of the lifting platform (103) acquires the actual height of the lifting platform (103) after correction in real time. And transmit the data to the control unit; 2) Vertical deviation calculation: The control unit calculates the vertical deviation based on the initial design height. Compared with the actual height after correction Calculate vertical deviation ; In the formula, The actual height of the lifting platform (103) after correction. The initial design height of the lifting platform (103) is as follows: The vertical deviation between the actual height and the design height of the lifting platform (103); if This indicates that the lifting platform (103) is too high. This indicates that the lifting platform (103) is too low; 3) Automatic height adjustment: The control unit sends an adjustment command to the lifting push rod, which drives the lifting platform (103) to move, and the height of the lifting platform is adjusted accordingly. for: , The height deviation of the lifting platform (103); that is, the height deviation is the positive descent. When the height deviation is negative, it rises. During the adjustment process, the height sensor provides real-time feedback data. When the control unit issues a stop command, it ensures that the axis of the laser positioner (2) is precisely aligned with the center of the working face in the vertical direction; The operator uses a level to measure the levelness of the center ring (102) of the triangular lifting support. If there is a level deviation, the operator calculates the difference in length that the three telescopic legs need to be adjusted and manually adjusts the length of the telescopic legs until the level shows that the center ring (102) is completely level. After the level adjustment is completed, the height sensor collects the adjusted height of the lifting platform (103) for the second time. If the height deviation The control unit automatically repeats the height correction and fine-tunes the height of the lifting platform (103) to ensure that the horizontal and vertical postures meet the positioning requirements. After the laser projection adjustment was completed, the operator used a total station to measure the positioning points of each blast hole actually projected on the working face and recorded the horizontal deviation. , , Number of boreholes, vertical deviation During measurement, the center of the laser spot is used as the reference, and each positioning point is measured three times and the average value is taken. At the same time, the height sensor records the current measured height of the lifting platform (103). ; The operator inputs the deviation data into the control unit, which then adjusts the settings according to a preset accuracy range. and , ; If the deviation of all positioning points is within the acceptable range, the positioning is deemed successful; if the deviation of any positioning point exceeds the acceptable range, the correction process is automatically triggered, and the measured height recorded by the height sensor is considered. Compared to the initial design height The difference can be used to make a preliminary judgment on the type of deviation.

8. The method of using the blast hole positioning device at the working face of underground cavern construction as described in claim 7, characterized in that: After determining the type of deviation, corrective measures are implemented for different causes of deviation; Rangefinder (3) measurement error correction: If the deviation is caused by lens contamination of the rangefinder (3), clean the lens and select 3 uniform measurement points on the working face, remeasure the distance between the concave mirror (205) and the working face and take the average value. After inputting the control unit, the adjustment amount of the concave mirror relative to the initial position is re-evaluated, and the position of the concave mirror (205) is adjusted until the deviation is eliminated; Laser emitter (204) and concave mirror (205) misalignment correction: Turn off the power to the device, use a coaxiality calibrator to check the coaxiality, if the deviation exceeds... Loosen the concave mirror (205) fixing bolt and fine-tune until the axis coincides; Vertical deviation correction: If the vertical deviation If the distance is outside the range, the control unit retrieves the measured height recorded by the height sensor. Compared to the initial design height Calculate the amount of height that needs to be adjusted. In the formula, To supplement the vertical deviation with adjustment amount, The average vertical deviation of all out-of-tolerance boreholes is calculated; a command is sent to the lifting push rod to fine-tune the height, and the adjustment is confirmed by the height sensor. , To adjust the fine-tuning height of the rear lifting platform (103), the vertical deviation of the blast hole is then checked to see if it is up to standard. Working face profile deviation correction: Use a total station to remeasure the actual profile parameters of the working face, update the profile database in the control unit, generate a new laser projection profile, and ensure that the laser point matches the actual working face profile. After the correction is completed, a second inspection is performed; when the deviations of all borehole positioning points meet the requirements... and Upon successful positioning, the control unit automatically records complete positioning data, including input parameters, adjustment amounts, deviation data, height values ​​recorded by the height sensor throughout the process, and corrective measures, generating a positioning record report for construction archiving and traceability. Input parameters include the profile, boreholes, reference distance, and height; adjustment amounts include the adjustment of the concave mirror relative to its initial position. Lifting platform height adjustment range and vertical deviation supplementary adjustment amount Deviation data includes horizontal deviation. and vertical deviation The altitude value recorded by the altitude sensor throughout the entire process includes the calibrated altitude. Actual height after correction Adjusted height Measuring height and fine-tuning height .

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