Laser ultra long range linear positioning device and method for underground operations

Abstract

The application discloses a kind of laser super-long-range straight positioning device and method for underground operation, the irradiation direction of laser beam emitted by laser transmitter through refracting mirror and correction is parallel with target tunneling direction, laser beam passes through dustproof mirror and directly reflects the entrance of parabolic mirror, the parabolic focal point position of parabolic mirror coincides with the upper surface center position of receiving end mounting base plate, the two-dimensional position sensitive sensor is installed in the subsidence groove opened in the center position of receiving end mounting base plate, the intersection of incident light and parabolic surface is calculated during positioning, reflected light is calculated, the coordinates of reflected light into two-dimensional position sensitive sensor are obtained, the deviation amount of real-time coordinate and reference coordinate of sensor is detected in real time, and the position is adjusted by tunneling machine control system according to deviation signal.The application can realize super-long-range straight positioning, resist underground dust environment interference, ensure that tunneling machine always advances along the central axis of roadway, and has high positioning precision and strong adaptability.

Description

Technical Field

[0001] This invention relates to the field of underground operation equipment technology, and in particular to a laser ultra-long-range linear positioning device and method for underground operations, which can be applied to the linear positioning of tunneling machines during the construction of underground roadways or tunnels. Background Technology

[0002] In the construction of underground tunnels and other engineering projects, if the tunnel boring machine deviates from the design centerline during the excavation process, it will cause the segment lining position to shift. When the horizontal or vertical deviation exceeds the safe range, the tunnel structure may encroach on the installation space of subsequent facilities such as tracks and pipelines, causing significant economic losses. Deviating from the design route will change the pressure distribution of the tunnel boring machine on the surrounding soil, triggering safety accidents such as ground subsidence and collapse. Therefore, the linear positioning accuracy of the tunnel boring machine directly determines the project quality and construction efficiency.

[0003] Traditional underground tunneling positioning methods mostly employ mechanical guidance and ordinary laser positioning technologies, which have the following drawbacks: mechanical guidance relies on manual calibration, resulting in low accuracy and inability to adapt to long-distance tunneling; ordinary laser positioning devices lack effective dustproof structures, allowing dust to easily adhere to the surface of optical components in the underground working environment, leading to laser signal attenuation and scattering, thus affecting positioning accuracy; at the same time, since existing laser positioning technologies mostly lack a complete spatial coordinate detection and real-time correction mechanism, laser beam deviation after long-distance transmission is difficult to accurately capture, and the tunneling machine cannot be adjusted in time after deviation, easily causing tunnel axis deviation, increasing construction costs and safety risks. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to overcome the shortcomings of the prior art and provide a laser ultra-long-range linear positioning device and method for underground operations.

[0005] Technical Solution: This invention discloses a laser ultra-long-range linear positioning device for underground operations, comprising a laser emitting end fixed at the starting position of an underground roadway or tunnel, and a receiving end installed on the back or rear of the main beam of a tunneling machine. The laser emitting end is equipped with a laser emitter, which is fixedly mounted on a rotary motor. The rotary motor controls the laser emitter to perform circular motion. The laser emitted by the laser emitter is calibrated by a refracting mirror and then incident parallel to the receiving end. An adjuster controls the laser emitting end to swing left and right. The receiving end includes a receiving end mounting base plate, and a reflective parabolic mirror is fixedly mounted on the receiving end mounting base plate. The focal point of the parabolic surface of the reflective parabolic mirror coincides with the center of the upper surface of the receiving end mounting base plate. The opening of the parabolic surface of the reflective parabolic mirror faces the rear of the tunneling machine. A two-dimensional position sensitive sensor is installed in a recessed groove at the center of the receiving end mounting base plate. The laser emitter is calibrated by a ruler to make the laser irradiation direction parallel to the target tunneling direction of the tunneling machine. The laser passes through a dustproof mirror and is directly incident on the entrance of the reflective parabolic mirror and reflected to the center of the two-dimensional position sensitive sensor.

[0006] A further improvement of the present invention is that the dustproof housing is fixedly installed on the outside of the reflective parabolic mirror and connected to the receiving end mounting base plate. A dustproof mirror is installed at the parabolic opening of the reflective parabolic mirror. The dustproof mirror is connected to both the receiving end mounting base plate and the dustproof housing. A dust removal brush is installed on the outside of the dustproof mirror.

[0007] A further improvement of the present invention is that the laser emitter, the rotary motor, the refractive mirror, and the adjuster are all fixed on the telescopic bracket.

[0008] A laser-based long-range linear positioning method for underground operations includes the following steps: S1: Fix the laser transmitter at the starting position of the underground roadway or tunnel, and install the acquisition and receiving end on the back or rear of the main beam of the tunneling machine; S2: Establish a spatial coordinate system; S3: Adjust the laser emitter to continuously emit a collimated laser beam through the refracting mirror. The corrected laser beam propagates along the target tunneling direction, passes through the dustproof mirror, and is directly incident on the entrance of the reflective parabolic mirror. The parallel incident laser beam is reflected and converges on the two-dimensional position sensitive sensor to form a light spot. S4: During the advance of the tunneling machine, the difference between the real-time coordinates of the two-dimensional position sensitive sensor and the reference coordinates is continuously detected. By reducing the difference, the position of the tunneling machine is adjusted so that the tunneling machine is always on the central axis of the roadway.

[0009] A further improvement of the present invention is that the origin O of the coordinate system is taken as the midpoint of the arc where the bottom edge of the reflective parabolic mirror intersects with the base plate of the receiving end, the vertical direction is taken as the z-axis, the upward vertical direction is taken as the positive z-axis, the central axis of the tunnel is taken as the y-axis, the forward direction of the tunneling machine is taken as the positive y-axis, the direction that passes through the origin O and is perpendicular to both the y-axis and the z-axis is taken as the x-axis, and the right side of the central axis of the tunnel along the forward direction of the tunneling machine is taken as the positive x-axis.

[0010] A further improvement of the present invention is that, with the starting point of the laser emitted by the laser emitter to the refractive mirror as A, the point irradiated on the reflective parabolic mirror as D, the focal point as F, the point reflected onto the two-dimensional position sensitive sensor as C, and the reference point as point C0, when the irradiation direction is parallel to the target tunneling direction, the starting point of the emitted laser is B, and the laser is reflected onto the reference point C0 of the two-dimensional position sensitive sensor.

[0011] A further improvement of the present invention is that a 0 coordinate system is set. World coordinate system, coordinate system 1 Let the coordinate system be the tunneling machine coordinate system, denoted by superscript. The incident vector in for:

[0012] Elements and offset motion in the coordinate system and three-dimensional rotational motion The relevant calculation formula is as follows:

[0013] Will With the equation of a parabola By combining the equations, we can obtain the coordinates of point D. in, Let D be the horizontal coordinate. Let D be the vertical coordinate of point D, and p is the polar logarithm, which determines the curvature and opening direction of the parabola.

[0014] A further improvement of the present invention is that the coordinates of the focus F are The normal vector obtained by the gradient method is:

[0015] The incident ray vector can be calculated. In the normal vector The projection on is:

[0016] The vector of the reflected ray is:

[0017] The real-time coordinates C reflected to the two-dimensional position-sensitive sensor are:

[0018] The distance between the plane of the two-dimensional position-sensitive sensor and the plane of the receiving end mounting plate is d. for The z-component.

[0019] Substituting the coordinates obtained from the two-dimensional position-sensitive sensor into C yields the actual offset motion. T and three-dimensional rotational motion R .

[0020] Compared with the prior art, the laser ultra-long-range linear positioning device and method for underground operations provided by the present invention achieves at least the following beneficial effects: After passing through a refracting mirror and being corrected, the laser beam's irradiation direction is parallel to the target tunneling direction. The laser beam passes through a dustproof mirror and directly hits the entrance of a reflective parabolic mirror. The focal point of the parabolic surface of the reflective parabolic mirror coincides with the center of the upper surface of the receiving end mounting plate. A two-dimensional position-sensitive sensor installed in a recessed groove can accurately detect minute deviations in the laser irradiation position. Through the focusing characteristics of the reflective parabolic mirror, the parallel laser beam is precisely focused onto the two-dimensional position-sensitive sensor. Combined with the establishment of a three-dimensional spatial coordinate system and mathematical model calculation, minute deviations can be captured in real time, achieving ultra-long-range high-precision positioning. This ensures that the tunneling machine advances along a preset straight line, avoiding rework or safety hazards caused by directional deviations, ensuring project quality and progress, and providing convenience and reliability. Attached Figure Description

[0021] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments of the invention and, together with their description, serve to explain the principles of the invention.

[0022] Figure 1 This is a schematic diagram of the structure of the present invention applied to a tunneling machine; Figure 2 This is a schematic diagram of the laser emitting end of the present invention; Figure 3 This is a top view of the data acquisition and receiving end of the present invention; Figure 4 This is a schematic diagram of the positioning principle of the present invention; Figure 5 This is a schematic diagram illustrating the specific structure and positioning method of the present invention.

[0023] Among them, 1-laser emitting end; 2-acquisition and receiving end; 101-laser emitting device; 102-rotary motor; 103-refracting mirror; 104-adjuster; 105-telescopic bracket; 201-receiving end mounting plate; 202-two-dimensional position sensitive sensor; 203-reflective parabolic mirror; 204-dustproof housing; 205-dustproof mirror; 206-dust removal brush. Detailed Implementation

[0024] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention.

[0025] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the invention or its application or use.

[0026] Techniques, methods, and apparatus known to those skilled in the art may not be discussed in detail; however, where appropriate, such techniques, methods, and apparatus should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0027] See the attached instruction manual. Figure 1-5 A laser ultra-long-range linear positioning device and method for underground operations includes a laser emitting end 1 fixed at the starting position of an underground roadway or tunnel, and a data acquisition and receiving end 2 installed on the back or rear of the main beam of a tunneling machine. The laser emitting end 1 is equipped with a laser emitter 101, which is fixedly mounted on a rotary motor 102. The rotary motor 102 controls the laser emitter 101 to perform circular motion. The laser emitted by the laser emitter 101 is refracted by a refractive mirror 103 and then incident parallel to the data acquisition and receiving end 2. An adjuster 104 controls the laser emitting end 1 to swing left and right. The data acquisition and receiving end 2 includes a receiving end mounting base plate 201. A reflective parabolic mirror 203 is fixedly installed on the receiving end mounting base plate 201. The focal point of the parabolic surface of the reflective parabolic mirror 203 coincides with the center of the upper surface of the receiving end mounting base plate 201. The opening of the parabolic surface of the reflective parabolic mirror 203 faces the rear of the tunneling machine. A two-dimensional position sensitive sensor 202 is installed in a recessed groove at the center of the receiving end mounting base plate 201. The laser emitter 101 is calibrated by a ruler to make the laser irradiation direction parallel to the target tunneling direction of the tunneling machine. The laser passes through the dustproof mirror 205 and shines directly into the entrance of the reflective parabolic mirror 203 and is reflected to the center of the two-dimensional position sensitive sensor 202.

[0028] A dustproof housing 204 is fixedly installed on the outside of the reflective parabolic mirror 203 and connected to the receiving end mounting base plate 201. A dustproof mirror 205 is installed at the parabolic opening of the reflective parabolic mirror 203. The dustproof mirror 205 is connected to both the receiving end mounting base plate 201 and the dustproof housing 204. A dust removal brush 206 is installed on the outside of the dustproof mirror 205. The laser emitter 101, rotary motor 102, refractive mirror 103, and adjuster 104 are all fixed on the telescopic bracket 105. The dust removal brush 206 is used periodically to clean the dust on the dustproof mirror 205 to ensure the laser transmittance.

[0029] A laser-based long-range linear positioning method for underground operations includes the following steps: S1: Fix the laser emitting end 1 at the starting position of the underground roadway or underground tunnel, and install the acquisition and receiving end 2 on the back or rear of the main beam of the tunneling machine; S2: Establish a spatial coordinate system; S3: Adjust the laser emitter 101 to continuously emit a collimated laser beam through the refracting mirror 103. The corrected laser beam propagates along the target tunneling direction, passes through the dustproof mirror 205, and is directly incident on the entrance of the reflective parabolic mirror 203. Due to the focusing characteristics of the reflective parabolic mirror 203, the parallel incident laser beam is reflected and converges on the two-dimensional position sensitive sensor 202 to form a light spot. S4: During the forward movement of the tunneling machine, the difference between the real-time coordinates of the two-dimensional position sensitive sensor 202 and the reference coordinates is continuously detected. By reducing the difference, the position of the tunneling machine is adjusted so that the tunneling machine is always located on the central axis of the roadway.

[0030] The origin O of the coordinate system is defined as the midpoint of the arc where the bottom edge of the reflective parabolic mirror 203 intersects with the receiving end mounting base plate 201. The vertical direction is defined as the z-axis, the upward direction is defined as the positive z-axis, the central axis of the tunnel is defined as the y-axis, and the forward direction of the tunneling machine is defined as the positive y-axis. The direction that passes through the origin O and is perpendicular to both the y-axis and the z-axis is defined as the x-axis, and the right side of the central axis of the tunnel along the forward direction of the tunneling machine is defined as the positive x-axis.

[0031] Let A be the starting point of the laser emitted by the laser emitter 101 to the refracting mirror 103, D be the point on the reflective parabolic mirror 203, F be the focal point, C be the point reflected onto the two-dimensional position sensitive sensor 202, and C0 be the reference point. When the irradiation direction is parallel to the target tunneling direction, the starting point of the emitted laser is B, and the laser is reflected onto the reference point C0 of the two-dimensional position sensitive sensor 202.

[0032] Set the 0 coordinate system World coordinate system, coordinate system 1 Let the coordinate system be the tunneling machine coordinate system, denoted by superscript. The incident vector in for:

[0033] Elements and offset motion in the coordinate system and three-dimensional rotational motion The relevant calculation formula is as follows:

[0034] Will With the equation of a parabola By combining the equations, we can obtain the coordinates of point D. in, Let D be the horizontal coordinate. Let D be the vertical coordinate of point D, and p is the polar logarithm, which determines the curvature and opening direction of the parabola.

[0035] The coordinates of focus F are The normal vector obtained by the gradient method is:

[0036] The incident ray vector can be calculated. In the normal vector The projection on is:

[0037] The vector of the reflected ray is:

[0038] The real-time coordinates C reflected to the two-dimensional position-sensitive sensor 202 are:

[0039] The distance between the plane of the two-dimensional position-sensitive sensor 202 and the plane of the receiving end mounting plate 201 is d. for The z-component; by substituting the coordinates obtained from the two-dimensional position sensor 202 into C, the actual offset motion T and the three-dimensional rotational motion R can be obtained.

[0040] This invention allows adjustment of the horizontal direction of the emitted laser by adjusting the regulator, and adjustment of the vertical height of the emitted laser by adjusting the telescopic bracket 105 of the laser emitter, so that the irradiation direction of the laser emitter 101 after passing through the refracting mirror 103 and being corrected is parallel to the target tunneling direction. The laser shines directly through the dustproof mirror 205 into the entrance of the reflective parabolic mirror 203. Substituting the coordinates obtained from the two-dimensional position sensitive sensor 202 into C, the actual offset motion can be obtained.T and three-dimensional rotational motion R The two-dimensional position-sensitive sensor 202 converts real-time coordinate signals into electrical signals and transmits them to the control system of the tunneling machine. The control system sends control signals to the guiding adjustment mechanism of the tunneling machine according to the deviation to adjust the position and ensure that the tunneling direction is always consistent with the target axis.

[0041] In summary, through optimized device structure design and precise calculation of positioning methods, ultra-long-range linear positioning for underground operations was achieved. The dustproof structure ensured equipment stability in harsh environments, and the real-time deviation correction mechanism ensured the positioning accuracy of the tunneling machine. The height of the laser emitter can be flexibly adjusted by setting up a telescopic support, and calibration ensures that the laser emitter's illumination direction is parallel to the target tunneling direction. The acquisition and receiving end is equipped with a dustproof shell, dustproof mirror, and dust removal brush as protective components, effectively preventing dust from affecting laser reception and improving the stability and reliability of the device. The two-dimensional position sensitive sensor can accurately detect minute deviations in the laser illumination position. Combined with the linear propagation characteristics of the laser beam, millimeter-level positioning accuracy can be achieved, ensuring that the tunneling machine advances along a preset straight line, avoiding rework or safety hazards caused by directional deviations.

[0042] While specific embodiments of the invention have been described in detail by way of examples, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of the invention. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. A laser ultra-long-range linear positioning device for underground operations, characterized in that, The system includes a laser emitting end (1) fixed at the starting position of an underground roadway or tunnel, and a receiving end (2) installed on the back or rear of the main beam of the tunneling machine. The laser emitting end (1) is equipped with a laser emitter (101), which is fixedly mounted on a rotary motor (102). The rotary motor (102) controls the laser emitter (101) to perform circular motion. The laser emitted by the laser emitter (101) is refracted by a refracting mirror (103) and then enters the receiving end (2) in parallel. An adjuster (104) controls the laser emitting end (1) to swing left and right. The receiving end (2) includes a receiving end mounting base plate (201) and a reflective parabolic mirror (203). 03) The reflective parabolic mirror (203) is fixedly installed on the receiving end mounting base plate (201). The focal position of the parabolic surface of the reflective parabolic mirror (203) coincides with the center position of the upper surface of the receiving end mounting base plate (201). The parabolic opening of the reflective parabolic mirror (203) faces the rear of the tunneling machine. A two-dimensional position sensitive sensor (202) is installed in the recessed groove set at the center position of the receiving end mounting base plate (201). The laser emitter (101) is calibrated by a ruler so that the irradiation direction of the laser is parallel to the target tunneling direction of the tunneling machine. The laser passes through the dustproof lens (205) and shines directly into the entrance of the reflective parabolic mirror (203) and is reflected to the center position of the two-dimensional position sensitive sensor (202).

2. The laser ultra-long-range linear positioning device for underground operations according to claim 1, characterized in that, A dustproof housing (204) is fixedly installed on the outside of the reflective parabolic mirror (203) and connected to the receiving end mounting base plate (201). A dustproof mirror (205) is installed at the parabolic opening of the reflective parabolic mirror (203). The dustproof mirror (205) is connected to both the receiving end mounting base plate (201) and the dustproof housing (204). A dust removal brush (206) is installed on the outside of the dustproof mirror (205).

3. A laser ultra-long-range linear positioning device for underground operations according to claim 1, characterized in that, The laser emitter (101), rotary motor (102), refractive mirror (103), and adjuster (104) are all fixed on the telescopic bracket (105).

4. A laser ultra-long-range linear positioning method for underground operations, characterized in that, Using the apparatus according to any one of claims 1-3, the steps include: S1: Fix the laser emitting end (1) at the starting position of the underground roadway or underground tunnel, and install the acquisition receiving end (2) on the back or rear of the main beam of the tunneling machine; S2: Establish a spatial coordinate system; S3: Adjust the laser emitter (101) to continuously emit a collimated laser beam through the refracting mirror (103). The corrected laser beam propagates along the target tunneling direction, passes through the dustproof mirror (205), and is directly incident on the entrance of the reflective parabolic mirror (203). The parallel incident laser beam is reflected and converges on the two-dimensional position sensitive sensor (202) to form a light spot. S4: During the forward movement of the tunneling machine, the difference between the real-time coordinates of the two-dimensional position sensitive sensor (202) and the reference coordinates is continuously detected. By reducing the difference, the position of the tunneling machine is adjusted so that the tunneling machine is always located on the central axis of the roadway.

5. A laser ultra-long-range linear positioning method for underground operations according to claim 4, characterized in that, The origin of the coordinate system is O, with the midpoint of the arc where the bottom edge of the reflective parabolic mirror (203) intersects the receiving end mounting base plate (201). The vertical direction is the z-axis, the upward vertical direction is the positive z-axis, the central axis of the tunnel is the y-axis, the forward direction of the tunneling machine is the positive y-axis, the direction passing through the origin of the coordinate system O and perpendicular to both the y-axis and z-axis is the x-axis, and the right side of the central axis of the tunnel along the forward direction of the tunneling machine is the positive x-axis.

6. A laser ultra-long-range linear positioning method for underground operations according to claim 5, characterized in that, The laser emitted by the laser emitter (101) to the refracting mirror (103) starts at point A, the point on the reflective parabolic mirror (203) is D, the focal point is F, the point reflected onto the two-dimensional position sensitive sensor (202) is C, the reference point is point C0, and when the irradiation direction is parallel to the target tunneling direction, the starting point of the emitted laser is B, and the laser is reflected onto the reference point C0 of the two-dimensional position sensitive sensor (202).

7. A laser ultra-long-range linear positioning method for underground operations according to claim 6, characterized in that, Set the 0 coordinate system World coordinate system, coordinate system 1 Let the coordinate system be the tunneling machine coordinate system, denoted by superscript. The incident vector in for: ； Elements and offset motion in the coordinate system and three-dimensional rotational motion The relevant calculation formula is as follows: ； Will With the equation of a parabola By combining the equations, we can obtain the coordinates of point D. in, Let D be the horizontal coordinate. Let D be the vertical coordinate of point D, and p is the polar logarithm, which determines the curvature and opening direction of the parabola.

8. A laser ultra-long-range linear positioning method for underground operations according to any one of claims 4-7, characterized in that, The coordinates of focus F are The normal vector obtained by the gradient method is: ； The incident ray vector can be calculated. In the normal vector The projection on is: ； The vector of the reflected ray is: ； The real-time coordinates C reflected to the two-dimensional position-sensitive sensor (202) are: ； Wherein, the distance between the plane of the two-dimensional position sensitive sensor (202) and the plane of the receiving end mounting plate (201) is d. for The z-component; Substituting the coordinates obtained from the two-dimensional position-sensitive sensor (202) into C, the actual offset motion is obtained. T and three-dimensional rotational motion R .

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