CN-115855112-B - Self-adjusting calibration device and system for station shifting of laser transmitter

CN115855112BCN 115855112 BCN115855112 BCN 115855112BCN-115855112-B

Abstract

The invention relates to a self-adjusting calibration device and a system for a station shifting of a laser transmitter, which belong to the technical field of auxiliary equipment of a development machine detection system and comprise a support plate, wherein the support plate is horizontally arranged on the support plate, the support plate slides along the extending direction of the support plate, a rotary large arm is arranged on the upper side of the support plate, one end of the rotary large arm is hinged with the support plate, a support is vertically arranged at the other end of the rotary large arm, the support is rotatably connected with the rotary large arm, and a first calibration photosensitive element is arranged on the support.

Inventors

QI YUHAO
LI ZHIHUA
PENG JIGUO
LI YONGMING
SUN LINGFEI
ZHAO CHENGHAO
QI MAOBIN
CAO KAI
ZHAO LIANG
LIU BO

Assignees

山东能源集团有限公司
北斗天地股份有限公司

Dates

Publication Date: 20260512
Application Date: 20221226

Claims (6)

1. A self-adjusting calibration device for a laser transmitter station shift, comprising: A support plate (1); The mounting plate (2) is horizontally arranged on the support plate (1), and the mounting plate (2) slides along the extending direction of the support plate (1); the rotary large arm (3) is arranged on the upper side of the mounting plate (2), and one end of the rotary large arm (3) is hinged with the support plate (1); the bracket is vertically arranged at the other end of the rotary large arm (3), and is rotationally connected with the rotary large arm (3); the first calibration photosensitive element (4) is arranged on the bracket, and the first calibration photosensitive element (4) is connected with the bracket; the first driving mechanism is arranged on the support plate (1) and is connected with the mounting plate (2), and the first driving mechanism drives the mounting plate (2) to move along the extending direction of the support plate (1); the second driving mechanism is arranged on the mounting plate (2) and is connected with the rotary large arm (3), and the second driving mechanism drives the rotary large arm (3) to rotate around the axial direction of the support plate (1); The third driving mechanism is arranged on the rotary large arm (3) and is connected with the bracket, and the third driving mechanism drives the bracket to rotate around the axial direction of the rotary large arm (3); the first driving mechanism comprises a groove (21) formed in the top of the support plate (1), the lower side of the mounting plate (2) is embedded into the groove (21), the mounting plate (2) is in fit sliding connection with the groove (21), a rack (22) is fixedly arranged on the inner wall of one side of the groove (21), the rack (22) is parallel to the support plate (1), a first servo motor (23) is fixedly arranged on the mounting plate (2), an output shaft of the first servo motor (23) penetrates through the mounting plate (2) to be fixedly sleeved with a gear (24), the gear (24) is meshed with the rack (22), a first rotary encoder (25) is fixedly arranged on the first servo motor (23), and the first rotary encoder (25) is electrically connected with the first servo motor (23) and is used for controlling the first servo motor (23) to rotate; The second driving mechanism comprises a rotating shaft (31) penetrating through one end, close to the mounting plate (2), of the rotary large arm (3), the rotating shaft (31) is vertically and fixedly connected with the rotary large arm (3), a U-shaped connecting seat (32) is fixedly arranged at the top of the mounting plate (2), two ends of the rotating shaft (31) are vertically and rotatably connected with the inner wall of the U-shaped connecting seat (32) through bearings, a second servo motor (33) is fixedly arranged on one side, located on the U-shaped connecting seat (32), of the mounting plate (2), an output shaft of the second servo motor (33) penetrates through the U-shaped connecting seat (32) and is fixedly connected with the rotating shaft (31), a second rotary encoder (34) is fixedly arranged on the second servo motor (33), and the second rotary encoder (34) is electrically connected with the second servo motor (33) and is used for controlling the second servo motor (33) to rotate; The third driving mechanism comprises a third servo motor (41) fixedly arranged at one end, far away from the mounting plate (2), of the rotary large arm (3), an output shaft of the third servo motor (41) is vertically and fixedly connected with the bracket, a third rotary encoder (42) is fixedly arranged on the third servo motor (41), the third rotary encoder (42) is electrically connected with the third servo motor (41), and the third rotary encoder (42) is used for controlling the third servo motor (41) to rotate; Calibrating the attitude adjustment of the photosensitive element includes: When the heading machine body is not deviated, the central axis of the machine body coincides with the central axis of the roadway, and in order to lead the laser transmitter to emit laser beams to deviate from the central line of the roadway by +x cm, the self-adjusting calibration device is operated, wherein the deviation of the machine body is firstly read to be 0, the first rotary encoder (25) receives the deviation of the laser beams, the first servo motor (23) drives the mounting plate to move rightwards (0+x) m from the central axis of the machine body, the second rotary encoder (34) receives the pitching angle of the heading machine to be 0 DEG, the second servo motor (33) drives the rotary boom (3) to rotate by 90 DEG to 0 DEG from the state of being initially parallel to the machine body of the roadway, the third rotary encoder (42) receives the yaw angle of the heading machine to be 0 DEG, and the third servo motor (41) drives the box to rotate clockwise to be-0 DEG; When the body of the tunneling machine deviates from the central axis of a roadway + L m, the yaw angle of the body deviates from a clockwise angle of a pitch and deviates upwards from a angle of b, in order to enable a laser transmitter to transmit laser beams to deviate from the central axis of the roadway +xcm, the self-adjusting calibration device is operated, wherein the self-adjusting calibration device firstly reads the deviation of the body to +Lm, receives the deviation of the laser beams by a first rotary encoder (25), drives a mounting plate to move rightwards (x-L) m from the central axis of the body through a first servo motor (23), receives the pitching angle of the tunneling machine to be b DEG by a second rotary encoder, drives a rotary boom 3 to rotate by 90 DEG to b DEG from an initial state parallel to the body of the roadway clockwise, and drives a box to rotate clockwise by-a DEG by a third rotary encoder (42); after the posture of the calibrated photosensitive element is adjusted, the laser transmitter is manually adjusted, and after the calibrated photosensitive element receives the laser beam, the laser transmitter is fixed and calibrated.
2. The self-adjusting calibration device for the station shifting of the laser transmitter according to claim 1, wherein one end of the rotary large arm (3) far away from the mounting plate (2) is provided with a rotary small arm (51), the rotary small arm (51) and the rotary large arm (3) are positioned on the same straight line, one end of the rotary small arm (51) is fixedly connected with the rotary large arm (3) through a hydraulic connecting rod, and the other end of the rotary small arm is fixedly connected with the third servo motor (41).
3. The self-adjusting calibration device for the station shifting of the laser transmitter according to claim 1, wherein the support comprises a box body (61), the bottom of the box body (61) is vertically and fixedly connected with an output shaft of a third servo motor (41) of the driving mechanism, a transparent acrylic protection plate (62) penetrates through one side of the support plate (1) and is fixedly arranged on the other side of the support plate, the first calibrating photosensitive element (4) is fixedly arranged at the top of the inner wall of the other side of the support plate (1) of the box body (61), an electric swing arm dust removing brush (63) is arranged on the transparent acrylic protection plate (62), and the electric swing arm dust removing brush (63) is fixedly connected with the box body (61).
4. A self-adjusting calibration device for a laser transmitter station-moving according to claim 3, characterized in that a connecting plate (71) is vertically arranged at the bottom of the inner side of the box body (61), the connecting plate (71) is parallel to the inner wall of the box body for fixing the first calibration photosensitive element (4), the bottom of the connecting plate (71) is fixedly connected with the box body (61), the top of the connecting plate (71) is positioned below the first calibration photosensitive element (4), and a second calibration photosensitive element (72) is fixedly arranged at one side of the connecting plate (71) away from the first calibration photosensitive element (4).
5. The self-adjusting calibration device for the station shifting of the laser transmitter according to claim 1, wherein a distance measuring auxiliary plate (81) is fixedly arranged at one end of the support plate (1), and an ultrasonic distance measuring sensor (82) is fixedly arranged at one end of the mounting plate (2) close to the distance measuring auxiliary plate (81).
6. The utility model provides a self-adjusting calibration system for laser emitter moves station, includes entry driving machine (91), laser emitter (92), and laser emitter (92) are fixed at the top in tunnel, and its characterized in that still includes self-adjusting calibration device according to claim 1, self-adjusting calibration device's extension board (1) is fixed at the top of entry driving machine (91) through threaded fastener, and self-adjusting calibration device's first demarcation photosensitive element (4), second demarcation photosensitive element (72) are used for receiving the light beam that laser emitter (92) launched.

Description

Self-adjusting calibration device and system for station shifting of laser transmitter Technical Field The invention belongs to the technical field of auxiliary equipment of a heading machine detection system, and particularly relates to a self-adjusting calibration device and system for station shifting of a laser transmitter. Background The cantilever type heading machine is used as important equipment for realizing rapid tunneling of a roadway under a coal mine, and is a key technology for realizing unmanned automatic tunneling of a mining working face. Aiming at the severe environments with complex geological conditions, low illumination and non-uniform dust of a tunnel heading face, the multi-sensor-combination pose detection system based on laser perception and optical fiber inertial navigation is an effective means for acquiring the position and the pose of a heading machine body in a tunnel in real time. The laser transmitter is fixed at the top of the tunnel, the laser perception target is installed at the top of the heading machine, the laser perception system obtains transverse and longitudinal offset information of the heading machine body in real time by resolving light point information of the laser perception target, and the optical fiber inertial navigation utilizes the acquired body acceleration information to obtain attitude information of the heading machine body in real time. Along with the advance of tunneling distance, when utilizing laser perception system to acquire the horizontal and vertical position skew and the gesture information of entry driving machine fuselage in real time, because the restriction of effective transmission distance of laser emitter and colliery adverse circumstances in the pit, need move the station to laser emitter timely, guarantee laser perception system normal operating. After the station shifting is carried out on the laser transmitter, the laser beam emitted by the laser transmitter needs to be aligned and calibrated so as to ensure that the laser beam generated by the laser transmitter can be accurately beaten on the laser perception target. At present, when moving and calibrating the laser transmitters of the laser perception system, a laser transmitter needs to be reinstalled at the position to be moved, a dial is fixed at the position of the roadway top plate above the stop position of the development machine, the laser transmitters at the position before the movement send laser, the surface of the dial is used as a reference to adjust the angle of the laser transmitters at the position to be moved, the laser transmitters at the position to be moved are fixed after the surfaces of the dial are overlapped, the laser transmitters at the position to be moved are removed, the laser transmitters at the position before the movement can be completed, and the development machine continues the mining operation. However, due to low illumination and heavy dust of the underground roadway, the calibration error of station moving and alignment by manually using the dial is large, and the time for multiple calibration and adjustment of the angle of the laser transmitter are required, so that the working efficiency of the heading machine is seriously reduced. Disclosure of Invention In view of the above, the invention provides a self-adjusting calibration device and a system for moving a laser transmitter, which automatically adjust the position and the angle of a first calibration photosensitive element through transverse offset and attitude information when a development machine is stopped, and manually adjust the angle of the laser transmitter after moving the station, so that the transmitting laser falls on the calibration photosensitive element, and the calibration precision of the laser transmitter is improved. The technical scheme is that the self-adjusting calibrating device for the station moving of the laser transmitter comprises a support plate, a mounting plate, a rotary large arm, a support, a first calibrating photosensitive element, a first driving mechanism, a second driving mechanism and a third driving mechanism, wherein the mounting plate is horizontally arranged on the support plate, the mounting plate slides along the extending direction of the support plate, the rotary large arm is arranged on the upper side of the mounting plate, one end of the rotary large arm is hinged with the support plate, the support is vertically arranged on the other end of the rotary large arm, the support is rotatably connected with the rotary large arm, the first calibrating photosensitive element is arranged on the support, the first calibrating photosensitive element is connected with the support, the first driving mechanism is arranged on the support plate and connected with the mounting plate, the first driving mechanism drives the mounting plate to move along the extending direction of the support plate, the second driving mechanism is arranged on the mounting