CN-116498328-B - Three-dimensional tunnel model forming device and method based on airborne two-dimensional laser

CN116498328BCN 116498328 BCN116498328 BCN 116498328BCN-116498328-B

Abstract

The invention discloses a three-dimensional tunnel model forming device based on airborne two-dimensional laser, which comprises a laser scanning structure and an airborne controller, wherein the laser scanning structure is arranged on one side of a machine body of a cantilever type tunnel boring machine with a pose detection function, the laser scanning structure comprises a laser scanning part fixing groove, a scanning structure matched straight teeth, a supporting plate driving motor, a fixed large arm, a rotating arm driving motor, a rotating arm and a laser transmitter, the airborne controller is arranged on the machine body of the tunnel boring machine, the airborne controller is connected with the rotating arm driving motor and the supporting plate driving motor, and the airborne controller is connected with a control system of the tunnel boring machine.

Inventors

LIU JIAN
YANG MUYI
ZHAO XUEQIANG
SUN LINGFEI
MA ZHIYUAN
QI YUHAO
XU JIALI
LIU YA
Di Jiaxue
PENG PENG
WANG JINGYI
YAN YUE
ZHAO CHENGHAO

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: 20230424

Claims (5)

1. The method for scanning the three-dimensional roadway model forming device based on the airborne two-dimensional laser is characterized in that the three-dimensional roadway model forming device comprises the following steps: the laser scanning structure (1), laser scanning structure (1) sets up in the fuselage one side of cantilever type entry driving machine that has position appearance detection function, laser scanning structure (1) includes: the laser scanning component fixing groove (110), the laser scanning component fixing groove (110) is arranged on the body of the cantilever type heading machine; The scanning structure is matched with straight teeth (101) and is arranged on the inner side of the groove wall of the laser scanning component fixing groove (110); A support plate (104) slidably disposed on the laser scanning unit fixing groove (110); the supporting plate driving motor (109) is arranged on the supporting plate (104), an output shaft of the supporting plate driving motor passes through the plate surface of the supporting plate (104) and is sleeved with a gear, the gear is meshed with the tooth socket surface of the straight tooth (101) matched with the scanning structure, and the supporting plate driving motor (109) is provided with a supporting plate driving motor encoder (108); A fixed large arm (111) vertically arranged on the supporting plate (104); the rotary arm driving motor (106) is arranged at the position, close to the top end, of the side face of the fixed large arm (111), and an output shaft of the rotary arm driving motor (106) penetrates through the fixed large arm (111), and a rotary arm driving motor encoder (107) is arranged on the rotary arm driving motor (106); one end of the rotating arm (105) is connected to the output end of the rotating arm driving motor (106); a laser emitter (102) disposed on the other end of the rotating arm (105); An onboard controller (2) is arranged on the body of the tunneling machine, the onboard controller (2) is connected with the rotating arm driving motor (106) and the supporting plate driving motor (109), and the onboard controller (2) is connected with a control system of the tunneling machine; The method comprises the following steps: The heading machine is static in place after one-side tunneling operation, and the specific pose of the heading machine body is measured by the body pose detection device; After the body pose of the tunneling machine is known, the laser scanning structures (1) on two sides of the tunneling machine body adjust the pitch angle of the laser transmitters (102) through the rotary arm driving motor (106), so that laser on two sides can scan a roadway in a plane form, the specific installation positions of the two laser scanning structures are linked, and the coordinates of the laser transmitters (102) under a roadway coordinate system can be calculated through the body pose of the tunneling machine; after knowing the coordinates of the laser transmitter (102), the coordinate data of the roadway section point under each rotation angle can be found by connecting the output of a rotating arm driving motor encoder (107) arranged in a rotating arm driving motor (106) with the distance measured by laser; The method comprises the steps that point cloud data of a tunnel section are formed by coordinates of each point, the data are processed through a data processing unit in an onboard controller (2) to obtain a shape of the section, firstly, the obtained point coordinates are classified according to Y-direction displacement of a heading machine obtained by a detection system, points under the same Y-coordinate are fitted according to x-coordinate and z-coordinate to obtain a section curve, then the section curves under a plurality of Y-coordinates are combined together to form a three-dimensional model of the tunnel, a laser emitter (102) is driven by a fixed large arm (111) to move along a laser scanning part fixing groove (110) to the direction of a cutting surface to obtain the shapes of a plurality of tunnel sections under the section, and the three-dimensional model of the tunnel section is obtained through data fitting; After the roadway model of the section is obtained, the tunneling machine continues tunneling forward, the process is continued after the tunneling operation is finished, the roadway is continuously scanned, and finally the three-dimensional model of the whole section of roadway is obtained.
2. The method for scanning the three-dimensional roadway model forming device based on the airborne two-dimensional laser according to claim 1, wherein a laser scanning structure (1) is arranged on the other side of the body of the cantilever type heading machine, and the two laser scanning structures (1) are symmetrically arranged.
3. The method for scanning the three-dimensional roadway model forming device based on the airborne two-dimensional laser according to claim 1, wherein strip-shaped grooves are formed in two sides of the groove wall of the laser scanning component fixing groove (110), the supporting plate (104) is in a pi shape, and the lower part of the supporting plate (104) is clamped into the strip-shaped grooves in a protruding mode.
4. The method for scanning the three-dimensional roadway model forming device based on the airborne two-dimensional laser according to claim 1, wherein an elongated sheet metal is arranged on the bottom surface of the laser scanning component fixing groove (110), and the elongated sheet metal is fixed on the outer side of the crawler side plate through bolts.
5. The method for scanning the three-dimensional roadway model forming device based on the airborne two-dimensional laser according to claim 1, wherein the method for controlling the laser scanning structure (1) by the airborne controller (2) comprises the following steps: After the position of the heading machine is detected, an onboard controller (2) controls a rotating arm driving motor (106) to drive a rotating arm (105) to rotate, laser surface changes caused by pitch angle changes of the heading machine are compensated, so that laser is always vertical to a roadway bottom plate, when a yaw angle beta=0, each point in the roadway is directly scanned, L Measuring is calculated according to the time when the laser emitter (102) emits the laser and receives the reflected laser, when the yaw angle exists, L=L Measuring ×cosβ、B=L Measuring ×sin beta, the laser emitter (102) continuously rotates, two-dimensional coordinates x and z coordinates of a plurality of points of the roadway section are obtained according to different angles recorded by an encoder arranged in the laser emitter rotating arm driving motor (106) and the distance measured by the laser, three-dimensional coordinates of the plurality of points can be obtained by connecting the position detecting system, when the scanning is enough to fit the shape of the inner wall of the roadway, the onboard controller (2) controls the supporting plate driving motor (109) to drive the mechanical arm to move towards the Y direction, three-dimensional points of the plurality of sections are continuously obtained, then the three-dimensional coordinates of the plurality of sections are continuously calculated according to the Y coordinates, the coordinate of the points of the same section are continuously fit to the three-dimensional coordinates of the section, the three-dimensional coordinates of the roadway section is continuously obtained, the three-dimensional coordinates of the section is continuously fits the three-dimensional coordinates of the roadway section is continuously, the three-dimensionally fits the three-dimensionally, and the three-dimensional coordinates of the roadway section is continuously fits to the three-dimensionally, and the data of the roadway section is continuously fits to the three-dimensionally, and the position coordinates of the position is continuously fitted to the position, and the position is continuously fitted to the position.

Description

Three-dimensional tunnel model forming device and method based on airborne two-dimensional laser Technical Field The invention relates to the technical field of coal mine roadway three-dimensional model forming methods, in particular to a three-dimensional roadway model forming device and method based on airborne two-dimensional laser. Background In the actual tunneling process of the tunneling machine, when the cutting head encounters surrounding rocks with different properties, different acting forces are applied to the cutting head, so that jitter with different amplitudes is generated. Although the cutting trajectory of the cutting head is planned smoothly, the actual tunnel finally excavated is not smooth, and strictly speaking, the trend of the tunnel is known, but the specific shape is unknown. In terms of the requirement on the roadway three-dimensional model, the follow-up intelligent equipment can be guided to work, such as the shifting driving work of a hydraulic support, by taking the roadway three-dimensional model as a basis, the position information and the roadway forming information of each equipment can be displayed more clearly by connecting with the actual model of the roadway, and the development of a remote monitoring interface can be assisted and perfected. A method for measuring the shape of a roadway by using auxiliary equipment, such as scanning the roadway by using an aircraft-mounted laser scanning module, scanning the roadway by using a small underground vehicle-mounted laser scanning module, and the like, for example, a three-dimensional roadway model system with a patent number of CN202210428491.4, a generating method thereof and a high-precision three-dimensional model scanning device and method for an underground roadway with a patent number of CN201610384423.7 are proposed, a trolley and an aircraft are introduced as auxiliary equipment in the above patent, the selected laser scanning module is the three-dimensional laser scanning module, but the addition of the additional auxiliary equipment increases the complexity of the whole system, and compared with the situation that the roadway scanning equipment is installed on the existing engineering machinery in the pit, and the roadway is formed while working. Disclosure of Invention The invention aims to provide a three-dimensional tunnel model forming device and method based on airborne two-dimensional laser so as to solve the problems. The technical scheme of the invention is as follows: the three-dimensional tunnel model forming device based on the airborne two-dimensional laser comprises a laser scanning structure, a laser scanning module and a laser processing module, wherein the laser scanning structure is arranged on one side of a machine body of a cantilever type heading machine with a pose detection function and comprises a laser scanning part fixing groove, and the laser scanning part fixing groove is arranged on the machine body of the cantilever type heading machine; the laser driving device comprises a laser scanning component, a laser scanning component fixing groove, a supporting plate driving motor, a laser emitter, a machine-mounted controller, a driving system and a tunneling machine, wherein the supporting plate is matched with straight teeth and arranged on the inner side of the groove wall of the laser scanning component fixing groove, the supporting plate is arranged on the laser scanning component fixing groove in a sliding mode, the output shaft of the supporting plate driving motor penetrates through the surface of the supporting plate, the supporting plate is sleeved with a gear, the gear is meshed with the tooth groove surface of the supporting plate matched with the straight teeth, the supporting plate driving motor is provided with a supporting plate driving motor encoder, a fixed large arm is vertically arranged on the supporting plate, the rotating arm driving motor is arranged on the side surface of the fixed large arm and close to the top end, the output shaft of the rotating arm driving motor penetrates through the fixed large arm, the rotating arm driving motor encoder is arranged on the rotating arm driving motor, one end of the rotating arm is connected to the output end of the rotating arm driving motor, the laser emitter is arranged on the other end of the rotating arm driving motor, the machine body of the tunneling machine is provided with the machine-mounted controller, and the machine-mounted controller is connected with the supporting plate driving motor, and the machine-mounted controller is connected with the control system. Furthermore, a laser scanning structure is arranged on the other side of the machine body of the cantilever type heading machine, and the two laser scanning structures are symmetrically arranged. Further, the two sides of the groove wall of the fixing groove of the laser scanning component are provided with strip-shaped grooves, the supporting plate is pi-shape