CN104536008A - Drill jumbo blast hole laser ranging and positioning method - Google Patents

Abstract

The invention belongs to the field of laser measurement and relates to a drill jumbo blast hole laser ranging and positioning method. A device used in the drill jumbo blast hole laser ranging and positioning method comprises an industrial laser ranging sensor, a laser target, a high-precision omni-directional cloud deck and a touch screen and PLC all-in-one machine. The drill jumbo blast hole laser ranging and positioning method is applied to drill jumbo blast hole positioning in a mine drilling and blasting method. The drill jumbo blast hole laser ranging and positioning method has the advantages that the positioning process is not affected by the actual fracture surface condition of a roadway, the blast hole position is accurately positioned, operation is easy, and working efficiency is high.

Description

A Laser Range Measurement and Positioning Method for Blasting Hole of Rock Drilling Rig

technical field

The invention belongs to the field of laser measurement, and in particular relates to a laser ranging and positioning method for a blast hole of a rock drilling jumbo.

Background technique

The drill and blast method is a commonly used method in mine production. Blast hole positioning and drilling are important processes of this method. Currently, the commonly used blast hole drilling is mainly completed by rock drilling rigs.

Under normal circumstances, according to the design drawing of the blasthole project, the staff will mark the position of the blasthole with red paint on the section of the mine, and then operate the rock drilling rig to drill the blasthole. Due to the unevenness of the section of the mine road, the state of the section is very complicated, which affects the accuracy of the blasthole position, and is time-consuming and laborious.

Cao Shijie proposed a laser positioning method in the document "Single-chip Microcomputer-based Tunneling Laser Positioning Instrument [J]. Managers, 2010 (17)". This method first measures the distance from the laser generator to the positioning section, and then calculates the moving distance of the laser beam support surface through the proportional relationship according to the actual hole position and the corresponding hole position on the laser beam support, and the single-chip computer controls the movement of the laser beam support to achieve the purpose of positioning . However, the actual positioning section is uneven, the state is very complicated, and the positioning error is large, which directly affects the position accuracy of the blast hole.

Contents of the invention

The invention provides a laser ranging and positioning method for blastholes of a rock drilling jumbo, which is applied to the positioning of the blastholes of a rock drilling jumbo in the mine drilling and blasting method.

Technical scheme of the present invention:

The devices used in the laser ranging and positioning method for blastholes of rock drilling rigs include industrial laser ranging sensors, laser targets, high-precision omni-directional pan-tilts, and touch-screen PLC integrated machines.

The industrial laser ranging sensor includes a laser transmitter, a laser receiver, and a signal processing circuit. The industrial laser ranging sensor specifies the position of the gun hole by emitting laser light, and receives the laser signal reflected from the laser target to achieve laser ranging. Industrial laser ranging The sensor is connected with the touch screen PLC all-in-one machine through the data interface. The industrial laser ranging sensor is installed on the high-precision omnidirectional pan/tilt to realize the horizontal and vertical rotation of the industrial laser ranging sensor; the laser target is installed on the rock drilling jumbo On the bracket at the front end of the propulsion beam, it is used to receive and reflect the laser signal; the high-precision omni-directional pan-tilt is suspended and fixed directly below the central axis of the roof of the drilling rig operating room, and there are controls inside it to control the horizontal and vertical directions. Two stepping motors, the high-precision omni-directional pan-tilt is connected with the touch-screen PLC all-in-one machine, used to receive the control signal of the touch-screen PLC all-in-one machine, by controlling the two steps of the high-precision omni-directional pan-tilt in the horizontal and vertical directions The rotation of the motor controls the rotation of the industrial laser ranging sensor; the touch screen PLC integrated machine is installed in front of the operating room of the rock drilling rig, and controls the high-precision omni-directional pan-tilt to drive the industrial laser ranging sensor to rotate according to the design drawing of the blast hole, and calculates and The distance measurement information is displayed to facilitate the adjustment of the drill arm of the rock drilling rig; the blasthole design diagram is a blasthole location map designed according to the roadway direction and blasting theory.

(1) When positioning the body of the rock drilling rig, adjust the body so that the axis of the car body coincides with the survey line at the top of the mine roadway; on the section of the mine roadway, determine the origin of the blast hole design and the vertical projection point of the laser on the roadway section The laser coordinate system is established with the laser transmitter as the origin, and the above-mentioned deviation is added or subtracted to each coordinate value to convert the designed blast hole into the laser coordinate system.

(2) Select any blast hole to be drilled according to the blast hole design drawing on the touch screen PLC all-in-one machine, and calculate the horizontal direction of the laser beam according to the coordinates of the center point of the blast hole and the offset distance between the laser target and the drill rod center of the rock drilling rig. and deflection angles α and β in the vertical direction, as shown in Figure 2, the calculation formula is:

$\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}\frac{\mathrm{<span\; class="notranslate">\; x</span>}}{\mathrm{<span\; class="notranslate">\; l</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

$\mathrm{<span\; class="notranslate">\; \&beta;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arcsin</span>}\frac{\mathrm{<span\; class="notranslate">\; the\; y</span>}}{\sqrt{{\mathrm{<span\; class="notranslate">\; x</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; y</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; l</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

Among them, x represents the abscissa of the blast hole in the laser coordinate system; y represents the vertical coordinate of the blast hole in the laser coordinate system; l represents the vertical distance between the laser transmitter and the virtual positioning plane; the virtual positioning plane is perpendicular to the roadway The plane of the geodetic axis is located between the body of the rock drilling rig and the section of the roadway.

The touch screen PLC all-in-one machine converts the deflection angles α and β in the horizontal and vertical directions into pulse signals, and sends the pulse signals to the high-precision omni-directional pan/tilt, which drives the laser transmitter in the horizontal and vertical directions. The corresponding angle of deflection in the vertical direction. Control the movement of the drilling arm of the rock drilling rig so that the laser target at the front end of the propulsion beam of the rock drilling rig is close to the laser beam emitted by the laser transmitter. The laser target receives and returns the laser signal, and the laser receiver receives the signal to measure the laser transmitter. The distance L to the laser target, convert this distance into the vertical distance l′ from the laser target to the laser transmitter, the conversion formula is:

${\mathrm{<span\; class="notranslate">\; l</span>}}^{<span\; class="notranslate">\; \&prime;</span>}<span\; class="notranslate">\; =</span>\frac{\mathrm{<span\; class="notranslate">\; L</span>}<span\; class="notranslate">\; \&Center\; Dot;</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}}{\sqrt{\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; the\; tan</span>}}^{\mathrm{<span\; class="notranslate">\; 2</span>}}\mathrm{<span\; class="notranslate">\; \&beta;</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

(3) Compare the vertical distance l' from the laser target to the laser emitter with the vertical distance from the set virtual positioning plane to the laser emitter. Adjust the drill arm of the rock drilling rig until the laser target coincides with the virtual positioning surface. At this time, the center position of the drill rod of the rock drilling rig is the actual position of the blast hole to be drilled.

The invention has the advantages that: the positioning process is not affected by the actual cross-section of the roadway, the position of the blast hole can be precisely positioned, the operation is simple, and the working efficiency is high.

Description of drawings

Fig. 1 is a flow chart of blast hole positioning in the present invention.

Fig. 2 Schematic diagram of a blast hole space.

In the figure: 1 the virtual positioning plane; O the origin of the laser emitter.

Detailed ways

The specific implementation manners of the present invention will be further described below in conjunction with the technical solutions of the present invention and the accompanying drawings.

The positioning equipment used in the present invention includes an industrial laser ranging sensor, a laser target, a high-precision omnidirectional pan-tilt and a touch screen PLC integrated machine. The rock drilling jumbo is a tunneling type rock drilling jumbo.

The industrial laser ranging sensor is installed on the high-precision omni-directional pan/tilt, and the high-precision omni-directional pan/tilt is suspended and fixed directly below the central axis of the ceiling of the rock drilling rig operating room, and is connected with the touch screen PLC integrated machine. The industrial laser ranging sensor It is connected with the touch screen PLC integrated machine through the data interface; the laser target is installed on the bracket at the front end of the propulsion beam of the rock drilling rig, and the vertical offset distance between the center of the laser target and the center of the drill pipe of the rock drilling rig is 10cm.

Fig. 1 is a flow chart of blast hole positioning in the present invention. First, the body of the rock drilling rig is positioned so that the axis of the body of the rock drilling rig coincides with the survey line at the top of the roadway; then, within the roadway section, the distance between the origin of the blast hole design and the vertical projection point of the laser on the roadway section is determined The laser coordinate system is established with the laser transmitter as the origin, and the designed blast hole is transformed into the laser coordinate system. The operator determines the virtual positioning plane according to the section of the roadway and the position of the rock drilling rig, as shown in Figure 2. In this specific embodiment, the vertical distance l=10m from the laser transmitter to the virtual positioning plane is taken.

The operator selects a blast hole M to be drilled. The position of the blast hole in the laser coordinate system is (2m, 1.5m, 10m). As shown in Figure 2, the deflection angle of the laser emitter in the horizontal and vertical directions is calculated α and β are calculated according to formulas (1) and (2): α=11.309°, β=8.367°. The touch screen PLC all-in-one machine converts the deflection angles α and β in the horizontal and vertical directions into pulse signals, and outputs them to the high-precision omnidirectional pan/tilt to control the laser transmitter to deflect the corresponding angles in the horizontal and vertical directions, and the laser beam emitted by the laser transmitter The beam points to the blast hole to be drilled; the operator moves the drilling arm of the rock drilling rig so that the laser target at the front end of the advancing beam of the rock drilling rig is close to the laser beam, the laser target receives and returns the laser signal, and the laser receiver performs distance measurement after receiving the signal. The distance from the laser target at the front end of the propulsion beam of the rock drilling rig to the laser transmitter is L = 10.2m, and the vertical distance from the laser target to the laser transmitter is calculated by formula (3) l' = 0.970L = 9.894m, as shown in Figure 2 Show. Control the drill arm of the rock drilling rig to adjust until the laser target coincides with the virtual positioning surface, that is, when l'=10m, the position of the blast hole to be drilled can be determined.

Claims (1)

1. a drill jumbo big gun hole laser ranging localization method, is characterized in that,

Drill jumbo big gun hole laser ranging localization method device used comprises industrial lasers distance measuring sensor, laser target, high precision all-directional tripod head and touch screen/PLC all-in-one;

Industrial lasers distance measuring sensor comprises generating laser, laser pickoff and signal processing circuit, industrial lasers distance measuring sensor specifies big gun hole site by Emission Lasers, and the laser signal received from the reflection of laser target realizes laser ranging, industrial lasers distance measuring sensor is connected by data-interface and touch screen/PLC all-in-one, this industrial lasers distance measuring sensor is installed on high precision all-directional tripod head, and the level and the vertical direction that realize industrial lasers distance measuring sensor rotate; Laser target is installed on the support of drill jumbo forward beam front end, for receiving laser signal and reflecting it; The suspension of high precision all-directional tripod head is fixed on immediately below the axis of drill jumbo operation room ceiling, there are level of control direction and vertical direction two stepper motors in its inside, high precision all-directional tripod head and touch screen/PLC all-in-one are connected, for receiving the control signal of touch screen/PLC all-in-one, by the rotation of the horizontal direction and vertical direction two stepper motors that control high precision all-directional tripod head and then control industrial lasers distance measuring sensor and rotate; Touch screen/PLC all-in-one is installed on the dead ahead of drill jumbo operation room, controls high precision all-directional tripod head drive industrial lasers distance measuring sensor to rotate according to blast-hole design figure, calculates and shows ranging information so that adjust the drill boom of drill jumbo; Blast-hole design figure is the big gun hole site figure according to tunnel trend and theory of blasting design;

Step is as follows:

(1), during drill jumbo Location vehicle, adjustment car body makes the ground survey line at the axis of car body and mine working top coincide; On mine working section, determine blast-hole design initial point and the deviation of laser between drift section perpendicular projection point, be that initial point sets up laser coordinate system with generating laser, each coordinate figure adds or deducts above-mentioned deviation, makes the big gun hole of design be transformed in laser coordinate system;

(2) any big gun hole to be drilled is selected according to the blast-hole design figure on touch screen/PLC all-in-one, according to the offset or dish at the coordinate of this big gun central point of hole, laser target and drill jumbo drilling rod center, calculate laser in the horizontal direction with deflection angle α and the β of vertical direction, computing formula is:

$\mathrm{\&alpha;}=\arctan \frac{x}{l}---\left(1\right)$

$\mathrm{\&beta;}=\arcsin \frac{y}{\sqrt{x^2+y^2+l^2}}---\left(2\right)$

Wherein, x represents the horizontal ordinate of big gun hole under laser coordinate system; Y represents the ordinate of big gun hole under laser coordinate system; L represents the vertical range between generating laser to virtual locating surface; Virtual locating surface is survey the plane of axis, between drill jumbo car body and drift section perpendicular to tunnel;

The angle of deflection of horizontal direction and vertical direction and β are changed into pulse signal by touch screen/PLC all-in-one, pulse signal is transported to high precision all-directional tripod head, drives generating laser to deflect respective angles with vertical direction in the horizontal direction by high precision all-directional tripod head; The drill boom controlling drill jumbo moves, make the laser beam that the laser target of drill jumbo forward beam front end goes out near laser transmitter projects, laser target tag splice is received and return laser light signal, measurement generating laser is carried out to laser target target distance L after laser pickoff Received signal strength, this distance is converted to the vertical range l ' of laser target to generating laser, conversion formula is:

$l^{\&prime;}=\frac{L\&CenterDot;\cos \mathrm{\&alpha;}}{\sqrt{1+{\tan }^2\mathrm{\&beta;}}}---\left(3\right)$

(3) the vertical range l ' of laser target to generating laser is compared with the vertical range of set virtual locating surface to generating laser; The drill boom of adjustment drill jumbo, until laser target overlaps with virtual locating surface, now drill jumbo drilling rod center is the physical location in big gun hole to be drilled.