Automatic control mechanisms of movement of the shield and the construction of the tunnel lining of the complex

 

The invention relates to the mining industry, namely the automation control tunnel complexes. The technical result is to increase the reliability and effectiveness of the control mechanisms of movement of the shield and the erection of the lining of the tunnel complex. The system contains serially connected optical unit areas, electric modulator, aperture and photoelectric receiving device, two block selection signals, two switch current block tire shapers, switch, voltage, analog-to-digital Converter, a multiplexer, a one-shot with a logical input, standby multivibrator oscillator, interface computing device and the sensor roll angle, extension of the hydraulic Jack and copy-milling cutters, as well as sensors for the nomination of the links of the manipulator of repeatediy. Unit tire shaper consists of six buffer registers. Photoelectric receiving device consists of two multi-element photodetectors, made in the form of potaczek, United by a system of vertical and horizontal buses. Disclosed the execution of the block selection signals. 1 C.p. f-crystals, 3 ill.

The invention relates to mountain Ave is ical doing tunnelling shield, containing optical unit areas, block deflection of the beam, the aperture, two matrices with solar cells connected optically, the control unit roll and block production control.with. The USSR 1122823, CL E 21, 35/24, 1983).

The disadvantages include the large size, complexity slideme-measuring system and lack of reliability.

A known system of automatic control of the movement of the collector tunneling shield is used as a prototype that is closest to the proposed containing optical unit areas, block deflection of the beam, the aperture, two movable matrix with cells associated optical control unit, the unit of measurement of the roll angle.with. The USSR 1599537, CL E 21 35/24, 1988).

The disadvantages of the known systems include complex mechanical and optical part of the tracking system, lack of reliability, and the design complexity of the receiving part of the system.

The invention is directed to improving the reliability and efficiency of the control mechanisms of movement of the shield and the erection of the lining of the tunnel complex.

This is achieved by automatic control mechanisms of movement of the shield and erection of supports United optical unit areas, electric modulator, aperture and photoelectric receiving device consisting of two multi-element photodetectors, with two blocks of the sampling signals, the two switches of the current block tire shapers and six buffer registers, the analog sensor roll angle, extension of the hydraulic cylinder and backup of the milling cutter, digital position sensors of the first, second and third links of the manipulator are repeatediy, switch, voltage, analog-to-digital Converter, a multiplexer, a one-shot with a logical entrance, waiting for the multivibrator, the master oscillator and interface, and multi-element photodetectors made in the form of potaczek, United by a system of vertical and horizontal tire, which respectively through the first and second switches, the current is connected with the first inputs respectively of the first and second block selection signals to the second inputs of which are connected to the output of the oscillator, to the third and fourth inputs of the block selection signals connected standby output of the multivibrator to the input of which is connected to the output of one-shot with a logic input, the input of which is connected the first and second outputs block selection signals, the third and the fourth is vertigo buffer registers block tire shapers, to the second inputs of which are connected to the output of one-shot with a logic input and to the input of the fifth buffer register block tire shaper connected to the output of the analog-to-digital Converter, whose input is connected to output switch voltages to the inputs of which are connected the outputs of the sensors of the roll angle and extension of the hydraulic Jack and copier-cones and through the output interface of the computing device and to the input through the interface connected to the outputs of the buffer register block tire shapers. Each block of sample signals consists of demultiplexes the vertical and horizontal tire, counter, counter-divider, two blocks match, the two cumulative registers, the one-shot and series-connected amplifier, detector and trigger, the output of which is connected to the first inputs of the blocks match, to the second inputs of which are connected to the first outputs of demultiplexes the vertical and horizontal bus, the second outputs which are respectively the first and second outputs block selection signals, and outputs blocks of coincidence is connected to the first inputs of the cumulative registers, the second inputs of which are the first and second inputs of the block selection signal, o is lnyh tires and through the counter-divider to the input of the demultiplexer vertical tire, and the inputs of the amplifier and the one-shot are respectively the third and fourth inputs of the block selection signals, and third outputs of demultiplexes the vertical and horizontal bus and outputs cumulative registers are respectively the third, fourth, fifth and sixth outputs block selection signals.

In Fig. 1 presents a functional diagram of the system of automatic control of the movement shita and repeatediy tunnel complex. In Fig. 2 illustrates the placement of the equipment of system of automatic control of the movement at the tunnel complex and in the tunnel. In Fig.3 presents a flowchart of the program operation of the data processing system of automatic control of the movement of the shield and repuclican tunnel complex.

The system consists of an optical unit in the direction of the laser 1 beam which passes through the electric modulator 2 and the diaphragm 3, is fed to two multi-element photodetector 4, 5, having a matrix structure, is electrically connected through the switch current 6, 7 with blocks of samples of the signals 8, 9, and through the power bus structure 10, an interface 11 with Cove extension copier-cones 15 and sensor roll angle 16, electrically connected with the switch voltage 17; position sensors of the first, second and third links of the manipulator are repeatediy 18, 19, 20, electrically connected with the multiplexer 21.

Switch voltage 17 through the analog-to-digital Converter 22, block tire formers 10, an interface 11 is connected to the computing device 12, and an operator console 13. The multiplexer 21 through the power bus structure 10, an interface 11 is connected to the computing device 12, and an operator console 13. Computing device 12 via the interface 11, the output register 23 and the relay unit 24 is connected with the actuators 25 mechanism of movement of the shield and 26 mechanism of erection of the lining. The master oscillator 27 is connected with the block selection signals 8, 9, each of which consists of the one-shot 28 associated with the meter 29, one input of which is connected to the input of the demultiplexer horizontal bus 30, and the second through the counter-divider 31 is connected to the input of the demultiplexer vertical tire 32. The input of the amplifier 33 is connected to the switch current 6 (7), and exit through the detector 34 and the trigger 35 is connected to one of inputs of the blocks match 36 and 37, the outputs of which are connected through cumulative registers 38 and 39 with the buffer registers 40, 41, the analog-to-digital Converter 22, and the output interface 11 and the buffer register 45, the input connected to the multiplexer 21, and the output interface 11. Input standby multivibrator 46 is connected to the output of one-shot with a logical input 47, and the output from the second cumulative inputs of the registers 38 and 39. Repuclic 26 has three segments: the first drive link 48, the actuator of the second link 49, the actuator of the third link 50. The block diagram of the program data consists of a start program 51, a block of input data 52, the unit for computing the coordinates of the deviation of the beam on the blade and a tail photodetectors 53, block calculating the nomination of governors of the hydraulic cylinders 54, the unit for computing the roll angle 55, unit calculating the position of the tunnel complex 56, the unit for computing the coordinates of the links of the manipulator 57, block issuing control actions 58, the unit delay time of 59. All program data is performed by the microprocessor.

The laser 1, an electric modulator 2, the diaphragm 3 are installed in the tunnel, and all other blocks on the tunnel complex.

Obtaining information about the coordinate axis of the tunnel shield is performed by multi-element photodetectors 4, 5, and as sensitive elements in fotofreek, the combined system of vertical X horizontal and Y tire and allows selection of the output signal.

Automatic control mechanisms of movement shita and construction of tunnel lining works as follows.

The master oscillator 27 produces rectangular pulses, which are fed to the input of the one-shot 28, which includes a counter 29, one end of which is connected to the input of demultiplexer horizontal bus 30, and the second output through the counter-divider 31 to the input of the demultiplexer vertical tire 32. The counter 29 with the frequency of the master oscillator 27 through demultiplexer horizontal bus 30 through the switch current 6 connects the horizontal bus to the input of amplifier 33. The counter-divider 31 by means of the demultiplexer vertical tire 32 frequency oscillator 27, divided by the number of horizontal bus, connects in turn to the vertical bus to the voltage source. Thus, polling all poliacek. If a photodiode matrix illuminated by the laser beam 1, the connection of the voltage source is removed and the signal received at the input of the amplifier 33. The amplified signal through det the s inputs which in turn signals with demultiplexes the horizontal and vertical tire 30 and 32. The coincidence of signals from the trigger and demultiplexes the horizontal and vertical tire 30 and 32 to the inputs of the blocks match 36 and 37, their outputs are generated, the signals "1" are recorded in the cumulative registers "X" 38 and "Y" 39. After passing the polling cycle all potaczek, demultiplexes signals horizontal and vertical tire 30 and 32 starts the one-shot with a logical input 47, which supplies the gate signal to the buffer registers 40, 41, 42, 43. As a result, the information is overwritten with the cumulative registers 38 and 39 in the buffer registers 40 and 41. This is followed by a zero cumulative registers 38 and 39 of the signal output from the standby multivibrator 46, which is triggered by a signal from the one-shot with a logical input 47. The signal from the standby multivibrator served with exposure time required to forward information from the cumulative registers 38 and 39 in the buffer registers 40, 41. The channel information from the second photodetector 5 has a similar scheme first, and sampling and signal processing is parallel. The magnitude of the extension of the control jacks measured by the sensor 14, the nomination copier-cones measured by the sensors 15 and the roll angle, iserenity 44. The magnitude of the extension of the links of the manipulator of repeatediy first measured by the sensor 18, the second measured by the sensor 19, and the third measured by the sensor 20 through the multiplexer 21, served in the buffer register 45.

Information processing computing device 13 is carried out according to the following algorithm: After manual or automatic start-up program unit 51 is input into the memory of the computing device from the buffer registers 40, 41, 42, 43, 44 and 45 of the block 52. Calculating the coordinates of the block 53 is as follows. If exposed one or more photodiodes of the photodetector, then calculates the distance from the origin to the axis of the laser beam, as the average formula: Xi=Li; XTM=(Xi+1+Xi)/K, where i is the number exposed (respondents) photocell (i=0,1,.... n); n is the number of vertical buses in the matrix; Xi- distance to illuminated solar cell from the origin; L is a scaling factor (the distance between the photocells); K is the number of illuminated elements; XTM- coordinate axis divergence of the beam on the blade photodetector.

The definition of YTMthe Y coordinate of the knife on the photodetector and XCP, YHN< the value for the nomination of governors of hydraulic jacks and backup cutter unit 54, as well as the magnitude of the roll angle unit 55 according to the following formula:
Ai=2i;
A=(Ai+1+Ai)M,
where Aiis a decimal number corresponding to the first element equal to "l" binary information sequence;
i - number of the element equal to "l" binary information sequence;
M is the scaling factor, respectively, of the sensor extension control jacks, backup cutters, roll sensor;
A - value corresponding to the nomination of governors of jacks, backup cutters, as well as the angle of the tilt sensor.

The calculation of the provisions of tunnel complex in the space of the block 56 is produced by the following formulas:
Xn=XTM+asin(q)+lnsin(arctn ((XCP-XTM)/L));
Yn= YTM+a(l-cos(q))+lnsin(arctn((YCP-YTM)/L));
Xx= XCP+asin(q)+lnsin(arctn((XCP-XTM)/L);
Yx= YCP+a(l-cos(q))+lnsin(arctn((YCP-YTM)/L));
where Xn, Y CP
, YCP- coordinate deflection on the blade and the tail of the multi-element photodetectors 4,5;
and is the installation size of the photodetecting devices in a vertical plane relative to the longitudinal axis of the shield;
ln-the distance from the knife to the knife multi-element photodetector;
lx- the distance from the tail to stab multielement photodetector;
L is the distance between the blade and tail multielement photodetector (4 and 5);
q = a - roll angle.

The algorithm works by repeatediy performed by the block 57, the following.

The beginning of the absolute coordinate system of repeatediy is calculated as follows:
Xto=Xx+(lDWR+Lp-c)sin(arctn((XCP-XTM)/L))+(Lp-c)sin((lDWR-lDNH)/D));
Yto=Yx+(lTLD+Lp-c)sin(arctn((YCP-YTM)/L))+(Lp-c)sin((lTLD-lthe bottom)/D));
Zto=lz+Lp-c
where lDWR, lDNH, lTLD, lthe bottom- magnitude extension of the upper and lower jacks in the horizontal and vertical planes;
lzthe maximum length of the value of extension jacks in the plane Z;
Lp- the length of the spacer ring;
D is the diameter of the supporting ring hydrea manipulator repeatediy in its own coordinate system are calculated as follows.

Zm=Zto+ll+q1;
Xm=Xto-sinq2(l3+q3);
Ym=Yto-cosq2(l3+q3),
where q1,q2,q3- generalized coordinates of the first, second and third links of the manipulator for stacking supports, which are digital sensors 18, 19, 20;
ZmXm, Ym- the horizontal coordinate along the longitudinal axis of generation, the horizontal coordinate along the transverse axis of generation and vertical coordinate, respectively;
ll, l3- length of the first and third links of the manipulator are repeatediy.

After the shield is moved by a specified distance and defined its new position, the program, in accordance with block 58, implements the algorithm of motion of the links of the manipulator are repeatediy for the erection of supports, which are as follows.

With the computing device 12 via the interface 11 and the output register 23 and the relay unit 24 is given a control signal on the nomination of the first link of the manipulator of repeatediy axis generation 48. When the link in the appropriate position, the position sensor 18 that measures the generalized coordinate q1through the multiplexer 21 and the block buffer registers 10, interp is this with the computing device 12 via the interface 11, the output register 23 and the relay unit 24 is given a control signal to disable the drive of the first link and on the nomination of the third link 50 manipulator repeatediy axis Z. When the link in the appropriate position, the position sensor 20 through the multiplexer 21 and the block buffer register 10, an interface 11 given the signal to computing device 12.

Then, the computing device 12 via the interface 11, the output register 23 and the relay unit 24 is given a control signal to disable the drive of the third link and the capture of tubing Tong. Once the gripper has captured the tubing, there is a issue with the computing device 12 via the interface 11, the output register 23 and the relay unit 24 of the control signal at the reverse drive of the third link 50 manipulator repeatediy. When the link in the desired position, the position sensor 20 through the multiplexer 21 and the block buffer register 10, an interface 11 given the signal to computing device 12.

After that, with the computing device 12 via the interface 11, the output register 23 and the relay unit 24 is given a control signal to disable the drive of the third link and the reverse drive of the first link of the manipulator of repeatediy 48. As soon as the first link contiguities signal to computing device 12.

As a result, computing device 12 via the interface 11, the output register 23 and the relay unit 24 is given a control signal to disable the drive of the first link 48 and to activate the actuator of the second link 49 manipulator repeatediy to rotate by a given angle. As soon as the second element has reached a predetermined position, the position sensor 19 through the multiplexer 21 and the block buffer register 10, an interface 11 given the signal to computing device 12.

Then, the computing device 12 via the interface 11, the output register 23 and the relay unit 24 is given a control signal to disable the second drive link 49 and the inclusion of the third link manipulator repeatediy 50. As soon as the third link has reached a predetermined position, the position sensor 20 through the multiplexer 21 and the block buffer register 10, an interface 11 given the signal to computing device 12.

After that, with the computing device 12 via the interface 11, the output register 23 and the relay unit 24 are control signals to the drive is off third link 50 and the installation of the tubing.

Once the tubing is installed, with the computing device 12 via the interface 11, the output register 23 and the relay unit 24 is given a control signal at d is placed 20 through the multiplexer 21 and the block buffer registers 10, the interface 11 is given a signal to computing device 12.

In the next moment with the computing device 12 via the interface 11, the output register 23 and the relay unit 24 is given a control signal to disable the drive of the third link 50 and the reversal of the second link of the manipulator of repeatediy 49 to return it to its initial position. As soon as the second element has reached a predetermined position, the position sensor 19 through the multiplexer 21 and the block buffer register 10, an interface 11 given the signal to computing device 12.

With the computing device 12 via the interface 11, the output register 23 and the relay unit 24 is given a control signal to disable the second drive link 49. As a result, the links of the manipulator returned to its original position. Then the algorithm repeats.

The unit for computing the coordinates of the center of the grip gives data on the operator's monitor.

Recommendations on the remote interface 13 in the block 58 is expressed as a set of non-control jacks needed to move complex in the desired direction, and is determined in accordance with the type of shield. In the same block is given a link manipulator repeatediy to move. After processing by the device 12 generates control signals to the output register 23, the relay unit 24, which includes by means of actuating devices 25 (e.g., electrohydrostatic) control jacks of the shield and the links of manipulators of repeatediy 26. Remote interface 13 (e.g., video monitor) is designed to display the auxiliary information and output management recommendations tunnel complex and the construction of the tunnel lining.


Claims

1. Automatic control mechanisms of movement of the shield and the construction of the tunnel lining of the complex containing the sensor roll angle computing device and connected in series optical unit areas, electric modulator, aperture and photoelectric receiving device consisting of two multi-element photodetectors, characterized in that it has two blocks of the sampling signals, the two switches of the current block tire shapers and six buffer registers, sensors extension jacks, copier-cone and links of the manipulator repeatediy, switch, voltage, analog-to-digital Converter, a multiplexer, a one-shot with a logical entrance, waiting for the multivibrator, specifies the th vertical and horizontal tire, which respectively through the first and second switches, the current is connected with the first inputs of the respective first and second block selection signals to the second inputs of which are connected to the output of the oscillator, to the third and fourth inputs of the block selection signals connected standby output of the multivibrator to the input of which is connected to the output of one-shot with a logic input, the input of which is connected the first and second outputs block selection signals, third and fourth outputs are connected respectively to the first inputs of the respective first, second, third and fourth buffer register block tire shapers, to the second inputs of which are connected to the output of one-shot with a logic input, and to the fifth input buffer register block tire shaper connected to the output of the analog-to-digital Converter, whose input is connected to output switch voltages to the inputs of which are connected the outputs of the sensors of the roll angle, extension of the hydraulic Jack and copier-cones and through the output interface of the computing device and to the input through the interface connected to the outputs of the buffer register block tire shapers, to the sixth input buffer register block tire supply links of the manipulator repeatediy - first, second and third sections, and through the output interface of a computing device.

2. The system under item 1, characterized in that each block of sample signals consists of demultiplexes the vertical and horizontal tire, counter, counter-divider, two blocks match, the two cumulative registers, the one-shot and series-connected amplifier, detector and trigger, the output of which is connected to the first inputs of the blocks match, to the second inputs of which are connected to the first outputs of demultiplexes the vertical and horizontal bus, the second outputs which are respectively the first and second outputs block selection signals, and outputs blocks of coincidence is connected to the first inputs of the cumulative registers, the second inputs of which are the first and second inputs of the block selection signals, output the one-shot is connected to the input of a counter whose outputs are connected to the input of the demultiplexer horizontal bus, and through the counter-divider to the input of the demultiplexer vertical tire, and the inputs of the amplifier and the one-shot are respectively the third and fourth inputs of the block selection signals, and third outputs of demultiplexes the vertical and horizontal bus and outputs gralow.

 

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