System for monitoring position and controlling movement of mini-shield for building mini-tunnels

FIELD: physics.

SUBSTANCE: system consists of an optical direction selector, a photodetector unit, as well as: a unit for controlling the direction selector, a signal matching unit, a microcontroller, a decoder, a matrix background polling module, bus-type conditioners, an interrupt signal generating unit, a switch, electric drives, a unit for monitoring and controlling electric drives, an optical transmitter control unit, an optical transmitter, a photodetector. All of these elements are interconnected.

EFFECT: determination of spatial coordinates of a mini-shield with high accuracy, which enables real-time communication with apparatus fitted on the mini-shield through a laser beam, endowing this system with noise-immunity and high speed of operation.

1 dwg

 

The invention relates to automatic and automated control directional movement of tunnelling machines, shields, etc.

A device control movement of the tunneling shield containing the optical unit areas, a modulator, a photodetector unit (A.S. No. 310111 CL G01C 7/00, 1969). Such a device is cumbersome, does not have the ability to exchange information through the laser beam.

The closest technical solution to achieve the goal is the invention of "traffic management System mining machines" (A.S. No. 682647, CL. E21C 35/24, published. 30.08.1979, Bulletin No. 32), consisting of an optical unit areas, the photodetection unit, the triple prisms, the semitransparent mirror, the measuring unit, the transmission unit of the measured distance.

However, this system is bulky, has a complex structure that does not provide two-way exchange of information by means of a laser beam, to determine the coordinates of the shield in the space uses a sophisticated tracking system.

The authors had the task of creating a system of position control and motion control minisite for the construction of minichannels with reduced overall dimensions, using a static system for determining the spatial coordinates of minisite with high accuracy, and the OS is enforced operative communication with the apparatus, installed on minisite, by means of a laser beam with high noise immunity and high performance.

This problem is solved by the fact that in addition to the optical unit areas and photodetecting unit the system control unit optical unit areas, the inlet of which is connected to the first output of the block matching signal, and the output of the optical unit areas, forming a focused laser beam is applied to the tail and stab matrix photodetector unit, located on minisite. The outputs of the tail and stab matrices are connected with bus formers, in addition, outputs from the tail of the matrix is also connected to the processing unit interrupt signal and the switch. Outputs bus shapers, shaping unit of the interrupt signal and the switch are connected to the inputs of the microcontroller and the control inputs connected with the outputs of the microcontroller. Other outputs of the microcontroller are connected with two decoders, the outputs one of which is connected with blade matrix, and the outputs of another module background of the survey the tail of the matrix, the output of which, in turn, is connected to a waste matrix. Other outputs of the microcontroller are connected to the control unit of the optical transmitter, whose output is connected to the optical transmitter, forms the dominant focus of the laser beam in the direction opposite to the direction of movement of minisite, and optically connected to a photodetector located at the starting point of the tunnel. The output of the photodetecting device is connected to a second input of block matching signals, and that in turn the second output and the first input from the computing complex. Also the optical transmitter located on minisite, kinematically connected to the drive shaft rotation in a vertical plane and drive shaft rotate in a horizontal plane, the inputs and control the outputs of which are connected with the control unit and the drive control, which, in turn, is connected to the microcontroller. Additional inputs and outputs of the microcontroller are connected to the device control mechanisms minisite.

The essence of the invention lies in the fact that the introduction of the system management control unit optical unit areas and block matching signals enables the conversion of information from the electronic computing system in the form of electrical signals, the information encoded in the modulated laser optical unit areas. Introduction to the system microcontroller, decoders, module background of the survey the tail of the matrix, tire builders, block the formation of the deposits of the interrupt signal and the switch allows the determination of the coordinates of the illuminated solar cells the tail and stab matrices and minisite in space, and to receive and process the information coming from the optical unit areas in the form of a modulated laser radiation. The application control unit optical transmitter and optical transmitter allows you to convert information to be provided to computing the complex, from the electrical form in the modulated laser radiation, and inverse transform it into electrical form by using photodetecting devices and block matching signals. The use of electric drives, control unit and control actuators, as well as information about the position of minisite coming from the microcontroller, allows to stabilize the position of the optical transmitter in the same position. Electronic computing system allows the operator to control the construction process of minitonas, and provide online management minisites.

The invention is illustrated by the drawing, which is given a block diagram of a system for position control and motion control minisite for the construction of minichannels.

The system controlling the position and motion control minisite for the construction of minichannels consists of electronic computing system 1 to which the first input and a second output connected unit according to the state signal 2. To the first output of this block is connected to the control unit 3 by the optical unit 4 in the direction and to the second input of the photodetector 5. On minisite 6 installed equipment, consisting of a photodetector unit 7, which includes the tail 8 and knife 9 matrix of cells, United by their outputs to the bus formers 10, and those, in turn, outputs and control inputs to the microcontroller 11. In addition, the outputs of the tail of the matrix 8 is connected with the processing unit interrupt signal 12 and the switch 13, the outputs and the control inputs of which are connected to the microcontroller 11. Also photodetection unit 7 includes decoders 14, connected by their inputs to the microcontroller 11. One of the decoders 14 outputs connected to the blade matrix 9 and the second module 15 background of the survey the tail of the matrix 8. In addition to the photodetection unit 7 on minisite 6 has a control unit 16 of the optical transmitter 17, the actuators 18 and 19 rotate the optical transmitter 17 in the vertical and horizontal planes respectively and kinematically connected to the optical transmitter 17. The actuators 18 and 19 of its inputs and information outputs connected to the control unit and control 20 drives. Also on minisite 6 installed device 21 of the control mechanisms minisite 6, podkluchen the e information inputs and outputs to the microcontroller 11.

The entire system works as follows. Before the construction of minitones is the inclusion of the entire apparatus included in the system controlling the position and motion control minisite 6 for the construction of minichannels. The control unit 3 by the optical unit 4 directions begins to produce signals which are fed to the optical unit 4 directions and lead him in the mode of generation of continuous laser radiation directed towards minisite 6. The generated laser beam hits the tail 8 and knife 9 matrix photodetector unit 7, thereby Savicheva they photosensitive elements, United by a system of horizontal (line) and vertical (columns) of data lines. The microcontroller 11 to the loop produces the generation of control signals input to the decoders 14, in turn leading them into action. The decoders 14 produce the interpretation of signals from the microcontroller 11, and serve them on the horizontal (line) information line tail 8 and knife 9 matrices. Through horizontal information line matrix and exposed photosensitive elements of the signals from the decoders 14 are received in the vertical (columns) information line and then by bus shapers 10 activated in pairs with the decoders 14 and intended for the multiplexion output data lines of the tail 8 and knife 9 matrices. With tire shapers 10 signals are transmitted to the inputs of the microcontroller 11 and processed in it. Knowing the code (number of the scanned line)supplied to the decoders 14, and analyzing information coming from the tire formers 10, on the appearance of an active signal on the lines, the coordinates of exposed photosensitive elements and position coordinates minisite 6 in space relative to project the axis of the tunnel. In the case of care minisite 6 project from the axis of the microcontroller 11 generates control signals which are fed to the control device 21 mechanisms minisite 6 for the correct spatial position. In this mode, the system works as an automatic, but sometimes it is necessary to realize the remote control of actuators of minisite 6 or to exchange information with the equipment installed on minisite 6. The system provides the possibility of rapid exchange of information through the laser beam. The operator at the remote electronic computer system 1, in dialog mode selects certain control commands, which should lead to certain events minisite 6. Electronic computing system 1 carries out the production of control signals in accordance with the selected command is, who is coming to the block matching signals 2 to convert to a standard digital form and further to the control unit 3 by the optical unit 4 directions, which is in accordance with the incoming signals generates control signals for the optical unit 4 directions to generate them a modulated laser radiation. As soon as the modulated beam hits the tail matrix 8, the processing unit interrupts 12 generates an interrupt signal, which puts the microcontroller 11 in the training mode to receive information. The microcontroller 11 scans the tail of the matrix 8 and determines the coordinates of the exposed photosensitive elements, then it produces signals that configure the switch 13 for the reception and transmission of information with the exposed photosensitive element to the input of the microcontroller 11. Then he waits for the start of reception of data in serial format and carries out its welcome. After receiving the information, the microcontroller 11 performs its decoding and generating certain control signals actuating mechanisms of minisite 6 and enters the mode of transmission of service information to the remote operator. To do this, before transmitting the service information to the microcontroller 11 transmits the information about the angles between the axis minimi is a 6 and the design axis of the tunnel in the vertical and horizontal planes on the control unit and control 20 actuators 18 and 19 for implementation, if necessary, stabilize the position of the optical transmitter 17. He then carries out the production of signals by the serial communication channel. These signals are sent to the control unit 16 of the optical transmitter 17 and then to the optical transmitter 17 for the generation of the modulated laser radiation in the direction opposite to the direction of movement of minisite 6. The modulated beam falls on the photodetector 5 and converted into electrical pulses which are fed to block approval of the signals 2 and converted into a digital format suitable for electronic computing system 1. The obtained normalized signal in the electronic computing system 1, where and are processed according to a certain algorithm. After completion of the transmission of information to the remote operator, the microcontroller 11 returns to the scan mode tail 8 and knife 9 matrices for determining the spatial coordinates of minisite 6 and stabilize its position.

For correct operation of the processing unit interrupt signal 12 in the system block 15 background of the survey the tail of the matrix 8, which allows to respond to the occurrence of modulated beam regardless of which of the matrices tail 8 or knife 9 at this point in time scans the microcontroller 11.

During movement the value of minisite 6 may reject its longitudinal axis from the projection axis of the tunnel, and in this case, the optical transmitter 17 will also change its position in space that is not valid. To resolve this situation, the optical transmitter 17 is mounted on a special platform, the horizontal and vertical position by the actuators 18 and 19. Control of these actuators is performed by the control unit and control 20 actuators 18 and 19 according to the information received from the microcontroller 11.

The creation of this system allows to reduce the dimensions of the equipment through the use of modern element base; determine spatial coordinates of minisite about the design axis of tunnel construction with high accuracy; to carry out operative communication with the apparatus installed on minisite, by means of a laser beam with high noise immunity and high performance.

In the laboratories of the GOU VPO South-Russian state technical University (Novocherkassk Polytechnic Institute) and the limited liability Company scientific-production enterprise "UNICO" created prototype of the proposed system controlling the position and motion control minisite for the construction of minichannels conducted lab tests that confirmed the efficiency, usefulness of this system is neither, high inventive step.

Conducted patent information studies suggest the novelty of the developed system.

Based on the above, we believe that our proposed System controlling the position and motion control minisite for the construction of minichannels" can be protected by a patent of the Russian Federation.

The system controlling the position and motion control mini-shield for the construction of mini-tunnels containing optical unit areas, the photodetector, characterized in that it is provided with a control unit optical unit areas, whose input is connected to the first output of the block matching signals, and output to the optical unit areas, forming a focused laser beam, coming on the tail and stab matrix photodetector unit, and their outputs are connected to the bus structure, the outputs of which are connected with the microcontroller, the outputs of the tail of the matrix is connected with the processing unit interrupt signal and the switch, the outputs of which are connected to the microcontroller outputs the microcontroller is connected with two decoders, one output of which is connected with blade matrix, and the output of another module background of the survey the tail of the matrix, the output of which, in turn, is connected to a waste matrix, while the other is the s outputs of the microcontroller are connected to the control unit of the optical transmitter, the output of which is connected to the optical transmitter that generates a focused laser beam in a direction opposite to the direction of movement of the mini-shield, and optically connected to a photodetector, the output of which is connected with the second input of the block matching signals, and that, in turn, the second output and the first input - computing complex, while the optical transmitter is kinematically connected to drive shaft rotation in a vertical plane and drive shaft rotate in a horizontal plane, the inputs and control the outputs of which are connected with the control unit and the drive control, which, in turn, is connected to the microcontroller additional inputs and outputs of the microcontroller are connected to the device control mechanisms mini-shield.



 

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