GB2573652A - Boring and positioning system and method for constructing winding underpass - Google Patents
Boring and positioning system and method for constructing winding underpass Download PDFInfo
- Publication number
- GB2573652A GB2573652A GB1905646.4A GB201905646A GB2573652A GB 2573652 A GB2573652 A GB 2573652A GB 201905646 A GB201905646 A GB 201905646A GB 2573652 A GB2573652 A GB 2573652A
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- reflection plane
- total station
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004804 winding Methods 0.000 title abstract 2
- 238000009412 basement excavation Methods 0.000 claims description 66
- 238000010276 construction Methods 0.000 claims description 20
- 230000000007 visual effect Effects 0.000 claims description 11
- 230000004927 fusion Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 6
- 239000003245 coal Substances 0.000 description 4
- 238000005065 mining Methods 0.000 description 2
- 238000001028 reflection method Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21D—SHAFTS; TUNNELS; GALLERIES; LARGE UNDERGROUND CHAMBERS
- E21D9/00—Tunnels or galleries, with or without linings; Methods or apparatus for making thereof; Layout of tunnels or galleries
- E21D9/003—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines
- E21D9/004—Arrangement of measuring or indicating devices for use during driving of tunnels, e.g. for guiding machines using light beams for direction or position control
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
- E21C35/24—Remote control specially adapted for machines for slitting or completely freeing the mineral
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- Engineering & Computer Science (AREA)
- Mining & Mineral Resources (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Life Sciences & Earth Sciences (AREA)
- Geochemistry & Mineralogy (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Excavating Of Shafts Or Tunnels (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A boring and positioning system for constructing a winding underpass comprises a boring module, an intelligent total station module, a reflective surface mechanism (2), a communication and control module, a strapdown inertial navigation module (1.2), a dual-axis inclinometer module, and a boring positioning prism module. The communication and control module, the strapdown inertial navigation module (1.2), the dual-axis inclinometer module, and the positioning prism module are provided at the boring module. The intelligent total station module is provided behind the boring module. The reflective surface mechanism (2) is positioned between the boring module and the intelligent total station module. The positioning system employs an integrated positioning method to perform, in real time, precise calculation to obtain a six-degree-of-freedom orientation parameter of a boring machine in an underpass.
Description
EXCAVATION POSITIONING SYSTEM AND METHOD FOR CURVED ROADWAY CONSTRUCTION
FIELD OF THE INVENTION [0001] The present invention patent relates to the field of automated excavation equipment technologies, and specifically, to an excavator adaptive cutting control system and method.
DESCRIPTION OF RELATED ART [0002] China is a big country in terms of coal mining and consumption. Problems in tunnel or roadway excavation are confronted in coal mine construction and coal mining processes. In addition, a large number of tunnel excavation demands also exist in construction of infrastructure such as roads, railroads, tunnel projects, and hydropower projects.
[0003]In the foregoing projects, using a boom-type excavator is one of the common construction manners. The boom-type excavator, as a type of efficient excavation machinery, is widely applied to roadway and tunnel excavation. Because of poor working environments, high risks, and large limitations in manual operation, automated operation of an excavator is an inevitable trend of development.
[0004]To implement automated operation of an excavator, problems, such as accurate positioning and pose determining on the excavator in a roadway or tunnel, need to be resolved first. Currently, many documents have provided methods for detecting a pose of an excavator. However, because of complex environments in roadway excavation projects and bad working conditions of excavators, many positioning methods have some limitations. Particularly, in curved roadway construction, most of the positioning methods cannot be used. Consequently, not only conditions cannot be provided for automated control on excavators, but also diversity in roadway or tunnel designing is limited.
SUMMARY OF THE INVENTION
Technical Problem i
[0005] Technical problems to be resolved by the present invention are to overcome disadvantages in the prior art, and to provide an excavation positioning system and method for curved roadway construction that can be used in either a straight-lined roadway or a curved roadway, and accurately resolve a six-degree of freedom pose parameter of an excavator in a roadway in real time, thereby resolving an accurate positioning and pose determining problem of the excavator in the roadway or a tunnel and providing a necessary condition for automated operation of the excavator.
Technical Solution [0006] To achieve the foregoing objective, a technical solution used in the present invention is that: An excavation positioning system for curved roadway construction is provided, including: an excavation module, an intelligent total station module, a reflection plane apparatus, a communications and control module, a strapdown inertial navigation system module, a dual-axis tilt sensor module, and an excavation positioning prism module, where the communications and control module, the strapdown inertial navigation system module, the dual-axis tilt sensor module, and the positioning prism module are all disposed on the excavation module, the intelligent total station module is disposed behind the excavation module, and the reflection plane apparatus is disposed between the excavation module and the intelligent total station module;
[0007] the excavation positioning prism module includes a front positioning prism component and a rear positioning prism component that are disposed in a collinear manner; and [0008] the reflection plane apparatus includes a controller, a walking mechanism, a rotation driving mechanism, a laser reflection plane component, a reflection plane positioning prism component, and a total station rearview prism component; the rotation driving mechanism is mounted on the walking mechanism, the reflection plane positioning prism component is disposed on the rotation driving mechanism; and the controller is disposed inside the reflection plane apparatus, and configured to control movement of the walking mechanism and the rotation driving mechanism, and store a rotation angle of the laser reflection plane relative to the walking mechanism in real time.
[0009] In a further improvement to the present invention, the reflection plane positioning prism component includes at least three 360° prisms; and the total station rearview prism component includes two 360° prisms symmetrically disposed with respect to the walking mechanism.
[OOlOJIn a further improvement to the present invention, an excavation positioning method for curved roadway construction is provided, including the following steps:
[0011] a. when an excavation module works inside a roadway, first directly positioning, by an intelligent total station module, the excavation module within a visual distance;
[0012] b. when the intelligent total station module cannot effectively position an excavator positioning prism because of a non-visual distance reason such as a roadway curve, disposing a reflection plane apparatus in a curved roadway between the excavation module and the intelligent total station module and fixing the reflection plane apparatus;
[0013] c. positioning, by the intelligent total station module, a positioning prism of the reflection plane apparatus, to obtain a six-degree of freedom pose parameter of the reflection plane apparatus in the roadway, where a rotation angle of a laser reflection plane component relative to a walking mechanism of the reflection plane apparatus is resolved by a controller in real time, so that the laser reflection plane component in the roadway is expressed by a known plane equation; and according to a mirror reflection principle, after the intelligent total station module obtains by measurement and calculation coordinates of an excavation positioning prism module, obtaining a symmetric point of this point with respect to the laser reflection plane component, that is, actual three-dimensional coordinates of the excavation positioning prism module in the roadway;
[0014] d. when the excavation module travels forward by a far enough distance, and the excavation positioning prism module cannot be effectively positioned even by using the laser reflection plane apparatus because a visual distance range is exceeded, necessarily performing, by the intelligent total station module, a rapid station-moving operation, where in this case, the pose parameter of the reflection plane apparatus is still known, that is, three-dimensional coordinates of a total station rearview prism component in the roadway are known; moving the intelligent total station module to a proper location between the excavation module and the reflection plane apparatus, positioning, by the total station rearview prism component, the intelligent total station module by using a rear view method, and then, moving the reflection plane apparatus to a proper location between the excavation module and the intelligent total station module and fixing the reflection plane apparatus;
[0015] e. repeating step c to step d, to accurately position the excavation module in a whole curved roadway excavation process in real time; and [0016] f when an excavator enters a straight-lined roadway for construction, performing effective combined positioning on the excavation module without using the reflection plane apparatus.
[0017] In a further improvement to the present invention, in the positioning method, a combined positioning manner combining the intelligent total station module and a strapdown inertial navigation system module is used, the intelligent total station module calculates the coordinates of the excavation positioning prism module, to obtain a location parameter and a body direction angle parameter of the excavation module, and then, obtains a roll angle and a pitch angle of a body by using a dual-axis tilt sensor module, so as to obtain the six-degree of freedom pose parameter of the excavation module; and in addition, the six-degree of freedom pose parameter of the excavation module is alternatively resolved in real time by using the strapdown inertial navigation system module, and asynchronous fusion is performed on two types of positioning data, so as to perform combined positioning.
[0018] In a further improvement to the present invention, when the reflection plane apparatus needs to be disposed, the reflection plane apparatus is disposed on an outer side of the curved roadway between the excavation module and the intelligent total station module and at a position farthest from the intelligent total station module; the laser reflection plane component adjusts a rotation angle relative to a body of the reflection plane apparatus according to a location of the excavation module, so as to increase a curved roadway positioning distance during single-time station moving of the intelligent total station module as much as possible.
Advantageous Effect [0019] Because of use of the foregoing technical solutions, compared with the prior art, the present invention has the following advantages:
[0020] The present invention can be used in either a straight-lined roadway or a curved roadway, and accurately resolve a six-degree of freedom pose parameter of an excavator in a roadway in real time, thereby resolving an accurate positioning and pose determining problem of the excavator in the roadway or a tunnel and providing a necessary condition for automated operation of the excavator.
BRIEF DESCRIPTION OF THE DRAWINGS [0021]The technical solutions of the present invention are further described below with reference to accompanying drawings:
[0022] Fig. 1 is a schematic diagram of disposition of an excavation positioning system according to the present invention;
[0023] Fig. 2 is a schematic structural diagram of a boom-type excavator according to the present invention;
[0024] Fig. 3 is a schematic three-dimensional diagram of a reflection plane apparatus according to the present invention;
[0025] Fig. 4 is a schematic diagram of a principle of a mirror reflection positioning method according to the present invention;
[0026] Fig. 5 is a schematic diagram of a farthest effective positioning distance during curved roadway construction of an excavator according to the present invention; and [0027] Fig. 6 is a schematic diagram of impact on a system when an angle of a laser reflection plane changes according to the present invention.
[0028] In the drawings, l:boom-type excavator; 1.1: communications and control system; 1.2:strapdown inertial navigation system module; 1.3:dual-axis tilt sensor; 1.4:excavator positioning prism; 2:reflection plane apparatus; 2.1:walking mechanism; 2.2:rotation driving apparatus; 2.3stepping motor; 2.4:laser reflection plane; 2.5 reflection plane apparatus positioning prism; 2.6:total station rearview prism; 3 intelligent total station module; 4:roadway; 5:coal rock.
DETAILED DESCRIPTION OF THE INVENTION [0029]The following further describes the present invention with reference to specific embodiments.
[0030] An excavator positioning system applicable to curved roadway construction shown in Fig. 1 to Fig. 4 includes a boom-type excavator 1, a reflection plane apparatus 2, and an intelligent total station module 3. A communications and control system 1.1, a strapdown inertial navigation system module 1.2, a dual-axis tilt sensor 1.3, and two excavator positioning prisms 1.4 are disposed and mounted on the boom-type excavator 1. The strapdown inertial navigation system module 1.2 is connected to the communications and control system 1.1. The dual-axis tilt sensor 1.3 is also connected to the communications and control system 1.1. The two excavator positioning prisms 1.4 are 360° prisms and mounted on a central line of the excavator, where one is at the front, and the other is at the rear.
[0031] The reflection plane apparatus 2 includes a walking mechanism 2.1, a rotation driving apparatus 2.2, a stepping motor 2.3, a laser reflection plane 2.4, a reflection plane apparatus positioning prism 2.5, and a total station rearview prism 2.6. The rotation driving apparatus 2.2 is mounted on a vehicle body, and is powered by the stepping motor 2.3, to actuate the laser reflection plane 2.4 to rotate. A controller is mounted inside the reflection plane apparatus 2, and can control movement of the walking mechanism 2.1 and movement of the stepping motor2.3, and store in real time a rotation angle of the laser reflection plane 2.4 relative to a body of the reflection plane apparatus 2 caused by the movement of the stepping motor 2.3. Structures of the reflection plane apparatus positioning prism 2.5 and the total station rearview prism 2.6 are the same, and are both 360° prisms. There are three reflection plane apparatus positioning prisms 2.5 that are disposed in a non-collinear manner and that are configured to position the reflection plane apparatus 2. There are two total station rearview prisms 2.6 that are configured to position the total station 3 during station moving of the total station.
[0032]When the boom-type excavator 1 works in a curved roadway, the intelligent total station module 3 can merely position the excavator within a small distance. When the intelligent total station module 3 cannot effectively position the excavator positioning prism 1.4 because of a non-visual distance reason, the reflection plane apparatus 2 is disposed at a proper location between the excavator 1 and the intelligent total station module 3. The intelligent total station module 3 positions three reflection plane apparatus positioning prisms 2.5, to obtain a six-degree of freedom pose parameter of the reflection plane apparatus 2 in a roadway 4.
[0033] Because a rotation angle of the laser reflection plane 2.4 relative to the body of the reflection plane apparatus 2 can be resolved in real time, the laser reflection plane 2.4 in the roadway 4 may be expressed by using a known plane equation. According to a mirror reflection principle, after the intelligent total station module 3 obtains by measurement and calculation coordinates of the excavator positioning prism 1.4, a symmetric point of this point with respect to the laser reflection plane 2.4, that is, actual three-dimensional coordinates of the excavator positioning prism 1.4 in the roadway 4, is obtained.
[0034] When the excavator works by a far enough distance and the excavator positioning prism 1.4 cannot be effectively positioned even by using the reflection plane apparatus 2 because of a non-visual distance, a rapid station-moving operation of the intelligent total station module 3 is needed to move the intelligent total station module 3 to a proper location between the excavator 1 and the reflection plane apparatus 2. In this case, the pose parameter of the reflection plane apparatus 2 is still known, that is, three-dimensional coordinates of a total station rearview prism component 2.6 in the roadway are known. The intelligent total station module 3 is positioned by the total station rearview prism 2.6 using a rear view method. Then, the reflection plane apparatus 2 is moved to a proper location between the boom-type excavator 1 and the intelligent total station module 3.
[0035JA combined positioning manner is used for positioning the boom-type excavator 1. The intelligent total station module 3 calculates the coordinates of two excavator positioning prisms 1.4, to obtain a location parameter and a body direction angle parameter of the excavator 1, and then, obtains a roll angle and a pitch angle of a body by using a dual-axis tilt sensor 1.3, so as to obtain the six-degree of freedom pose parameter of the excavator. In addition, the six-degree of freedom pose parameter of the excavator 1 is alternatively resolved in real time by using the strapdown inertial navigation system module 1.2. The positioning method using the intelligent total station module has high positioning precision and no accumulated error, but consumes a long time and has a poor real-time capability. However, the positioning method using the strapdown inertial navigation system has a good real-time capability, but has an accumulated error and poor long-time positioning precision. A combined positioning manner is used to perform asynchronous fusion on two types of positioning data to make use of advantages of the two positioning methods to make them compensate for each other, thereby improving positioning precision and a positioning real-time capability [0036]When the boom-type excavator 1 excavates a roadway combined by a straight-lined roadway and a curved roadway, a common working procedure thereof includes the following:
[0037] a. The excavator 1 first works in a straight-lined roadway, in this case, effective combined positioning can be performed on the excavator without using the reflection plane apparatus 2, and when the excavator just entered a curved roadway, the reflection plane apparatus 2 is still not needed.
[0038] b. When the excavator continues excavation, the intelligent total station module cannot effectively position the excavator positioning prism 1.4 because of a non-visual distance, the reflection plane apparatus 2 needs to be disposed at a proper location in the roadway and fixed.
[0039] c. The reflection plane apparatus positioning prism 2.5 on the reflection plane apparatus 2 is positioned by using the intelligent total station module 3, to obtain a plane equation of the laser reflection plane 2.4 in the roadway 4 and update the plane equation in real time according to the movement of the stepping motor 2.3, and the excavator is effectively positioned by using a mirror reflection method, to perform six-degree of freedom combined positioning on the excavator.
[0040] d. The excavator continuously works in the curved roadway, and finally, the excavator cannot be effectively positioned by using the mirror reflection method because of a non-visual distance, so that a rapid station-moving operation of the intelligent total station module 3 is needed, and after the rapid station-moving, the excavator can still be effectively positioned by a distance without using the reflection plane apparatus 2.
[0041] e. Steps b to d are cycled, so as to perform accurate combined positioning on the excavator in real time in a whole curved roadway excavation process.
[0042] f. The excavator finishes curved roadway construction and performs straight-lined roadway construction gain, and combined positioning can be effectively performed on the excavator without using the reflection plane apparatus 2.
[0043] As shown in Fig. 5, when the reflection plane apparatus 2 needs to be disposed, the reflection plane apparatus 2 is disposed on an outer side of the curved roadway 4 between the excavator 1 and the intelligent total station module 3 and at a position farthest from the intelligent total station module. In this case, laser emitted by the intelligent total station module is tangential to an inner sidewall of the roadway, and an angle of the laser reflection plane 2.4 is adjusted to make it perpendicular to a radius of an arc of the roadway that passes through a central point of the laser reflection plane 2.4. Laser reflected by the laser reflection plane 2.4 is tangential to the inner sidewall of the roadway, so that the laser can reach a farthest positioning distance of the excavator during curved roadway construction.
[0044] As shown in Fig. 6, when a distance between the boom-type excavator 1 and the reflection plane apparatus 2 is small, and an angle of the laser reflection plane 2.4 in Fig. 5 is used, a symmetric point of the excavator with respect to the laser reflection plane is Γ, the excavator is in a state of being at a non-visual distance from the intelligent total station module, and cannot be effective positioned. After the angle of the laser reflection plane 2.4 is properly adjusted, a symmetric point of the excavator with respect to the laser reflection plane is 1, and in this case, the excavator can be effectively positioned. Therefore, a rotation angle of the laser reflection plane 2.4 relative to the body of the reflection plane apparatus 2 needs to be adjusted according to the location of the excavator 1, and the adjustment is accurately controlled and implemented by the stepping motor 2.3, so that the excavator can be effectively positioned by the intelligent total station module before the excavator reaches the farthest positioning distance.
[0045]The foregoing are merely specific application examples of the present invention and do not form any limitation to the protection scope of the present invention. Any technical solutions formed by means of equivalent variations or equivalent replacements fall within the protection scope of the present invention.
Claims (5)
1. An excavation positioning system for curved roadway construction, comprising: an excavation module, an intelligent total station module, a reflection plane apparatus, a communications and control module, a strapdown inertial navigation system module, a dual-axis tilt sensor module, and an excavation positioning prism module, wherein the communications and control module, the strapdown inertial navigation system module, the dual-axis tilt sensor module, and the positioning prism module are all disposed on the excavation module, the intelligent total station module is disposed behind the excavation module, and the reflection plane apparatus is disposed between the excavation module and the intelligent total station module;
the excavation positioning prism module comprises a front positioning prism component and a rear positioning prism component that are disposed in a collinear manner; and the reflection plane apparatus comprises a controller, a walking mechanism, a rotation driving mechanism, a laser reflection plane component, a reflection plane positioning prism component, and a total station rearview prism component; the rotation driving mechanism is mounted on the walking mechanism, the reflection plane positioning prism component is disposed on the rotation driving mechanism; and the controller is disposed inside the reflection plane apparatus, and configured to control movement of the walking mechanism and the rotation driving mechanism, and store a rotation angle of the laser reflection plane relative to the walking mechanism in real time.
2. The excavation positioning system for curved roadway construction according to claim 1, wherein the reflection plane positioning prism component comprises at least three 360° prisms; and the total station rearview prism component comprises two 360° prisms symmetrically disposed with respect to the walking mechanism.
3. An excavation positioning method for curved roadway construction, comprising the following steps:
a. when an excavation module works inside a roadway, first directly positioning, by an intelligent total station module, the excavation module within a visual distance;
b. when the intelligent total station module cannot effectively position an excavator positioning prism because of a non-visual distance reason such as a roadway curve, io disposing a reflection plane apparatus in a curved roadway between the excavation module and the intelligent total station module and fixing the reflection plane apparatus;
c. positioning, by the intelligent total station module, a positioning prism of the reflection plane apparatus, to obtain a six-degree of freedom pose parameter of the reflection plane apparatus in the roadway, wherein a rotation angle of a laser reflection plane component relative to a walking mechanism of the reflection plane apparatus is resolved by a controller in real time, so that the laser reflection plane component in the roadway is expressed by a known plane equation; and according to a mirror reflection principle, after the intelligent total station module obtains by measurement and calculation coordinates of an excavation positioning prism module, obtaining a symmetric point of this point with respect to the laser reflection plane component, that is, actual three-dimensional coordinates of the excavation positioning prism module in the roadway;
d. when the excavation module travels forward by a far enough distance, and the excavation positioning prism module cannot be effectively positioned even by using the laser reflection plane apparatus because a visual distance range is exceeded, necessarily performing, by the intelligent total station module, a rapid station-moving operation, wherein in this case, the pose parameter of the reflection plane apparatus is still known, that is, three-dimensional coordinates of a total station rearview prism component in the roadway are known; and moving the intelligent total station module to a proper location between the excavation module and the reflection plane apparatus, positioning, by the total station rearview prism component, the intelligent total station module by using a rear view method, and then, moving the reflection plane apparatus to a proper location between the excavation module and the intelligent total station module, and fixing the reflection plane apparatus;
e. repeating step c to step d, to accurately position the excavation module in a whole curved roadway excavation process in real time; and
f. when an excavator enters a straight-lined roadway for construction, performing effective combined positioning on the excavation module without using the reflection plane apparatus.
4. The excavation positioning method for curved roadway construction according to claim 3, wherein in the positioning method, a combined positioning manner combining the intelligent total station module and a strapdown inertial navigation system module is used, the intelligent total station module calculates the coordinates of the excavation positioning prism module, to obtain a location parameter and a body direction angle parameter of the excavation module, and then, obtains a roll angle and a pitch angle of a body by using a dual-axis tilt sensor module, so as to obtain the six-degree of freedom pose parameter of the excavation module; and in addition, the six-degree of freedom pose parameter of the excavation module is alternatively resolved in real time by using the strapdown inertial navigation system module, and asynchronous fusion is performed on two types of positioning data, so as to perform combined positioning.
5. The excavation positioning method applicable to curved roadway construction according to claim 3 or 4, wherein when the reflection plane apparatus needs to be disposed, the reflection plane apparatus is disposed on an outer side of the curved roadway between the excavation module and the intelligent total station module and at a position farthest from the intelligent total station module; the laser reflection plane component adjusts a rotation angle relative to a body of the reflection plane apparatus according to a location of the excavation module, so as to increase a curved roadway positioning distance during single-time station moving of the intelligent total station module as much as possible.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710462526.5A CN107269276B (en) | 2017-06-19 | 2017-06-19 | A tunneling positioning system and method for curved road construction |
| PCT/CN2018/096511 WO2018233721A1 (en) | 2017-06-19 | 2018-07-20 | Boring and positioning system and method for constructing winding underpass |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB201905646D0 GB201905646D0 (en) | 2019-06-05 |
| GB2573652A true GB2573652A (en) | 2019-11-13 |
| GB2573652B GB2573652B (en) | 2022-02-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1905646.4A Expired - Fee Related GB2573652B (en) | 2017-06-19 | 2018-07-20 | Excavation positioning system and method for curved roadway construction |
Country Status (5)
| Country | Link |
|---|---|
| CN (1) | CN107269276B (en) |
| AU (1) | AU2018289881B2 (en) |
| GB (1) | GB2573652B (en) |
| RU (1) | RU2699091C1 (en) |
| WO (2) | WO2018233390A1 (en) |
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| CN107269276B (en) * | 2017-06-19 | 2019-09-06 | 中国矿业大学 | A tunneling positioning system and method for curved road construction |
| CN109209418A (en) * | 2018-09-28 | 2019-01-15 | 三重型装备有限公司 | Development machine and its control method |
| CN109341675B (en) * | 2018-11-22 | 2019-07-12 | 山东新矿信息技术有限公司 | A three-dimensional space positioning box, system and positioning method of roadheader |
| CN109356608B (en) * | 2018-11-22 | 2019-08-06 | 山东新矿信息技术有限公司 | A boring machine, system and method |
| CN111412911A (en) * | 2020-04-07 | 2020-07-14 | 中国煤炭科工集团太原研究院有限公司 | Multi-sensor combined navigation system of coal mine underground continuous coal mining robot |
| CN113252044A (en) * | 2021-05-25 | 2021-08-13 | 中国煤炭科工集团太原研究院有限公司 | Method for calculating deviation of tunneling equipment body |
| CN114485614B (en) * | 2022-01-05 | 2023-10-13 | 中国煤炭科工集团太原研究院有限公司 | Navigation positioning system and method of mining equipment based on double total stations |
| CN115075828B (en) * | 2022-07-14 | 2022-12-02 | 三一重型装备有限公司 | Real-time positioning method and system for roadway operation machine and operation machine |
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- 2018-07-20 RU RU2019113454A patent/RU2699091C1/en active
- 2018-07-20 WO PCT/CN2018/096511 patent/WO2018233721A1/en active Application Filing
- 2018-07-20 GB GB1905646.4A patent/GB2573652B/en not_active Expired - Fee Related
- 2018-07-20 AU AU2018289881A patent/AU2018289881B2/en not_active Ceased
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Also Published As
| Publication number | Publication date |
|---|---|
| CN107269276B (en) | 2019-09-06 |
| RU2699091C1 (en) | 2019-09-03 |
| GB201905646D0 (en) | 2019-06-05 |
| GB2573652B (en) | 2022-02-16 |
| WO2018233721A1 (en) | 2018-12-27 |
| CN107269276A (en) | 2017-10-20 |
| AU2018289881B2 (en) | 2020-03-05 |
| AU2018289881A1 (en) | 2019-05-16 |
| WO2018233390A1 (en) | 2018-12-27 |
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| PCNP | Patent ceased through non-payment of renewal fee |
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