FIELD: construction.
SUBSTANCE: group of inventions relates to excavator positioning system and method for construction of curvilinear profile underground passage. System consists of communication and control module, strapdown inertial navigation system module, inclination sensor with two measuring axes and prismatic positioning module, smart module of tacheometer located behind excavator module, and device with reflecting plate is between excavator module and smart module of tacheometer. Prismatic module of excavator positioning consists of front positioning prism and rear prism of positioning installed on one straight line. Device with a reflecting plate consists of a controller, a walking movement mechanism, a rotation drive mechanism, a laser reflecting plate, a positioning prism on a reflecting plate and a rear view prism on a reflecting plate. At that, the rotation drive mechanism is installed on the walking movement mechanism, the positioning prism on the reflecting plate is installed on the rotation drive mechanism, and the controller is installed inside the device with a reflecting plate and is configured so that to control movement of the step mechanism and the rotation drive mechanism and memorize the angle of rotation of the laser reflecting plate relative to the stepping mechanism in real time.
EFFECT: positioning system can be used both for routing passage of straight profile, and for laying passage of curved profile and accurately determine parameters of positioning excavator inside passage with six degrees of freedom in real time, which enables to solve the problem of accuracy of positioning and determining position of excavator inside passage or tunnel in the interest of automation of excavator operation.
5 cl, 6 dwg
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Authors
Dates
2019-09-03—Published
2018-07-20—Filed