UNIV. NEWS. NORTH-CAUCAS. REG. TECHNICAL SCIENCES SERIES. 2022; 3: 57-63
http://dx.doi.org/10.17213/1560-3644-2022-3-57-63
DEVELOPMENT AND EXPERIMENTAL RESEARCH OF COMBINED POSITIONING DEVICE FOR THE CONTROL SYSTEM OF THE MICROTUNNEL BORING MACHINE
Batyukov Alexander V. – Junior Researcher, Engineering Center «Cross-cutting Production Technologies, Alexbatyukov@gmail.com
Abstract
The issues of developing and expiremental researching a combined positioning device for the microtunnel boring machine control system are considered. A device combining laser and inertial methods of determining coordinates is proposed, which provides the possibility of determining the coordinates and spatial position of the tunneling shield during the construction of straight and curved tunnels by the pushing method. A method for connecting the positioning device with the microtunnel boring machine control system based on the RS-485 wired interface is proposed. Experimental studies of the layout sample of the positioning device have been carried out, showing that the developed device determines the coordinates with acceptable accuracy.
Keywords: microtunnelling, tunneling shield, underground positioning system, coordinate transformation, rotation matrix
Full text: [in elibrary.ru]
References
1. Rybakov A.P. Basics of trenchless technologies (theory and practice): Technical reference manual. Moscow: Publ. PressByuro № 1; 2005. 304 p.
2. The development of underground space. Microtunnelling Rules and performance monitoring, requirements for work results. STO NOSTROY 2.27.124-2013. Moscow; 2013. 93 p.
3. Brener V.A., Zhabin A.B., Shchegolevskiy M.M., Polyakov Al. V., Polyakov An.V. Shield tunneling complexes: Tutorial. Moscow; 2009. 447 p.
4. Sterling, R.L. Developments and research directions in pipe jacking and microtunneling. Underground Space.2018;(5):1-19. doi:10.1016/j.undsp.2018.09.001
5. Batyukov A.V., Gummel' A.A., Puzin V.S., Zhivodernikov A.V., Zemlyanoy M.A. Analysis of positioning systems of microtunneling complexes. Izv. vuzov. Sev.-Kavk. region. Techn. nauki=Bulletin of Higher Educational Institutions. North Caucasus Region. Technical Sciences. 2019; (2):26-36. (In Russ.)
6. Guidance document RD 07-226-98 Instructions for the production of geodetic and surveying works in the construction of utility tunnels and utilities by underground method/
7. Patent RF, no. 2733256. MPK E21 9/02, E21C 35/08.
8. Prihod’ko A. Configuring modbus communication in codesys v3.5. Avtomatizaciya I proizvodstvo. 2013; (2): 32-37. (In Russ.)
9. Batyukov A.V. Combined positioning device for the control system of the microtunnel boring machine. Izv. vuzov. Sev.-Kavk. region. Techn. nauki=Bulletin of Higher Educational Institutions. North Caucasus Region. Technical Sciences. 2021; (2): 65-70. (In Russ.)
10. Batyukov A.V., Glebov N.A., Pavlenko A.V., Gummel' A.A., Gonivolk A.Y. Modeling the process of controlling the microtunnelling boring machine's motion. Izvestiya Vysshihkh Uchebnykh Zavedenii. Elektromekhanika = Russian Electromechanics. 2020; (5): 55-60. (In Russ.)