铁路隧道智能型凿岩装备开挖质量施工控制测试数据集

面向铁路隧道智能凿岩装备施工控制性能验证、自主导航及机械臂操控算法研究需求。数据集依托川藏铁路拉月隧道施工场景产生，资料来源为智能型凿岩装备施工过程中的核心控制参数实测数据，聚焦车体导航定位与机械臂末端定位两大关键施工控制指标。数据集包含拉月隧道全站仪车体导航数据（8组，excel格式）、机械臂末端定位数据（3组，excel格式），利用车体搭载的LVMS60激光扫描模块和天宝SX12进行车体导航和臂架末端测量定位，获取其施工质量控制数据。 其中全站仪车体导航数据：在循环开挖爆破出渣之后，凿岩台车台车开入隧道掌子面处，进行调平，打开车载测量装置LVMS60，使用后方交会法进行精准定位和设站，在台车控制系统中得到车体基座的坐标位置，同时利用全站仪使用后方交会法进行精准定位和设站，对准车体一侧布置的两个标靶，在台车控制系统中记录并转换得到全站仪测量的车体导航位置坐标，对比两者数据，即可得到车体导航定位精度误差。机械臂末端定位数据：在循环开挖爆破出渣之后，凿岩台车台车开入隧道掌子面处，进行调平，展开臂架，打开车载测量装置LVMS60，使用后方交会法进行精准定位和设站，完成车体导航定位，摆动臂架到某一位置，此时用天宝SX12全站仪测量臂架末端的位置坐标，与控制系统中的位置坐标进行对比，得到机械臂末端定位误差数据。数据集体量为798KB。This dataset is developed to validate the construction control performance of intelligent rock-drilling equipment for railway tunnels, and support research on autonomous navigation and robotic arm manipulation algorithms. It is collected from the construction scenario of Layue Tunnel on the Sichuan-Tibet Railway, with data sourced from measured core control parameters during the construction of the intelligent rock-drilling equipment. The dataset focuses on two critical construction control indicators: vehicle navigation and positioning, and end positioning of the robotic arm. The dataset consists of two categories of data: 8 sets of total station-based vehicle navigation data (in Excel format) and 3 sets of robotic arm end positioning data (in Excel format). The on-board LVMS60 laser scanning module and Trimble SX12 total station installed on the vehicle are employed for vehicle navigation and boom end measurement and positioning, to acquire construction quality control data. Total station-based vehicle navigation data: After cyclic excavation, blasting and mucking, the rock-drilling jumbo moves to the tunnel face, performs leveling operations, activates the on-board measuring device LVMS60, and conducts precise positioning and station setup via the resection method to obtain the coordinate position of the vehicle base in the jumbo's control system. Meanwhile, the total station also adopts the resection method for precise positioning and station setup, aligns with two target boards arranged on one side of the vehicle, and records and converts the vehicle navigation position coordinates measured by the total station in the jumbo control system. By comparing the two datasets, the positioning accuracy error of the vehicle navigation system can be derived. Robotic arm end positioning data: After cyclic excavation, blasting and mucking, the rock-drilling jumbo moves to the tunnel face, performs leveling operations, deploys the boom, activates the on-board measuring device LVMS60, and completes the vehicle navigation positioning via the resection method for precise positioning and station setup. The boom is then swung to a specified position, and the Trimble SX12 total station is used to measure the position coordinates of the boom end. By comparing this measured data with the position coordinates in the jumbo control system, the positioning error data of the robotic arm end can be obtained. The total size of this dataset is 798 KB.

搜集汇总

背景与挑战

背景概述

该数据集面向铁路隧道智能凿岩装备的施工控制性能验证及导航与操控算法研究，基于川藏铁路拉月隧道的施工场景，采集了车体导航定位与机械臂末端定位的实测数据。数据以Excel格式存储，体量约为798KB，主要用于分析施工质量控制中的定位精度。