A planning execution control method for excavation path of multi-mode excavation and construction machine

An execution control and multi-mode technology, which is applied in excavation, mechanically driven excavators/dredgers, construction, etc., can solve problems that cannot satisfy construction adaptability and efficiency, and cannot provide switching path planning and execution control technology , to achieve the effect of improving execution efficiency and reliability, reducing labor intensity and simple structure

Active Publication Date: 2020-09-29
CHINA RAILWAY CONSTR HEAVY IND
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Problems solved by technology

For the multi-mode excavation problems involved in underground engineering construction, it cannot provide path planning and execution control technology for the switching of actuators and mechanical structures, and cannot meet the adaptability and efficiency of construction under complex geological conditions

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  • A planning execution control method for excavation path of multi-mode excavation and construction machine
  • A planning execution control method for excavation path of multi-mode excavation and construction machine
  • A planning execution control method for excavation path of multi-mode excavation and construction machine

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Embodiment Construction

[0046] The core of the present invention is to provide a planning and execution control method for the excavation path of a multi-mode excavation and construction machine. The excavation path is planned by establishing a forward kinematics model and a rock mass space model, and different digging heads are replaced according to different rock mass types. Improve automation and work efficiency.

[0047] In order to enable those skilled in the art to better understand the solution of the present invention, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0048] Please refer to Figure 1 to Figure 9 , figure 1 A structural schematic diagram of the drilling and splitting head in a specific implementation of the planning execution control method provided by the present invention; figure 2 A schematic diagram of the forward kinematics model of the drilling and splitting head in a specific impl...

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Abstract

The invention discloses a planning execution control method for an excavation path of a multi-mode excavation machine. The method comprises the steps of establishing a positive kinematic model of multi-mode excavation heads; detecting a tunnel face rock mass type, and establishing a rock mass space model; planning the excavation path according to the rock mass space model; selecting the excavationheads in corresponding modes according to the rock mass types recorded by the rock mass space model; controlling the excavation heads to perform excavation according to the excavation path; and in the excavation process, according to rock mass type changes recorded by the rock mass space model, replacing the excavation heads in the corresponding modes, and continuing the excavation. The excavation path is planned by establishing the positive kinematic model and the rock mass space model, and the different excavation heads are replaced according to the different rock mass types, so that the structure is simple; the multi-mode excavation heads are flexibly switched, so that the execution efficiency and reliability are improved; and the automation degree is improved by adopting path planningand execution control, so that the labor intensity of personnel is reduced, safe and efficient tunnel excavation is realized, and the unmanned and intelligent degrees of intelligent tunnel construction are improved.

Description

technical field [0001] The invention relates to the field of excavation, construction and excavation, in particular to a planning execution control method for excavation paths of multi-mode excavation and construction machines. Background technique [0002] With the development of tunnel intelligent construction, tunnel excavation is becoming more and more informatized, automated, and less manned. At present, the field of tunnel excavation is basically dominated by drill-and-blast and shield methods, but drill-and-blast and shield methods Each has its own applicable working conditions. When the surrounding rock conditions change greatly, it is often impossible to switch flexibly, resulting in low construction efficiency and high labor intensity. [0003] Existing technologies mainly focus on single mechanism path planning and work control, including image recognition, redundant path planning, etc. For the multi-mode excavation problems involved in underground engineering co...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01V8/10E02D17/00E02F3/96
CPCE02D17/00E02F3/96
Inventor 刘飞香秦念稳肖正航谭果刘洪涛陈聪曾婷
Owner CHINA RAILWAY CONSTR HEAVY IND
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