Deviation correction and direction adjustment control method and device of heading machine, electronic equipment and storage medium

Abstract

The invention discloses a heading machine deviation rectification and direction adjustment control method, which comprises the following steps: acquiring historical heading data of a heading machine, and training a heading machine deviation rectification and direction adjustment parameter pre-training model by utilizing the historical heading data of the heading machine; carrying out transfer learning on the heading machine deviation correction and direction adjustment parameter pre-training model by utilizing the target heading data to obtain a heading machine deviation correction and direction adjustment parameter prediction model; acquiring real-time tunneling data of the current project, and inputting the real-time tunneling data into the deviation-rectifying and direction-adjusting parameter prediction model of the tunneling machine to obtain a deviation-rectifying and direction-adjusting parameter prediction value; and performing parameter correction on the deviation-correcting and direction-adjusting parameter predicted value according to the direction-adjusting pose of the heading machine and the maximum side cutter movement amount, and performing deviation-correcting and direction-adjusting control on the heading machine by using the corrected deviation-correcting and direction-adjusting parameter predicted value. According to the deviation-correcting and direction-adjusting control method and device, the deviation-correcting and direction-adjusting control precision and efficiency of the heading machine can be improved. The invention further discloses a heading machine deviation rectifying and direction adjusting control device, a storage medium and electronic equipment which have the above beneficial effects.

Description

technical field [0001] The present application relates to the technical field of roadheader control, and in particular to a method, device, electronic device and storage medium for controlling deviation and direction adjustment of a roadheader. Background technique [0002] The roadheader (such as the full-face hard rock tunnel boring machine TBM) is a large-scale construction equipment integrating mechanical, electrical, hydraulic, light, gas and other systems. It has the advantages of fast excavation speed, environmental protection, and high comprehensive benefits, and its application in tunnel projects such as railways, hydropower, transportation, mines, and municipal projects has grown rapidly. [0003] In order to ensure the quality of tunnel construction, the roadheader must excavate in strict accordance with the set target axis. However, in the actual construction process, the roadheader will inevitably be affected by its own weight, geological conditions, human fact...

AI Technical Summary

Problems solved by technology

[0004] Existing roadheader construction mostly relies on manual control. The left and right direction of the roadheader can be realized by adjusting the left and right movement of the cylinder of the support shoe, and the up and down direction of the roadheader can be realized by adjusting the torque cylinder at the same time. It is easy to cause a series of problems such as cutter head, cutter, main drive damage and rough tunnel wall, and the construction quality is difficult to guarantee

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