Intelligent tunneling method and system of hard rock tunneling machine based on slag sheet image

Abstract

The invention provides an intelligent tunneling method and system of a hard rock tunneling machine based on slag sheet images, and aims to solve the problems that an existing intelligent tunneling method of the tunneling machine is poor in real-time performance and lacks surrounding rock category judgment and TBM control. The method comprises the following steps: performing digital image processing on an obtained slag piece image to obtain slag piece feature information, and determining a surrounding rock category according to the obtained slag piece feature information and a corresponding relation between slag piece features and surrounding rock grades; determining the range of the tunneling parameters according to the relationship between the surrounding rock category and the range of the tunneling parameters, and obtaining target values of the tunneling parameters according to a tunneling parameter prediction model; whether tunneling parameters are updated or not is manually intervened; and the safety control unit is combined to carry out PID control based on an expert system on the heading machine according to the heading parameters. According to the method, tunneling parameters can be rapidly and accurately adjusted according to surrounding rock changes, the method is more reliable and efficient, intelligent decision making and automatic execution of the hard rock tunneling machine are achieved according to rated performance of the tunneling machine and PID control based on an expert system, and the method has the advantage of being high in implementability.

Description

technical field [0001] The invention relates to the technical field of roadheader intelligence, in particular to an intelligent roadheader method and system for hard rock roadheaders based on slag flake images. Background technique [0002] In the current excavation process of the hard rock roadheader, the main driver relies on the slag situation to judge the information of the rock mass ahead, and uses this as an important basis for the adjustment of the driving parameters, which is obviously affected by the operating experience, which is not conducive to the geological changes ahead. Timely adjustment of tunneling parameters. At present, some researches on intelligent driving control of hard rock tunneling equipment focus on the model prediction of tunneling parameters. Although the tunneling parameters can reflect the geological conditions of the rock mass ahead, there is a problem of multiple solutions. Some focus on the establishment of rock mass database, such as surr...

AI Technical Summary

Problems solved by technology

[0004] In view of the poor real-time performance of existing roadheader intelligent tunneling methods and the lack of surrounding rock category judgment and TBM control technical problems, the present invention proposes a hard rock tunneling machine intelligent tunneling method and system based on slag slice images, which can solve the problem of surrounding rock tunnels. Rapid determination of rock grades, optimization and control of roadheader parameters, and intelligent recommendation of tunneling parameters for hard rock roadheaders and automatic execution of tunneling

Images