Self-adaptive drilling control system and method for double-wheel slot milling machine

Abstract

The invention discloses a self-adaptive drilling control system and method for a double-wheel slot milling machine. The method comprises the steps that the actual ground pressure and the actual feeding speed of a milling cutter frame during working are obtained; when the actual ground pressure changes, the target feeding speed is adjusted, and a winch flow valve control instruction is generated and used for controlling a winch flow valve; when the actual feeding speed changes, the target ground pressure is adjusted, a winch back pressure valve control instruction is generated and used for controlling a winch back pressure valve, and double-input and double-output closed-loop control is formed. The initial preset values (including the target ground pressure and the target feeding speed) are selected according to different stratums, the target feeding speed can be rapidly adjusted according to the change of the external ground pressure, the ground pressure is fed back and adjusted according to the feeding speed, and automatic return is achieved after overadjustment.

Description

Technical Field

[0001] This invention belongs to the technical field of control systems for twin-wheel grooving machines, specifically relating to an adaptive drilling control system and method for twin-wheel grooving machines. Background Technology

[0002] The twin-wheel trenching machine is one of the most advanced specialized equipment for diaphragm wall construction, characterized by high efficiency, strong adaptability, and precise trenching. It is widely used in large-scale deep foundation projects such as subways, bridges, and hydropower stations. During trenching, the milling wheels rotate at low speed, and the milling teeth break up the soil / rock layers. A mud pump discharges the rock debris and mud mixture through a suction port in the middle of the milling wheels to a surface mud station for processing. The processed mud is then returned to the trench for recycling. Operators can monitor the working status in real time via a monitor. During twin-wheel trenching, operators typically need to set different ground pressures and feed rates according to different geological formations. Generally, harder formations require higher ground pressures and slower feed rates, while softer formations require lower ground pressures and faster feed rates. However, the geological formations often change during construction, requiring operators to set appropriate ground pressures and feed rates based on experience. This reliance on operator experience can lead to significant control errors. Summary of the Invention

[0003] To address the aforementioned problems, this invention proposes an adaptive drilling control system and method for a twin-wheel trenching machine. The system selects initial preset values ​​(including target ground pressure and target feed rate) based on different geological formations. It can quickly adjust the target feed rate according to changes in external ground pressure, and adjust the ground pressure based on feed rate feedback. After over-adjustment, it automatically returns to the correct position.

[0004] To achieve the above-mentioned technical objectives and effects, the present invention is implemented through the following technical solution:

[0005] In a first aspect, the present invention provides an adaptive drilling control method for a dual-wheel grooving machine, comprising:

[0006] Obtain the actual ground pressure and actual feed rate when the milling cutter head is working;

[0007] When the actual ground pressure changes, the target feed speed is adjusted, and a hoist flow valve control command is generated to control the hoist flow valve.

[0008] When the actual feed speed changes, the target ground pressure is adjusted, generating a control command for the hoist back pressure valve to control the hoist back pressure valve, forming a dual-input dual-output closed-loop control.

[0009] In conjunction with the first aspect, optionally, the target ground pressure and the target feed rate are both related to the hardness of the formation, with different hardness formations corresponding to different target ground pressures and target feed rates.

[0010] In conjunction with the first aspect, optionally, the ground pressure is controlled by the winch back pressure valve; the higher the set pressure of the winch back pressure valve, the lower the ground pressure.

[0011] In conjunction with the first aspect, optionally, the feed speed is controlled by the hoist flow valve; the larger the opening of the hoist flow valve, the faster the feed speed.

[0012] In conjunction with the first aspect, optionally, when the actual ground pressure increases, the difference between the target ground pressure and the actual ground pressure decreases. The difference between the target ground pressure and the actual ground pressure is equal to the target ground pressure minus the actual ground pressure. The target feed rate is positively correlated with this difference and negatively correlated with the actual ground pressure.

[0013] In conjunction with the first aspect, optionally, when the actual feed rate increases, the difference between the target feed rate and the actual feed rate decreases. The difference between the target feed rate and the actual feed rate is equal to the target feed rate minus the actual feed rate. The target pressure on the ground is positively correlated with this difference and negatively correlated with the actual feed rate.

[0014] In conjunction with the first aspect, optionally, when the stratum hardens, the actual ground pressure increases. By reducing the target feed rate, the target ground pressure can be increased, ultimately resulting in a large output ground pressure.

[0015] In conjunction with the first aspect, optionally, when the stratum softens, the actual feed rate increases. By reducing the target's ground pressure, the target feed rate is increased, ultimately resulting in a smaller output feed rate.

[0016] In a second aspect, the present invention provides an adaptive drilling control method for a twin-wheel grooving machine, comprising a storage medium and a processor;

[0017] The storage medium is used to store instructions;

[0018] The processor is configured to operate according to the instructions to perform the method according to any one of the first aspects.

[0019] Thirdly, the present invention provides an adaptive drilling control system for a dual-wheel grooving machine, comprising: a milling cutter holder, a connecting body, a milling wheel, a pin sensor, a winch encoder, a controller, a winch back pressure valve, and a winch flow valve;

[0020] One end of the connecting body is connected to the milling cutter holder, and the other end is connected to the milling wheel via a pin.

[0021] The pin sensor is mounted on the pin and is used to collect the actual ground pressure when the milling cutter holder is working.

[0022] The winch encoder is used to connect coaxially with the drum shaft of the winch mechanism to collect the actual feed speed when the milling cutter head is working;

[0023] The controller is connected to the pin sensor, the winch encoder, the winch back pressure valve, and the winch flow valve respectively, and is configured to perform the method described in any one of the first aspects.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] This invention proposes an adaptive drilling control system and method for a twin-wheel trenching machine. It selects initial preset values ​​(including target ground pressure and target feed speed) according to different strata. It can quickly adjust the target feed speed according to changes in external ground pressure and adjust the ground pressure according to the feed speed feedback. After over-adjustment, it will automatically return to the correct position, ultimately realizing adaptive drilling of the twin-wheel trenching machine in various terrains. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0027] Figure 1 This is a schematic diagram illustrating the principle of an adaptive drilling control system for a dual-wheel grooving machine according to an embodiment of the present invention.

[0028] Figure 2 This is a flowchart illustrating an embodiment of the adaptive drilling control method for a twin-wheel grooving machine according to the present invention. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0030] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0031] Example 1

[0032] This invention provides an adaptive drilling control method for a dual-wheel grooving machine, comprising the following steps:

[0033] (1) Obtain the actual ground pressure and actual feed rate when the milling cutter head is working;

[0034] (2) When the actual ground pressure changes, the target feed speed is adjusted to generate a hoist flow valve control command to control the hoist flow valve. In the specific implementation process, the hoist flow valve control command is presented in the form of hoist flow valve current to control the flow valve opening.

[0035] (3) When the actual feed speed changes, the target pressure to the ground is adjusted to generate a hoist back pressure valve control command to control the hoist back pressure valve and form a dual-input dual-output closed-loop control. In the specific implementation process, the hoist back pressure valve control command is presented in the form of hoist back pressure valve current to control the hoist lifting force.

[0036] Based on the above solution, by adding preset parameters (including target ground pressure and target feed rate) for adaptive drilling of different strata using a twin-wheel trenching machine, the operator no longer needs to set the ground pressure and feed rate after selecting adaptive drilling. They only need to select different strata, and the system automatically performs milling according to the preset parameters. By analyzing the actual changes in ground pressure and feed rate during construction, the system adjusts the target ground pressure and feed rate, achieving adaptive drilling of the twin-wheel trenching machine on various terrains. Compared with existing technologies, this invention achieves adaptive drilling, reduces the operator's workload, has a higher level of intelligence, and is innovative.

[0037] In one specific embodiment of the present invention, the target ground pressure and the target feed rate are both related to the hardness of the formation, and different formations with different hardness correspond to different target ground pressures and target feed rates.

[0038] In practical implementation, by establishing a corresponding mapping relationship between the target ground pressure and the target feed speed and different formations, and storing it in the controller, it is possible to adjust the target feed speed and generate a hoist flow valve control command when the actual ground pressure changes, thereby controlling the hoist flow valve; and adjust the target ground pressure and generate a hoist back pressure valve control command when the actual feed speed changes, thereby controlling the hoist back pressure valve, thus forming a dual-input dual-output closed-loop control.

[0039] In one specific embodiment of the present invention, the ground pressure is controlled by the hoist back pressure valve. The higher the set pressure of the hoist back pressure valve, the lower the ground pressure.

[0040] In the above scheme, the relationship between the pressure of the hoist back pressure valve and the pressure to the ground is specifically defined, which can ensure the implementation of the scheme in the embodiment of the present invention.

[0041] In one specific embodiment of the present invention, the feed speed is controlled by a hoist flow valve; the larger the opening of the hoist flow valve, the faster the feed speed.

[0042] In the above scheme, the relationship between the opening degree of the hoist flow valve and the feed speed is specifically defined, which can ensure the implementation of the scheme in the embodiment of the present invention.

[0043] In one specific embodiment of the present invention, when the actual ground pressure increases, the difference between the target ground pressure and the actual ground pressure decreases. The difference between the target ground pressure and the actual ground pressure is equal to the target ground pressure minus the actual ground pressure. The target feed rate is positively correlated with this difference and negatively correlated with the actual ground pressure.

[0044] The above scheme provides specific adjustment strategies for the target ground pressure and target feed rate when the actual ground pressure increases, realizing adaptive drilling, reducing the difficulty of operation for the operator, and achieving a higher level of intelligence.

[0045] In one specific embodiment of the present invention, when the actual feed rate increases, the difference between the target feed rate and the actual feed rate decreases. The difference between the target feed rate and the actual feed rate is equal to the target feed rate minus the actual feed rate. The target pressure on the ground is positively correlated with this difference and negatively correlated with the actual feed rate.

[0046] The above scheme provides specific adjustment strategies for the target ground pressure and target feed speed when the actual feed rate increases, realizing adaptive drilling, reducing the difficulty of operation for the operator, and achieving a higher level of intelligence.

[0047] In one specific embodiment of the present invention, when the stratum hardens, the actual ground pressure increases. By reducing the target feed rate, the target ground pressure is increased, and finally, a large ground pressure is output.

[0048] The above scheme provides specific adjustment strategies for the target ground pressure and target feed rate when the formation hardens, realizing adaptive drilling, reducing the difficulty of operation for the operator, and achieving a higher level of intelligence.

[0049] In one specific embodiment of the present invention, when the stratum softens, the actual feed rate increases. By reducing the target's ground pressure, the target feed rate is increased, and finally a small feed rate is output.

[0050] The above scheme provides specific adjustment strategies for the target ground pressure and target feed rate when the formation softens, realizing adaptive drilling, reducing the difficulty of operation for the operator, and achieving a higher level of intelligence.

[0051] Example 2

[0052] This invention provides an adaptive drilling control method for a twin-wheel grooving machine, comprising a storage medium and a processor;

[0053] The storage medium is used to store instructions;

[0054] The processor is configured to operate according to the instructions to execute the method according to any one of Embodiment 1.

[0055] Example 3

[0056] This invention provides an adaptive drilling control system for a dual-wheel grooving machine, comprising: a milling cutter holder, a connecting body, milling wheels, a pin sensor, a winch encoder, a controller, a winch back pressure valve, and a winch flow valve;

[0057] One end of the connector is connected to the milling cutter holder, and the other end is connected to the milling wheel via a pin.

[0058] The pin sensor is mounted on the pin and is used to collect the actual ground pressure when the milling cutter holder is working.

[0059] The winch encoder is used to connect coaxially with the drum shaft of the winch mechanism to collect the actual feed speed when the milling cutter head is working;

[0060] The controller is connected to the pin sensor, the winch encoder, the winch back pressure valve, and the winch flow valve, and is configured to perform the method described in any one of Embodiment 1.

[0061] In specific implementation, the workflow of the adaptive drilling control system for the dual-wheel milling machine in this embodiment of the invention includes:

[0062] 1. Operator selects formation type: The factory default parameters for each formation are pre-configured. After activating the adaptive drilling function, the operator selects the corresponding formation on the display. This display is connected to the controller.

[0063] 2. Data Reception and Processing: The controller receives the output data from the pin sensor and calculates the actual ground pressure of the milling cutter head (this calculation can be achieved using existing technology, which will not be elaborated on in this invention); the controller also receives the output data from the winch encoder, calculates the actual feed speed of the milling cutter head (this calculation can be achieved using existing technology, which will not be elaborated on in this invention), and transmits the actual feed speed to the display for display.

[0064] 3. Adaptive drilling: Selects an initial preset value according to different formations. When the actual ground pressure changes, it quickly adjusts the target feed rate in a short time and adjusts the target ground pressure according to the actual feed rate feedback. It will automatically adjust after over-adjustment.

[0065] 4. Output: The controller outputs the target ground pressure and the target feed speed, corresponding to the hoist back pressure valve current and the hoist flow valve current, which respectively control the hoist lifting force and the flow valve opening.

[0066] 5. Cyclic execution: The above steps 1-4 are executed cyclically, and the ground pressure and feed rate are always in a dynamic adjustment process.

[0067] 6. Safety protection: If the ground pressure is too high, a prompt will pop up and the adaptive drilling mode will be exited.

[0068] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0069] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0070] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0071] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0072] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

[0073] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. An adaptive drilling control method for a twin-wheel grooving machine, characterized in that, include: Obtain the actual ground pressure and actual feed rate when the milling cutter head is working; When the actual ground pressure changes, the target feed speed is adjusted, and a hoist flow valve control command is generated to control the hoist flow valve. When the actual feed speed changes, the target ground pressure is adjusted, generating a control command for the hoist back pressure valve to control the hoist back pressure valve, forming a dual-input dual-output closed-loop control.

2. The adaptive drilling control method for a twin-wheel grooving machine according to claim 1, characterized in that: The target ground pressure and target feed rate are both related to the hardness of the formation; formations of different hardness correspond to different target ground pressures and target feed rates.

3. The adaptive drilling control method for a twin-wheel grooving machine according to claim 1, characterized in that: The pressure to the ground is controlled by the hoist back pressure valve. The higher the pressure set on the hoist back pressure valve, the lower the pressure to the ground.

4. The adaptive drilling control method for a twin-wheel grooving machine according to claim 1, characterized in that: The feed rate is controlled by the hoist flow valve; the larger the opening of the hoist flow valve, the faster the feed rate.

5. The adaptive drilling control method for a twin-wheel grooving machine according to claim 1, characterized in that: When the actual ground pressure increases, the difference between the target ground pressure and the actual ground pressure decreases. The difference between the target ground pressure and the actual ground pressure is equal to the target ground pressure minus the actual ground pressure. The target feed rate is positively correlated with this difference and negatively correlated with the actual ground pressure.

6. The adaptive drilling control method for a twin-wheel grooving machine according to claim 1, characterized in that: When the actual feed rate increases, the difference between the target feed rate and the actual feed rate decreases. The difference between the target feed rate and the actual feed rate is equal to the target feed rate minus the actual feed rate. The target pressure on the ground is positively correlated with this difference and negatively correlated with the actual feed rate.

7. The adaptive drilling control method for a twin-wheel grooving machine according to claim 1, characterized in that: When the strata harden, the actual ground pressure increases. By reducing the target feed rate, the target ground pressure is increased, ultimately resulting in a large output ground pressure.

8. The adaptive drilling control method for a twin-wheel grooving machine according to claim 1, characterized in that: When the strata soften, the actual feed rate increases. By reducing the target's ground pressure, the target feed rate is increased, ultimately resulting in a smaller output feed rate.

9. An adaptive drilling control method for a twin-wheel grooving machine, characterized in that: Including storage media and processor; The storage medium is used to store instructions; The processor is configured to operate according to the instructions to perform the method according to any one of claims 1-8.

10. An adaptive drilling control system for a twin-wheel groove milling machine, characterized in that, include: Milling cutter holder, connecting body, milling wheel, pin sensor, winch encoder, controller, winch back pressure valve and winch flow valve; One end of the connector is connected to the milling cutter holder, and the other end is connected to the milling wheel via a pin. The pin sensor is mounted on the pin and is used to collect the actual ground pressure when the milling cutter holder is working. The winch encoder is used to connect coaxially with the drum shaft of the winch mechanism to collect the actual feed speed when the milling cutter head is working; The controller is connected to the pin sensor, the winch encoder, the winch back pressure valve, and the winch flow valve, and is configured to perform the method of any one of claims 1-8.

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