Excavation equipment, control method and device for excavation equipment, and readable storage medium

Abstract

The present invention provides a tunneling equipment, a control method for the tunneling equipment, a control device for the tunneling equipment and a computer-readable storage medium. The tunneling equipment includes: a tunneling part; a hydraulic cylinder connected to the tunneling part, at least two hydraulic cylinders, and the hydraulic cylinder tunneling equipment pushes the tunneling part; a stroke detector, arranged on the hydraulic cylinder, for detecting the elongation of the hydraulic cylinder; a controller, connected to the hydraulic cylinder, and the controller controls the telescopic state and the propulsion pressure of any hydraulic cylinder according to the elongation. Each hydraulic cylinder on the tunneling equipment can be independently controlled, so that when the tunneling equipment is performing the installation of the target segment in the outer area of ​​the hydraulic cylinder, it can independently control part of the hydraulic cylinders to retract to have enough installation space, thereby ensuring that the installation of the target segment and the tunneling can be carried out simultaneously, thereby achieving the technical effect of greatly improving the tunneling efficiency and reducing the cost of tunneling.

Description

Technical Field

[0001] The present invention relates to the technical field of tunneling equipment, and in particular to a tunneling equipment, a control method for tunneling equipment, a control device for tunneling equipment and a computer-readable storage medium. Background Art

[0002] At present, shield construction is carried out in an alternating manner of excavation and assembly. The thrust cylinder pushes the segment to make the shield machine excavate forward to the segment stroke + splicing margin, then stops excavation and assembles the segments. Taking the 6200 / 5500mm-1500mm segment specification as an example, assuming that the shield excavation speed is about 40mm / min and the segment width is 1500mm, it generally takes 60 minutes to advance one ring, and 30 minutes to stop and assemble one ring of segments. This causes the ordinary shield excavation process to be discontinuous, which seriously affects the excavation efficiency of the excavation equipment and increases the time cost of the construction operation. Therefore, how to design an excavation equipment and control method that takes into account both excavation and assembly has become a technical problem that needs to be solved urgently. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] To this end, a first aspect of the present invention provides a tunneling device.

[0005] A second aspect of the present invention provides a control method for tunneling equipment.

[0006] A third aspect of the present invention provides a control device for a tunneling device.

[0007] A fourth aspect of the present invention provides a computer-readable storage medium.

[0008] In view of this, the first aspect of the present invention provides a tunneling equipment, which includes: a tunneling part; a hydraulic cylinder connected to the tunneling part, at least two hydraulic cylinders, which push the tunneling part; a stroke detector arranged on the hydraulic cylinder for detecting the elongation of the hydraulic cylinder; a controller connected to the hydraulic cylinder, which controls the telescopic state and thrust pressure of any hydraulic cylinder according to the laying order and elongation of the pipe segments.

[0009] In this technical solution, a tunneling device is defined, and a tunneling part, a hydraulic cylinder, a stroke detector and a controller are provided on the tunneling device. The tunneling part is the excavation mechanism of the tunneling device. During operation, the tunneling part crushes rock layers and soil to dig a tunnel in a mountain or underground. The hydraulic cylinder provides power for the tunneling part, and one end of the hydraulic cylinder is connected to the tunneling part. Each tunneling device is provided with multiple groups of hydraulic cylinders, each group of hydraulic cylinders includes at least two hydraulic cylinders, and the multiple hydraulic cylinders jointly push the tunneling part. During operation, the hydraulic cylinder pushes the tunneling part to move along the tunneling direction to complete the tunneling work. The stroke detector is provided in the hydraulic cylinder and is used to detect the elongation of the hydraulic cylinder. The controller is connected to the stroke detector and the hydraulic cylinder respectively. Specifically, the controller is connected to the hydraulic valve group that drives the hydraulic cylinder to work, and the control of the hydraulic cylinder is realized by controlling the hydraulic valve group. During the working process, the controller determines the laying order of multiple pipe segments to be laid according to the acquired parameter information of the pipe segments to be laid, and then determines the target pipe segment to be laid according to the laying order and the current laying progress. Finally, the controller receives the elongation detected by the stroke detector. When the elongation is greater than the laying distance value of the target pipe segment, the hydraulic cylinder corresponding to the target pipe segment is controlled to retract to facilitate the execution of the pipe segment laying operation.

[0010] By setting a stroke detector and limiting the controller to control the extension and retraction state of any hydraulic cylinder according to the laying sequence and elongation of the segments, each hydraulic cylinder on the tunneling equipment can be independently controlled, so that when the tunneling equipment is installing the target segments in the outer area of ​​the hydraulic cylinder, some hydraulic cylinders can be individually controlled to retract to have enough installation space, thereby ensuring that the target segment installation and tunneling can be carried out simultaneously, thereby achieving the technical effect of greatly improving tunneling efficiency and reducing tunneling costs. By limiting the controller to control the thrust pressure of the hydraulic cylinder according to the elongation, the controller can timely judge the mechanical distribution on the tunneling part according to the distribution position of the hydraulic cylinders acting on the tunneling part and the thrust pressure of the hydraulic cylinders acting on the tunneling part, thereby adjusting the thrust center of multiple hydraulic cylinders to the preset thrust center by adjusting the thrust pressure of each extended hydraulic cylinder to avoid biased tunneling, thereby achieving the technical effect of improving the working stability and reliability of the tunneling equipment, improving the tunneling accuracy, and improving the product structure life.

[0011] Specifically, in the existing shield machines, the control of the cylinder group is all synchronous control of fixed partitions. During the excavation process, the cylinders are synchronously extended in different areas, and retracted after completing a stage of excavation work. Only then can the pipe segments on the inner wall of the tunnel be installed in the space left by the retracted cylinders, so that the tunnel excavation and pipe segment installation of the existing shield machines cannot be carried out synchronously, thereby slowing down the working efficiency of the shield machines and extending the working hours. In response to this technical problem, the present application sets a stroke detector on the hydraulic cylinder and sets a corresponding controller in conjunction, so that the controller can combine the extension of the hydraulic cylinder with the installation requirements of the target pipe segment, so as to control the retraction of the hydraulic cylinder in the installation area when laying the target pipe segment, so as to complete the pipe segment installation without interrupting the excavation work, thereby solving the technical problems existing in the above-mentioned existing shield machines.

[0012] In addition, the tunneling equipment in the above technical solution provided by the present invention may also have the following additional technical features:

[0013] In the above technical solution, further, the tunneling equipment also includes: a segment installation device, which is connected to the controller, and the controller controls the operation of the segment installation device. The segment installation device is configured to be suitable for installing the target segment to the target position.

[0014] In this technical solution, a segment installation device is also provided on the excavation equipment. The segment installation device is used to realize the automatic placement of tunnel segments. During operation, the segment installation device transports the target segment to be mounted to the target position on the inner wall of the tunnel, and then completes the placement of the segment to form a pipe body composed of segments in the tunnel. By providing the segment installation device, the automatic placement of the target segment can be realized, which on the one hand liberates labor, and on the other hand improves the placement efficiency and placement accuracy of the target segment. Among them, the segment installation device requires sufficient operating space during the placement process. The technical feature of the control part hydraulic cylinder retraction defined in this application is to provide space for the segment installation device to work.

[0015] The second aspect of the present invention provides a control method for tunneling equipment, which is used to control the tunneling equipment in any of the above-mentioned technical solutions. The control method for tunneling equipment includes: controlling the hydraulic cylinder to operate at a first thrust pressure value; controlling some hydraulic cylinders corresponding to the target position of the target segment to retract; controlling the remaining hydraulic cylinders except some hydraulic cylinders to operate at a second thrust pressure value; and controlling the segment installation device to install the target segment to the target position.

[0016] In this technical solution, a control method for a tunneling device is defined. During the working process, the controller first controls the hydraulic cylinder to work at a first propulsion pressure value, and the tunneling part carries out tunneling work along a predetermined tunneling direction under the action of the first propulsion pressure. During this period, the controller receives the elongation of each hydraulic cylinder in real time, and when it is determined that the stroke of the tunneling part meets the installation requirements of any target segment, it controls the part of the hydraulic cylinder corresponding to the target position of the target segment to retract, and at the same time adjusts the propulsion pressure of the remaining hydraulic cylinders from the first propulsion pressure value to the second propulsion pressure value to ensure the stable advancement of the tunneling part. Afterwards, the controller controls the segment installation device to install the target segment to the target area in the retracted hydraulic cylinder area, thereby completing the installation process of a target segment. By controlling the hydraulic cylinder corresponding to the target position of the target segment to retract, the tunneling equipment can synchronously complete the installation process of the target segment without interrupting the tunneling process, thereby improving the tunneling efficiency of the tunneling equipment and reducing the time cost of tunnel construction. By controlling the hydraulic cylinders other than some hydraulic cylinders to change the propulsion pressure value, the mechanical distribution on the excavation part can be quickly adjusted to a balanced state, avoiding the actual excavation direction of the excavation part deviating from the predetermined excavation direction after some hydraulic cylinders retract, thereby achieving the technical effect of improving the working accuracy of the excavation equipment and improving the stability and reliability of the excavation equipment.

[0017] In any of the above technical solutions, further, the step of controlling the hydraulic cylinder to work at the corresponding first thrust pressure value specifically includes: obtaining the distribution position information of the hydraulic cylinder on the tunneling equipment; confirming the first thrust pressure value corresponding to each hydraulic cylinder based on the distribution position information; and controlling the hydraulic cylinder to work at the corresponding first thrust pressure value.

[0018] In this technical solution, a specific definition is made for the step of controlling the hydraulic cylinder to work at the corresponding first propulsion pressure value. In this step, the distribution information of the hydraulic cylinder on the tunneling equipment is first obtained, and the distribution information can reflect the relative position of each hydraulic cylinder on the tunneling part. Then, the first propulsion pressure value corresponding to each hydraulic cylinder is confirmed according to the distribution position information, and finally each hydraulic cylinder is controlled to work according to the first propulsion pressure value. The distribution position information can accurately reflect the position distribution of the hydraulic cylinder relative to the tunneling part. By controlling the hydraulic cylinder to work at the first propulsion pressure value, the thrust center of the hydraulic cylinder can be accurately adjusted, thereby ensuring the balance of the propulsion system on the tunneling equipment, avoiding the actual tunneling direction of the tunneling equipment from deviating from the predetermined tunneling direction, and preventing stress damage to the structure in the propulsion system.

[0019] In any of the above technical solutions, further, the step of controlling the retraction of part of the hydraulic cylinders in the area corresponding to the target position of the target segment specifically includes: obtaining the segment position information of the laid segment, the size information of the segment to be laid and the elongation of the hydraulic cylinder; determining the laying distance value of each segment to be laid according to the size information; determining the laying order of the segments to be laid according to each laying distance value; determining the target segment according to the laying order; and controlling the retraction of part of the hydraulic cylinders in the area corresponding to the target position of the target segment based on the elongation of the hydraulic cylinder being greater than or equal to the laying distance value of the target segment.

[0020] In this technical solution, a specific definition is made for the step of controlling the retraction of part of the hydraulic cylinder in the area corresponding to the target position of the target segment. In this step, the segment position information of the segment that has been laid, the size information of the segment to be laid, and the elongation of the hydraulic cylinder are first obtained, and then the laying distance value of each segment to be laid is determined according to the size information. Then, the controller plans and calculates the laying sequence of the segments according to the laying distance value of each segment, and determines the target segment to be laid according to the laying sequence and the segment position information of the laid segments. During the extension process of the hydraulic cylinder, the controller obtains the elongation of the hydraulic cylinder in real time. When the elongation of the hydraulic cylinder is greater than or equal to the laying distance of the target segment, it is determined that the laying process of the target segment can be executed, and then the hydraulic cylinder in the area corresponding to the target position of the target segment to be laid is controlled to retract, so as to leave an operating space for the segment splicing device to splice the target segment. During the assembly process, the hydraulic cylinder that has not retracted continues to feed, and after the assembly of the target segment is completed, the retracted hydraulic cylinder extends again and pushes the tunneling part. Then, the installation process of the segments to be laid is gradually completed without interrupting the tunneling process. This achieves the technical effect of improving the intelligence of tunneling equipment and improving the working efficiency of tunneling equipment.

[0021] In any of the above technical solutions, further, the step of controlling the retraction of part of the hydraulic cylinders corresponding to the target segment specifically includes: determining the target position information of the target segment based on the segment position information and the laying distance value of the target segment; determining part of the hydraulic cylinders corresponding to the target position information based on the target position information and the distribution position information, and controlling the retraction of part of the hydraulic cylinders.

[0022] In this technical solution, a specific definition is made for the step of controlling the retraction of a part of the hydraulic cylinder corresponding to the target segment. In this step, the target position information corresponding to the target segment is first determined according to the segment position information and the laying distance value of the target segment, so that the controller can locate the target segment and the target position, and then the part of the hydraulic cylinder corresponding to the target position information is determined to retract according to the target position information and the distribution position information, so as to leave enough installation space for the segment installation device and realize the synchronization of segment installation and tunnel excavation.

[0023] In any of the above technical solutions, further, the step of controlling the remaining hydraulic cylinders except some hydraulic cylinders to operate at the corresponding second propulsion pressure value specifically includes: determining the second propulsion pressure value corresponding to each hydraulic cylinder in the remaining hydraulic cylinders according to the first propulsion pressure value, distribution position information and target position information; and controlling the remaining hydraulic cylinders to operate at the corresponding second propulsion pressure value.

[0024] In this technical solution, a specific definition is made for the step of controlling the remaining hydraulic cylinders except for some hydraulic cylinders to work at the corresponding second propulsion pressure value. In this step, the controller analyzes the thrust center of the remaining hydraulic cylinders on the excavation part after the partial hydraulic cylinders are retracted based on the first propulsion pressure value, the distribution position information and the target position information, and then determines the second propulsion pressure value corresponding to each of the remaining hydraulic cylinders based on the deviation between the current thrust center and the predetermined excavation direction, and finally controls the remaining hydraulic cylinders to work at the corresponding second propulsion pressure value respectively. This step realizes the leveling of the force on the excavation part after the partial hydraulic cylinders are retracted, which can effectively prevent the current excavation direction of the excavation part from deviating from the predetermined excavation direction, and can also prevent the excavation mechanism in the excavation equipment from being damaged by the stress concentration caused by the deflection. Thereby, the technical effect of optimizing the control method of the excavation mechanism and improving the working stability and reliability of the excavation mechanism is achieved.

[0025] In any of the above technical solutions, further, the step of determining the laying distance value of each pipe segment to be laid according to the size information specifically includes: confirming the length of each pipe segment to be laid according to the size information; confirming the laying distance value of each pipe segment to be laid according to the length and the preset splicing margin; wherein the length is the length of the pipe segment to be laid in the excavation direction after the laying is completed, and the laying distance value is the sum of the length and the splicing margin.

[0026] In this technical solution, a specific definition is made for the step of determining the laying distance value of each segment to be laid according to the size information. In this step, the controller sums the length of the segment to be laid and the preset splicing margin to obtain the laying distance value of each segment to be laid, and then uses the laying distance value as the judgment limit for the retraction of the cylinder. The length of the segment is the length of the segment in the extension direction of the tunnel. Each segment of different specifications corresponds to a different length, and each segment of different specifications corresponds to a different splicing margin. By defining this step, the retraction and extension process of the hydraulic cylinder can be accurately controlled, thereby achieving the technical effect of optimizing the control method of the tunneling equipment and improving the working reliability of the tunneling equipment.

[0027] The third aspect of the present invention provides a tunneling equipment control device, which includes: a memory configured to store a computer program; and a processor configured to execute the computer program to implement a tunneling equipment control method as in any of the above technical solutions.

[0028] In this technical solution, a computer program is stored in the memory, and the processor is used to execute the computer program stored in the memory to implement the control method of the tunneling equipment provided by any of the above technical solutions. By controlling the retraction of the hydraulic cylinder corresponding to the target position of the target segment, the tunneling equipment can synchronously complete the mounting process of the target segment without interrupting the tunneling process, thereby improving the tunneling efficiency of the tunneling equipment and reducing the time cost of tunnel construction. By controlling the remaining hydraulic cylinders except for some hydraulic cylinders to change the propulsion pressure value, the mechanical distribution on the tunneling part can be quickly adjusted to a balanced state, avoiding the actual tunneling direction of the tunneling part from deviating from the predetermined tunneling direction after the retraction of some hydraulic cylinders, thereby achieving the technical effect of improving the working accuracy of the tunneling equipment and improving the stability and reliability of the tunneling equipment.

[0029] The fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the control method of the tunneling equipment provided in any of the above-mentioned technical solutions is implemented. Thus, the computer-readable storage medium includes all the beneficial effects of the control method of the tunneling equipment provided in any of the above-mentioned technical solutions, which will not be repeated here.

[0030] Additional aspects and advantages of the present invention will become apparent from the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0032] Figure 1 A schematic structural diagram of a tunneling device provided according to an embodiment of the present invention is shown;

[0033] Figure 2 A flow chart showing a method for controlling a tunneling device according to an embodiment of the present invention is shown;

[0034] Figure 3 A flow chart showing a method for controlling a tunneling device according to another embodiment of the present invention;

[0035] Figure 4 A flow chart showing a method for controlling a tunneling device according to another embodiment of the present invention is shown;

[0036] Figure 5 A flow chart showing a method for controlling a tunneling device according to another embodiment of the present invention is shown;

[0037] Figure 6 A flow chart showing a method for controlling a tunneling device according to another embodiment of the present invention is shown;

[0038] Figure 7 A flow chart showing a method for controlling a tunneling device according to another embodiment of the present invention is shown;

[0039] Figure 8 A structural block diagram of a control device for tunneling equipment according to an embodiment of the present invention is shown;

[0040] Fig. 9 A schematic diagram showing the position distribution of pipe segments according to an embodiment of the present invention is shown;

[0041] Fig.10 A schematic diagram of the working process of a tunneling device according to an embodiment of the present invention is shown.

[0042] in, Figure 1 and Fig. 9 The corresponding relationship between the reference numerals and the component names is as follows:

[0043] 1 excavation equipment, 10 hydraulic cylinder, 202 first pipe segment, 204 second pipe segment, 206 third pipe segment, 208 fourth pipe segment, 210 fifth pipe segment, 212 sixth pipe segment. DETAILED DESCRIPTION

[0044] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0045] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0046] Refer to the following Figures 1 to 10 To describe the tunneling equipment 1, the control method of the tunneling equipment, the control device of the tunneling equipment and the computer-readable storage medium provided according to some embodiments of the present invention.

[0047] like Figure 1 As shown, in an embodiment of the first aspect of the present invention, a tunneling device 1 is provided, which includes: a tunneling part; a hydraulic cylinder 10, which is connected to the tunneling part, and there are at least two hydraulic cylinders 10, which push the tunneling part; a stroke detector, which is arranged on the hydraulic cylinder 10 and is used to detect the elongation of the hydraulic cylinder 10; a controller, which is connected to the hydraulic cylinder 10, and the controller controls the telescopic state and propulsion pressure of any hydraulic cylinder 10 according to the laying order and elongation of the pipe segment.

[0048] In this embodiment, a tunneling device 1 is defined, and the tunneling device 1 is provided with a tunneling part, a hydraulic cylinder 10, a stroke detector and a controller. The tunneling part is the excavation mechanism of the tunneling device 1. During operation, the tunneling part crushes rock layers and soil to dig a tunnel in a mountain or underground. The hydraulic cylinder 10 provides power for the tunneling part, and one end of the hydraulic cylinder 10 is connected to the tunneling part. Each tunneling device 1 is provided with multiple groups of hydraulic cylinders 10, each group of hydraulic cylinders 10 includes at least two hydraulic cylinders 10, and multiple hydraulic cylinders 10 jointly push the tunneling part. During operation, the hydraulic cylinder 10 pushes the tunneling part to move along the tunneling direction to complete the tunneling work. The stroke detector is arranged in the hydraulic cylinder 10, and is used to detect the elongation of the hydraulic cylinder 10. The controller is connected to the stroke detector and the hydraulic cylinder 10 respectively. Specifically, the controller is connected to the hydraulic valve group that drives the hydraulic cylinder 10 to work, and controls the hydraulic cylinder 10 by controlling the hydraulic valve group.

[0049] During the working process, the controller determines the laying order of multiple pipe segments to be laid according to the acquired parameter information of the pipe segments to be laid, and then determines the target pipe segment to be laid according to the laying order and the current laying progress. Finally, the controller receives the elongation detected by the stroke detector. When the elongation is greater than the laying distance value of the target pipe segment, the hydraulic cylinder 10 corresponding to the target pipe segment is controlled to retract to facilitate the execution of the pipe segment laying operation.

[0050] By setting a stroke detector and limiting the controller to control the extension and retraction state of any hydraulic cylinder 10 according to the laying sequence and elongation of the segments, each hydraulic cylinder 10 on the tunneling equipment 1 can be independently controlled, so that when the tunneling equipment 1 is performing the installation of the target segment in the outer area of ​​the hydraulic cylinder 10, it can independently control some hydraulic cylinders 10 to retract to have enough installation space, thereby ensuring that the installation of the target segment and tunneling can be carried out simultaneously, thereby achieving the technical effect of greatly improving tunneling efficiency and reducing tunneling costs. By limiting the controller to control the thrust pressure of the hydraulic cylinder 10 according to the elongation, the controller can timely judge the mechanical distribution on the tunneling part according to the distribution position of the hydraulic cylinder 10 acting on the tunneling part and the thrust pressure of the hydraulic cylinder 10 acting on the tunneling part, thereby adjusting the thrust center of multiple hydraulic cylinders 10 to the preset thrust center by adjusting the thrust pressure of each extended hydraulic cylinder 10 to avoid biased tunneling, thereby achieving the technical effect of improving the working stability and reliability of the tunneling equipment 1, improving the tunneling accuracy, and improving the product structure life.

[0051] Specifically, in the existing shield machines, the control of the cylinder group is all synchronous control of fixed partitions. During the excavation process, the cylinders are synchronously extended in different areas, and retracted after completing a stage of excavation work. Only then can the pipe segments on the inner wall of the tunnel be installed in the space left by the retracted cylinders, so that the tunnel excavation and pipe segment installation of the existing shield machines cannot be carried out synchronously, thereby slowing down the working efficiency of the shield machines and extending the working hours. In response to this technical problem, the present application sets a stroke detector on the hydraulic cylinder 10 and sets a corresponding controller in conjunction, so that the controller can combine the extension of the hydraulic cylinder 10 with the installation requirements of the target pipe segment, so as to control the hydraulic cylinder 10 in the installation area to retract when laying the target pipe segment, so as to complete the pipe segment installation without interrupting the excavation work, thereby solving the technical problems existing in the above-mentioned existing shield machines.

[0052] In one embodiment of the present invention, further, the tunneling equipment 1 also includes: a segment installation device connected to the controller, the controller controls the operation of the segment installation device, and the segment installation device is configured to be suitable for installing the target segment to the target position.

[0053] In this embodiment, the tunneling equipment 1 is also provided with a segment installation device, which is used to realize the automatic placement of tunnel segments. During operation, the segment installation device transports the target segment to be mounted to the target position on the inner wall of the tunnel, and then completes the placement of the segment to form a pipe body composed of segments in the tunnel. By providing the segment installation device, the automatic placement of the target segment can be realized, which on the one hand liberates labor, and on the other hand improves the placement efficiency and placement accuracy of the target segment. Among them, the segment installation device requires sufficient operating space during the placement process. The technical feature of the control part hydraulic cylinder 10 retracting defined in this application is to provide space for the segment installation device to work.

[0054] like Figure 2 As shown, in an embodiment of the second aspect of the present invention, a control method of a tunneling device is provided, which is used to control the tunneling device in any of the above technical solutions. The control method of the tunneling device includes:

[0055] Step S202, controlling the hydraulic cylinder to operate at a first propulsion pressure value;

[0056] Step S204, controlling the part of the hydraulic cylinders corresponding to the target position of the target segment to retract;

[0057] Step S206, controlling the remaining hydraulic cylinders except some of the hydraulic cylinders to operate at a second propulsion pressure value;

[0058] Step S208: Control the segment installation device to install the target segment to the target position.

[0059] In this embodiment, a control method for a tunneling device is defined. During the working process, the controller first controls the hydraulic cylinder to work at a first propulsion pressure value, and the tunneling part carries out tunneling work along a predetermined tunneling direction under the action of the first propulsion pressure. During this period, the controller receives the elongation of each hydraulic cylinder in real time. When it is determined that the stroke of the tunneling part meets the installation requirements of any target segment, the controller controls the part of the hydraulic cylinder corresponding to the target position of the target segment to retract, and at the same time adjusts the propulsion pressure of the remaining hydraulic cylinders from the first propulsion pressure value to the second propulsion pressure value to ensure the stable advancement of the tunneling part. Thereafter, the controller controls the segment installation device to install the target segment to the target area in the retracted hydraulic cylinder area, thereby completing the installation process of a target segment. By controlling the hydraulic cylinder corresponding to the target position of the target segment to retract, the tunneling equipment can synchronously complete the installation process of the target segment without interrupting the tunneling process, thereby improving the tunneling efficiency of the tunneling equipment and reducing the time cost of tunnel construction. By controlling the hydraulic cylinders other than some hydraulic cylinders to change the propulsion pressure value, the mechanical distribution on the excavation part can be quickly adjusted to a balanced state, avoiding the actual excavation direction of the excavation part deviating from the predetermined excavation direction after some hydraulic cylinders retract, thereby achieving the technical effect of improving the working accuracy of the excavation equipment and improving the stability and reliability of the excavation equipment.

[0060] In one embodiment of the present invention, further, Figure 3 As shown, the control method of the excavation equipment includes:

[0061] Step S302, obtaining the distribution position information of the hydraulic cylinders on the tunneling equipment;

[0062] Step S304, confirming the first propulsion pressure value corresponding to each hydraulic cylinder according to the distribution position information;

[0063] Step S306, controlling the hydraulic cylinder to operate at a corresponding first propulsion pressure value;

[0064] Step S308, controlling the part of the hydraulic cylinders corresponding to the target position of the target segment to retract;

[0065] Step S310, controlling the remaining hydraulic cylinders except some of the hydraulic cylinders to operate at a second propulsion pressure value;

[0066] Step S312: Control the segment installation device to install the target segment to the target position.

[0067] In this embodiment, a specific limitation is made on the step of controlling the hydraulic cylinder to work at the corresponding first propulsion pressure value. In this step, the distribution information of the hydraulic cylinder on the tunneling equipment is first obtained, and the distribution information can reflect the relative position of each hydraulic cylinder on the tunneling part. Then, the first propulsion pressure value corresponding to each hydraulic cylinder is confirmed according to the distribution position information, and finally each hydraulic cylinder is controlled to work according to the first propulsion pressure value. The distribution position information can accurately reflect the position distribution of the hydraulic cylinder relative to the tunneling part. By controlling the hydraulic cylinder to work at the first propulsion pressure value, the thrust center of the hydraulic cylinder can be accurately adjusted, thereby ensuring the balance of the propulsion system on the tunneling equipment, preventing the actual tunneling direction of the tunneling equipment from deviating from the predetermined tunneling direction, and preventing stress damage to the structure in the propulsion system.

[0068] In one embodiment of the present invention, further, Figure 4 As shown, the control method of the excavation equipment includes:

[0069] Step S402, controlling the hydraulic cylinder to operate at a first propulsion pressure value;

[0070] Step S404, obtaining the segment position information of the laid segments, the size information of the segments to be laid and the elongation of the hydraulic cylinder;

[0071] Step S406, determining the laying distance value of each segment to be laid according to the size information;

[0072] Step S408, determining the laying order of the segments to be laid according to each laying distance value;

[0073] Step S410, determining the target segment according to the laying order;

[0074] Step S412, based on the elongation of the hydraulic cylinder being greater than or equal to the laying distance value of the target segment, controlling part of the hydraulic cylinders in the area corresponding to the target position of the target segment to retract;

[0075] Step S414, controlling the remaining hydraulic cylinders except some of the hydraulic cylinders to operate at a second propulsion pressure value;

[0076] Step S416: Control the segment installation device to install the target segment to the target position.

[0077] In this embodiment, a specific definition is made for the step of controlling the retraction of part of the hydraulic cylinder in the area corresponding to the target position of the target segment. In this step, the segment position information of the segment that has been laid, the size information of the segment to be laid, and the elongation of the hydraulic cylinder are first obtained, and then the laying distance value of each segment to be laid is determined according to the size information. Then, the controller plans and calculates the laying sequence of the segments according to the laying distance value of each segment, and determines the target segment to be laid according to the laying sequence and the segment position information of the laid segments. During the extension process of the hydraulic cylinder, the controller obtains the elongation of the hydraulic cylinder in real time. When the elongation of the hydraulic cylinder is greater than or equal to the laying distance of the target segment, it is determined that the laying process of the target segment can be executed, and then the hydraulic cylinder in the area corresponding to the target position of the target segment to be laid is controlled to retract, so as to leave an operating space for the segment splicing device to splice the target segment. During the assembly process, the hydraulic cylinder that has not retracted continues to feed, and after the assembly of the target segment is completed, the retracted hydraulic cylinder extends again and pushes the tunneling part. Then, the installation process of the segments to be laid is gradually completed without interrupting the tunneling process. This achieves the technical effect of improving the intelligence of tunneling equipment and improving the working efficiency of tunneling equipment.

[0078] In one embodiment of the present invention, further, Figure 5 As shown, the control method of the excavation equipment includes:

[0079] Step S502, controlling the hydraulic cylinder to operate at a first propulsion pressure value;

[0080] Step S504, obtaining the segment position information of the laid segments, the size information of the segments to be laid and the elongation of the hydraulic cylinder;

[0081] Step S506, determining the laying distance value of each segment to be laid according to the size information;

[0082] Step S508, determining the laying order of the segments to be laid according to each laying distance value;

[0083] Step S510, determining the target segment according to the laying order;

[0084] Step S512, based on the elongation of the hydraulic cylinder being greater than or equal to the laying distance value of the target segment, determining the target position information of the target segment according to the segment position information and the laying distance value of the target segment;

[0085] Step S514, determining some hydraulic cylinders corresponding to the target position information according to the target position information and the distribution position information, and controlling some hydraulic cylinders to retract;

[0086] Step S516, controlling the remaining hydraulic cylinders except some of the hydraulic cylinders to operate at a second propulsion pressure value;

[0087] Step S518: Control the segment installation device to install the target segment to the target position.

[0088] In this embodiment, the step of controlling the retraction of the part of the hydraulic cylinder corresponding to the target segment is specifically defined. In this step, the target position information corresponding to the target segment is first determined according to the segment position information and the laying distance value of the target segment, so that the controller can locate the target segment and the target position, and then the part of the hydraulic cylinder corresponding to the target position information is determined to be retracted according to the target position information and the distribution position information, so as to reserve sufficient installation space for the segment installation device and realize the synchronization of segment installation and tunnel excavation.

[0089] In one embodiment of the present invention, further, Figure 6 As shown, the control method of the excavation equipment includes:

[0090] Step S602, controlling the hydraulic cylinder to operate at a first propulsion pressure value;

[0091] Step S604, obtaining the segment position information of the laid segments, the size information of the segments to be laid and the elongation of the hydraulic cylinder;

[0092] Step S606, determining the laying distance value of each segment to be laid according to the size information;

[0093] Step S608, determining the laying order of the segments to be laid according to each laying distance value;

[0094] Step S610, determining the target pipe according to the laying order;

[0095] Step S612, based on the elongation of the hydraulic cylinder being greater than or equal to the laying distance value of the target segment, determining the target position information of the target segment according to the segment position information and the laying distance value of the target segment;

[0096] Step S614, determining some hydraulic cylinders corresponding to the target position information according to the target position information and the distribution position information, and controlling some hydraulic cylinders to retract;

[0097] Step S616, determining a second propulsion pressure value corresponding to each of the remaining hydraulic cylinders according to the first propulsion pressure value, the distribution position information and the target position information;

[0098] Step S618, controlling the remaining hydraulic cylinders to operate at the corresponding second propulsion pressure value;

[0099] Step S620: Control the segment installation device to install the target segment to the target position.

[0100] In this embodiment, a specific definition is made for the step of controlling the remaining hydraulic cylinders except for some hydraulic cylinders to work at the corresponding second propulsion pressure value. In this step, the controller analyzes the thrust center of the remaining hydraulic cylinders on the excavation part after the partial hydraulic cylinders are retracted according to the first propulsion pressure value, the distribution position information and the target position information, and then determines the second propulsion pressure value corresponding to each of the remaining hydraulic cylinders according to the deviation between the current thrust center and the predetermined excavation direction, and finally controls the remaining hydraulic cylinders to work at the corresponding second propulsion pressure value respectively. This step realizes the leveling of the force on the excavation part after the partial hydraulic cylinders are retracted, which can effectively prevent the current excavation direction of the excavation part from deviating from the predetermined excavation direction, and can also prevent the excavation mechanism in the excavation equipment from being damaged by the stress concentration caused by the deflection. Thereby, the technical effect of optimizing the control method of the excavation mechanism and improving the working stability and reliability of the excavation mechanism is achieved.

[0101] In one embodiment of the present invention, further, Figure 7 As shown, the control method of the excavation equipment includes:

[0102] Step S702, controlling the hydraulic cylinder to operate at a first propulsion pressure value;

[0103] Step S704, obtaining the segment position information of the laid segments, the size information of the segments to be laid and the elongation of the hydraulic cylinder;

[0104] Step S706, confirming the length of each segment to be laid according to the size information;

[0105] Step S708, confirming the laying distance value of each segment to be laid according to the length and the preset splicing margin;

[0106] Step S710, determining the laying order of the segments to be laid according to each laying distance value;

[0107] Step S712, determining the target segment according to the laying order;

[0108] Step S714, based on the elongation of the hydraulic cylinder being greater than or equal to the laying distance value of the target segment, controlling the hydraulic cylinder in the area corresponding to the target position of the target segment to retract;

[0109] Step S716, controlling the remaining hydraulic cylinders except some of the hydraulic cylinders to operate at a second propulsion pressure value;

[0110] Step S718: Control the segment installation device to install the target segment to the target position.

[0111] Among them, the length is the length of the segment to be laid in the excavation direction after the laying is completed, and the laying distance value is the sum of the length and the splicing allowance.

[0112] In this embodiment, a specific definition is made for the step of determining the laying distance value of each segment to be laid according to the size information. In this step, the controller sums the length of the segment to be laid and the preset splicing margin to obtain the laying distance value of each segment to be laid, and then uses the laying distance value as the determination limit for the retraction of the cylinder. The length of the segment is the length of the segment in the direction of tunnel extension. Each segment of different specifications corresponds to a different length, and each segment of different specifications corresponds to a different splicing margin. By defining this step, the retraction and extension process of the hydraulic cylinder can be accurately controlled, thereby achieving the technical effect of optimizing the control method of the tunneling equipment and improving the working reliability of the tunneling equipment.

[0113] like Figure 8 As shown, in an embodiment of the third aspect of the present invention, a control device 800 for a tunneling device is provided, and the control device 800 for the tunneling device includes: a memory 802, configured to store a computer program; a processor 804, configured to execute the computer program to implement a control method for the tunneling device as in any of the above embodiments.

[0114] In this embodiment, a computer program is stored in the memory 802, and the processor 804 is used to execute the computer program stored in the memory 802 to implement the control method of the tunneling equipment provided by any of the above technical solutions. By controlling the hydraulic cylinder corresponding to the target position of the target segment to retract, the tunneling equipment can synchronously complete the mounting process of the target segment without interrupting the tunneling process, thereby improving the tunneling efficiency of the tunneling equipment and reducing the time cost of tunnel construction. By controlling the remaining hydraulic cylinders except for some hydraulic cylinders to change the propulsion pressure value, the mechanical distribution on the tunneling part can be quickly adjusted to a balanced state, avoiding the actual tunneling direction of the tunneling part from deviating from the predetermined tunneling direction after the retraction of some hydraulic cylinders, thereby achieving the technical effect of improving the working accuracy of the tunneling equipment and improving the stability and reliability of the tunneling equipment.

[0115] In an embodiment of the fourth aspect of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the control method of the excavation equipment provided in any of the above embodiments is implemented. Therefore, the computer-readable storage medium includes all the beneficial effects of the control method of the excavation equipment provided in any of the above embodiments, which will not be repeated here.

[0116] In a specific embodiment of the present invention, a segment specification of 6200 / 5500mm-1500mm and 16 sets of double cylinders are taken as an example for description.

[0117] like Fig. 9As shown: the size of the second pipe segment 204 is 21.5° on the circumference, the size of the third pipe segment 206 and the first pipe segment 202 is 68° on the circumference, and the size of the fourth pipe segment 208, the fifth pipe segment 210, and the sixth pipe segment 212 is 67.5° on the circumference. After the excavation equipment 1 excavates to the length of any ring pipe segment + the splicing margin, it enters the advancement and installation synchronization mode, and the controller automatically calculates the assembly position of the second pipe segment 204. According to the configuration of the hydraulic cylinder 10 and the pipe segment configuration, the controller calculates the number of hydraulic cylinders 10 required to assemble the second pipe segment 204 and the number of hydraulic cylinders 10 required to assemble other blocks. According to the assembly position of the second pipe segment 204, the controller automatically calculates the assembly position and assembly order of other pipe segments.

[0118] like Figure 1 As shown, in this embodiment, the second segment 204 corresponds to the third group of hydraulic cylinders 10, the third segment 206 corresponds to the fourth, fifth and sixth groups of hydraulic cylinders 10, the fourth segment 208 corresponds to the seventh, eighth and ninth groups of hydraulic cylinders 10, the fifth segment 210 corresponds to the tenth, eleventh and twelfth groups of hydraulic cylinders 10, the sixth segment 212 corresponds to the thirteenth, fourteenth and fifteenth groups of hydraulic cylinders 10, and the first segment 202 corresponds to the sixteenth, first and second groups of hydraulic cylinders 10. The assembly order of the segments is: the fourth segment 208 - the fifth segment 210 - the third segment 206 - the sixth segment 212 - the first segment 202 - the second segment 204. After the automatic partitioning of the hydraulic cylinders 10 is completed according to the above method, the fourth segment 208 is assembled, and the 7th, 8th, and 9th groups of hydraulic cylinders 10 are retracted in sequence. After the upper segment is assembled, the 7th, 8th, and 9th groups of hydraulic cylinders 10 are pushed back in sequence, and the assembly of the fourth segment 208 is completed, and the assembly of the next segment is started. After all the segments are assembled, the propulsion and assembly synchronization mode is exited and the normal propulsion mode is entered.

[0119] Furthermore, the retraction and extension of the hydraulic cylinder 10 in the assembly area will cause the pressure of the hydraulic cylinder 10 in the corresponding area to change, resulting in the displacement of the thrust center and destroying the balance of the tunneling part (shield) propulsion system. When the tunneling equipment 1 is advancing normally, its thrust center is maintained at a relatively fixed position. The thrust center can be described by the X value and the Y value. The derivation formula of the thrust center SumFrcX is:

[0120]

[0121] The derivation formula of thrust center SumFrcY is:

[0122]

[0123] Among them, Prs i is the hydraulic cylinder 10 pressure of the i-th hydraulic cylinder 10, where θi i is the installation angle of the i-th hydraulic cylinder 10.

[0124] Take the assembly of A1R segment as an example, start the assembly of A1R segment, and record the X and Y values ​​of the thrust center at this time. The 7th group of hydraulic cylinders 10 are separated from the segment, and their force disappears from the segment, causing the X and Y values ​​of the thrust center to shift. Automatically adjust the pressure of other hydraulic cylinders 10 except for the 7th, 8th and 9th groups of hydraulic cylinders 10 to keep the thrust center stable when the following condition formula is met:

[0125]

[0126] The controller determines that the pressure compensation of the 7th group of hydraulic cylinders 10 is completed. After the pressure compensation of the 7th hydraulic cylinder 10 is completed, the 8th and 9th groups are controlled in the same way. After the three groups of hydraulic cylinders 10 are separated from the pipe segment, the A1R pipe segment is assembled. After the assembly is completed, the 7th, 8th, and 9th groups of hydraulic cylinders 10 are pushed onto the pipe segment one by one. At this time, the pressure of the hydraulic cylinders 10 in the assembly area increases, the propulsion force increases, and the X and Y values ​​of the thrust center change. In the same way, the pressure of other hydraulic cylinders 10 except the assembly area is automatically adjusted to keep the thrust center within the controllable fluctuation range. That is, the pressure compensation of the hydraulic cylinders 10 in the propulsion and assembly states is completed.

[0127] In another specific embodiment of the present invention, Fig.10 As shown, the working process of the excavation equipment 1 is as follows:

[0128] 1) The excavation equipment 1 is turned on and enters a normal propulsion mode, in which all hydraulic cylinders 10 extend synchronously;

[0129] 2) Determine whether the excavation length (elongation) reaches the sum of the width of any segment and the splicing margin. If not, continue to execute the normal advancement mode;

[0130] 3) When it is determined that the excavation length reaches the sum of the width of any segment and the splicing margin, the advancement and assembly synchronization mode is entered;

[0131] 4) Planning the assembly positions of the segments and intelligently partitioning the hydraulic cylinders 10 according to the assembly positions of the segments;

[0132] 5) Retract the hydraulic cylinder 10 corresponding to the segment to be assembled, and the other hydraulic cylinders 10 continue to advance, so as to complete the segment assembly while advancing;

[0133] 6) Determine whether the assembly of the entire pipe body is completed. If completed, return to the excavation length determination step; if not completed, continue with the assembly step.

[0134] In the present invention, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; "connect" can be a direct connection or an indirect connection through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0135] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0136] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A tunneling device, characterized in that: include: Excavation Department; A hydraulic cylinder connected to the excavation part, wherein the hydraulic cylinders are at least two and push the excavation part; A stroke detector, disposed on the hydraulic cylinder, for detecting the elongation of the hydraulic cylinder; A controller connected to the hydraulic cylinders, the controller controlling the extension and retraction state and the propulsion pressure of any of the hydraulic cylinders according to the laying sequence of the segments and the elongation; The controller is connected to the stroke detector and the hydraulic cylinder respectively; A control method for excavation equipment, comprising: Controlling the hydraulic cylinder to work at a first propulsion pressure value; Controlling the portion of the hydraulic cylinder corresponding to the target position of the target segment to retract; Controlling the remaining hydraulic cylinders except the part of the hydraulic cylinders to operate at a second propulsion pressure value; Controlling the segment installation device to install the target segment to the target position; The step of controlling the hydraulic cylinder to operate at the corresponding first propulsion pressure value specifically includes: Obtaining the distribution position information of the hydraulic cylinder on the tunneling equipment; According to the distribution position information, determining a first propulsion pressure value corresponding to each of the hydraulic cylinders; Controlling the hydraulic cylinder to operate at the corresponding first propulsion pressure value; The step of controlling the retraction of part of the hydraulic cylinders in the area corresponding to the target position of the target segment specifically comprises: Obtaining segment position information of the laid segments, size information of the segments to be laid, and the elongation of the hydraulic cylinder; Determine a laying distance value of each of the segments to be laid according to the size information; Determining the laying order of the segments to be laid according to each of the laying distance values; Determining the target segment according to the laying order; Based on the elongation of the hydraulic cylinder being greater than or equal to the laying distance value of the target segment, controlling part of the hydraulic cylinders in the area corresponding to the target position of the target segment to retract; The step of controlling the partial hydraulic cylinder corresponding to the target segment to retract specifically comprises: Determining target position information of the target segment according to the segment position information and the laying distance value of the target segment; Determining the portion of hydraulic cylinders corresponding to the target position information according to the target position information and the distribution position information, and controlling the portion of hydraulic cylinders to retract; The step of controlling the remaining hydraulic cylinders except the part of the hydraulic cylinders to operate at the corresponding second propulsion pressure value specifically includes: Determining a second propulsion pressure value corresponding to each of the remaining hydraulic cylinders according to the first propulsion pressure value, the distribution position information and the target position information; controlling the remaining hydraulic cylinders to operate at the corresponding second propulsion pressure values; The step of determining the laying distance value of each of the segments to be laid according to the size information specifically includes: Determine the length of each segment to be laid according to the size information; According to the length and the preset splicing margin, determine the laying distance value of each segment to be laid; Among them, the length is the length of the to-be-laid segment in the excavation direction after the laying is completed, and the laying distance value is the sum of the length and the splicing margin.

2. The excavation equipment according to claim 1, characterized in that: The excavation equipment also includes: The segment installation device is connected to the controller, and the controller controls the operation of the segment installation device. The segment installation device is configured to be suitable for installing the target segment to the target position.

3. A control device for excavation equipment, characterized in that: include: a memory configured to store a computer program; A processor configured to execute the computer program to implement the method as claimed in claim 1 The control method of the tunneling equipment.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the tunneling equipment according to claim 1 is implemented.

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