Roadheader working system and method

Abstract

The present invention relates to the technical field of tunnel boring machines, and provides a tunnel boring machine working system and method. The tunnel boring machine working system includes: an information acquisition device, which is arranged on the tunnel boring machine body and is used to acquire information; an inertial navigation device, which is used to acquire the posture and position data of the tunnel boring machine body; a cutting position acquisition sensor, which is used to acquire the cutting position data of the tunnel boring machine; a processing device, which is used to receive the information acquired by the information acquisition device, the posture and position data of the tunnel boring machine body, and the cutting position data of the tunnel boring machine, so as to acquire the tunnel map and working path information; a controller, which receives the posture and position data of the tunnel boring machine body, the cutting position data of the tunnel boring machine, and the working path information, and sends an action instruction to the tunnel boring machine body. The present invention acquires the tunnel map through the processing device, and then acquires the working path of the tunnel boring machine body in combination with the data of other sensors, so that the tunnel boring machine body can work autonomously, thereby improving personal safety.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel boring machines, and in particular to a tunnel boring machine working system and method. Background Art

[0002] In the application process of tunnel boring machines, most of them need manual operation, which requires high operating ability of personnel. Not only is the efficiency low, but the on-site operating environment is also harsh and the safety risk is high. Some tunnel boring machines will add some equipment to locate the tunnel boring machine to achieve remote mining. Some tunnel boring machines will also add a remote operating system to the tunnel boring machine, and the staff can remotely operate the equipment through the remote control. However, they all require a lot of manual operation and cannot meet the purpose of unmanned mining. Summary of the invention

[0003] The present invention aims to solve at least one of the above technical problems.

[0004] To this end, a first object of the present invention is to provide a working system for a roadheader.

[0005] A second object of the present invention is to provide a working method of a tunnel boring machine.

[0006] To achieve the first objective of the present invention, an embodiment of the present invention provides a tunnel boring machine working system for controlling a tunnel boring machine body to excavate a tunnel. The tunnel boring machine body is provided with a state acquisition sensor to detect the tunnel boring machine state of the tunnel boring machine body, including: an information acquisition device, provided on the tunnel boring machine body, for acquiring information; an inertial navigation device, for acquiring the posture and position data of the tunnel boring machine body; a cutting position acquisition sensor, for acquiring the cutting position data of the tunnel boring machine; a processing device, for receiving the information of the information acquisition device, the tunnel boring machine posture and position data, the tunnel boring machine body posture and position data, the tunnel boring machine cutting position data and the tunnel boring machine state data, and acquiring a tunnel map and working path information; a controller, for receiving the posture and position data of the tunnel boring machine body, the tunnel boring machine cutting position data and the working path information, and issuing an action instruction to the tunnel boring machine body.

[0007] The tunnel boring machine working system provided in this embodiment acquires tunnel scanning information by adding a scanner, and then uses a processing device to acquire a tunnel virtual map based on the scanning information, and then acquires the tunnel map and working path information by combining the posture and position data of the tunnel boring machine body and the cutting position data of the tunnel boring machine, and then realizes the autonomous operation of the tunnel boring machine body through a controller.

[0008] In addition, the technical solution provided by the above embodiment of the present invention may also have the following additional technical features:

[0009] The system further includes a plurality of trackers disposed in the lane according to the absolute coordinates of the lane.

[0010] The tracker is set by the coordinate value of the lane, and the lane map can be quickly obtained after obtaining the coordinates.

[0011] In any of the above technical solutions, the tracker is a laser tracker.

[0012] The laser tracker uses a laser beam to correspond to the laser radar to facilitate the establishment of a basic coordinate system based on absolute coordinates.

[0013] In any of the above technical solutions, the laser tracker is a target ball.

[0014] The target ball can improve the stitching accuracy when acquiring the virtual map due to its spherical shape.

[0015] Any of the above technical solutions also includes a wireless communication module for receiving the information acquired by the information acquisition device, the cutting section information and the working path information, and sending the cutting section information and the working path information to the controller.

[0016] Transmitting data through a wireless communication module can overcome the cable installation problems caused by wired data transmission.

[0017] In any of the above technical solutions, the information acquisition device is a scanner.

[0018] The scanner can scan the target information in all directions.

[0019] In any of the above technical solutions, the scanner is a laser radar.

[0020] LiDAR can have a correction effect on the inertial navigation unit and can provide position information.

[0021] To achieve the second objective of the present invention, an embodiment of the present invention provides a working method of a roadheader, using the roadheader working system as described above, comprising the following steps:

[0022] Get a virtual map of the laneway;

[0023] Obtain laneway maps and work path information;

[0024] The tunnel boring machine body works according to the working path information.

[0025] By obtaining the tunnel map and calculating the working path of the tunnel boring machine, the tunnel boring machine can be controlled to work autonomously under the working path, reducing the danger of manual operation and improving work efficiency.

[0026] In addition, the technical solution provided by the above-mentioned embodiment of the present invention may also have the following additional technical features: determining the absolute coordinate value according to the geological data of the tunnel; setting a tracker in the tunnel according to the absolute coordinate value; obtaining the basic coordinate information of the tunnel to obtain a virtual map of the tunnel according to the basic coordinate information.

[0027] It is faster to obtain basic coordinate information based on absolute coordinates and related data information from other sensors, and then build a lane map.

[0028] In the above technical solution, before obtaining the basic coordinate information of the tunnel, it also includes the step of obtaining the geological data of the tunnel to determine the absolute coordinate value of the tunnel, so as to obtain the basic coordinate information through the absolute coordinate value.

[0029] In any of the above technical solutions, the method for obtaining a tunnel map comprises the following steps: the processing device combines the posture and position data of the tunnel boring machine body, the cutting position data of the tunnel boring machine and the information obtained by the information acquisition device, as well as the virtual map of the tunnel, and obtains it through analysis.

[0030] The lane map is obtained by combining relevant data with the virtual map through a processing device, and the obtained lane map is more detailed and more practical.

[0031] In any of the above technical solutions, the information acquired by the information acquisition device includes tunnel surface information and tunnel boring machine body status information.

[0032] The processing device obtains the tunnel surface information and the state information of the tunnel boring machine body, and then combines the posture and position data of the tunnel boring machine body and the cutting position data of the tunnel boring machine to obtain a more accurate tunnel map, so as to obtain more accurate path information.

[0033] In any of the above technical solutions, a tunnel cross-section diagram is intercepted in the process of obtaining the working path, and the tunnel cross-section diagram is used as the limited working range of the tunnel boring machine body. The reliability of the autonomous working of the tunnel boring machine body can be ensured according to the limited working range of the tunnel boring machine.

[0034] In any of the above technical solutions, the method for the tunnel boring machine body to work autonomously according to the working path is: after the controller receives the cutting section information and the working path information through the wireless communication module, the tunnel boring machine body is realized to work autonomously through calculation to achieve an automatic cutting state.

[0035] Transmitting data through the wireless communication module can overcome the cable installation problem caused by wired data transmission. Additional aspects and advantages of the present invention will become apparent in the following description or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] 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:

[0037] Figure 1 A schematic diagram of the system composition of a tunnel boring machine working system according to an embodiment of the present invention;

[0038] Figure 2 A structural diagram of a working system of a roadheader according to an embodiment of the present invention;

[0039] Figure 3 A schematic diagram of the connection of a working system of a tunnel boring machine according to an embodiment of the present invention;

[0040] Figure 4 The present invention is a flowchart of a working method of a tunnel boring machine according to an embodiment of the present invention.

[0041] Among them, Figures 1 to 4 The corresponding relationship between the reference numerals and component names in the figure is:

[0042] 10: TBM working system, 100: tracker, 110: first target ball, 120: second target ball, 130: third target ball, 140: fourth target ball, 150: fifth target ball, 160: sixth target ball, 200: scanner, 300: inertial navigation device, 400: cutting position acquisition sensor, 500: processing device, 600: controller, 700: TBM body, 800: wireless control module, 900: tunnel, R1: working path information, R2: cutting section information, R3: cutting position data, R4: TBM body posture and position data, R5: TBM body status data. DETAILED DESCRIPTION

[0043] 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 application and the features in the embodiments can be combined with each other without conflict.

[0044] 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.

[0045] The technical solutions of some embodiments of the present invention are described below with reference to the accompanying drawings.

[0046] Embodiment 1:

[0047] like Figures 1 to 3As shown, this embodiment provides a tunneling machine working system 10 for controlling a tunneling machine body 700 to excavate a tunnel 900, such as a coal mine tunnel. A state acquisition sensor is provided on the tunneling machine body 700 to detect the tunneling machine state of the tunneling machine body 700. Usually, a laser pointer is often used as a guide in the tunneling machine working system, and the inertial navigation device 300 is used alone, and the technical means are single and simple. The inertial navigation device 300 has the disadvantage of drifting when in use, and can only provide direction information, not position information. The tunneling machine can only obtain a relative position relationship with the tunnel in the tunnel. Some tunneling machine working systems will add cameras, gyroscopes, attitude indicators and other equipment to locate the tunneling machine body 700, so as to realize remote excavation, but it still requires a lot of manpower, and it is impossible to realize the autonomous working state of the tunneling machine body 700, and the level of autonomy and intelligence is very low.

[0048] In view of this, if Figure 1 As shown, this embodiment provides a tunnel boring machine working system 10 capable of operating autonomously, including: an information acquisition device 200, an inertial navigation device 300, a cutting position acquisition sensor 400, a processing device 500 and a controller 600.

[0049] The information acquisition device 200 is used to acquire information, including tunnel surface information and tunnel boring machine body status data. A scanner can be selected as the information acquisition device 200. The information acquisition device 200 is arranged on the top of the tunnel boring machine body 700, such as a three-dimensional scanner, and is used to scan the tunnel 900 to acquire scanning information. Before the tunnel boring machine body 700 works, the tunnel 900 is scanned in all directions by the information acquisition device 200. The information acquisition device 200 uses a three-dimensional scanner, and more specifically, it can be a laser radar.

[0050] The laser radar is a three-dimensional laser scanner that can correct the inertial navigation device 300 and provide position information. The laser radar is a radar system that emits a laser beam to detect the position, speed and other characteristic quantities of the target. Its working principle is to emit a detection signal (laser beam) to the target, and then compare the received signal reflected from the target (target echo) with the transmitted signal. After appropriate processing, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters, so as to identify the target.

[0051] As the tunnel boring machine body 700 moves forward, the laser radar continuously scans the tunnel surface and sends the acquired tunnel boring machine body posture and position information to the processing device 500. The processing device 500 combines other data through analysis and calculation to obtain a virtual map of the tunnel.

[0052] The inertial navigation device 300 detects the posture of the tunnel boring machine body 700 to obtain the tunnel boring machine body posture and position data R4.

[0053] The inertial navigation device 300 and the laser radar are both arranged on the top of the tunnel boring machine body 700, and two of the output ends of the inertial navigation device 300 are connected to the controller 600 and the processing device 500 respectively. The inertial navigation device 300 directly binds the measuring element to the carrier, and the measuring element angular rate gyroscope and accelerometer are installed along the three-axis direction of the body. In this way, the coordinate system physical quantities measured by the measuring element are all physical quantities of the carrier coordinate system. The output of the inertial navigation device 300 is solved by the navigation coordinate system, and the attitude matrix of the carrier can be calculated, and then the position information and attitude information of the carrier can be extracted from the attitude matrix. For example, the inertial navigation device 300 in the present invention can adopt a fiber optic gyroscope.

[0054] The cutting position acquisition sensor 400 acquires the cutting position data R3 of the boring machine by detecting the cutting part and other cylinder states of the boring machine.

[0055] The digital cylinder is connected to the frame and cutting arm of the tunnel boring machine and is arranged symmetrically on the center line of the machine. When the stroke of the digital cylinder changes, the cutting arm will swing in the vertical plane around the hinge point between it and the frame. When the piston rod of the digital cylinder is extended, the cutting arm swings above the tunnel, and when the piston rod of the digital cylinder is shortened, the cutting arm swings below the tunnel. The horizontal swing of the cutting arm is achieved by the twisting of the horizontal workbench. The frame is installed on the horizontal twisting turntable as a whole, and the horizontal twisting turntable is driven by the symmetrically arranged horizontal rotary cylinder. The piston rod of the horizontal rotary cylinder is connected to the turntable, and the cylinder is connected to the frame. When working, the piston rod of the horizontal rotary cylinder on one side is extended, and the piston rod of the horizontal rotary cylinder on the other side is shortened accordingly. The turntable is pushed by one piston rod extending and the other shortening, thereby driving the cutting arm to swing left and right around the horizontal center, realizing the horizontal swing of the cutting arm. Therefore, the state acquisition sensor is fixed to the hydraulic transmission part of the tunnel boring machine to measure the displacement of the extension and retraction of the cantilever in real time. For example, a displacement sensor can be selected.

[0056] The processing device 500 is arranged in the remote control room, and can be a computer, for example, for receiving the information acquired by the information acquisition device 200, the attitude and position data R4 of the tunnel boring machine body, the cutting position data R3 of the tunnel boring machine body 700, and the status data of the tunnel boring machine body 700, so as to obtain the virtual map of the tunnel. The processing device 500 then combines the attitude and position data R4 of the tunnel boring machine body, the cutting position data R3 of the tunnel boring machine body 700, and the status data R5 of the tunnel boring machine body to obtain the tunnel map on the basis of the virtual map. The point cloud data information collected by the information acquisition device 200 is transmitted to the processing device 500 in the remote control room, and the processing device 500 analyzes and processes the point cloud data and draws a virtual map. The processing device 500 combines the virtual map with the received attitude and position data R4 of the tunnel boring machine body, the cutting position data R3 of the tunnel boring machine body, and the status data R5 of the tunnel boring machine body to obtain the tunnel map, and at the same time obtains the cutting section information R2 and the working path information R1.

[0057] The controller 600 is used to receive the attitude and position data R4 of the tunnel boring machine body, the cutting position data R3 of the tunnel boring machine body, the cutting section information R2 and the working path information R1, and send action instructions to the tunnel boring machine body 700. The controller 600 is the core of the attitude control system of the entire tunnel boring machine body 700. The controller 600 completes the collection of various signals, calculates the position and attitude information of the tunnel boring machine body 700 and the cutting head through algorithms, and forms a closed-loop control with the control drive, thereby finally realizing the automatic driving of the tunnel boring machine body 700 and the automatic control of the cutting head action.

[0058] The controller 600 consists of four modules: attitude solution, position calibration, navigation correction and actuation control.

[0059] The position calibration module is used to receive the position reference information and distance information transmitted during the calibration process, as well as the attitude and position data of the tunnel boring machine body, so as to calculate and obtain the current reference position of the tunnel boring machine body and transfer it to the attitude solution module.

[0060] The navigation correction module is used to receive the correction value sent by the operation panel, calculate the navigation position correction information, and forward it to the attitude solution module.

[0061] The attitude solution module receives the angular velocity and other measurement values ​​in real time, and calculates the current position attitude information of the tunnel boring machine body in real time; when the position calibration module sends the reference position information, the attitude solution module calculates the deviation between the current position attitude information and the reference position information, and then calibrates the current position attitude information to make the current position attitude information consistent with the reference position information; when the navigation correction module sends the correction information of the navigation information, the attitude solution module superimposes the current position attitude information with the correction amount and recalculates the current position information.

[0062] After receiving the operation instruction sent by the operation panel, the actuation control module calculates the corresponding actuation control instruction and sends it to the actuator to perform the corresponding action.

[0063] It can be seen from this that the working method of the tunnel boring machine working system of the present invention is to first obtain the virtual map of the tunnel, and then obtain the tunnel map and the working path information R1 of the tunnel boring machine body 700 based on the virtual map combined with the data of the relevant sensors, and the tunnel boring machine works autonomously according to the working path information R1. Specifically, the working system obtains the tunnel scanning information through the information acquisition device 200, and then obtains the virtual map of the tunnel through analysis and processing by the processing device 500, and then combines the posture and position data and the cutting part state data, and the processing device 500 calculates the travel path information of the tunnel boring machine body 700 to realize the posture control and cutting of the tunnel boring machine, and complete the autonomous work of the tunnel boring machine body 700.

[0064] Embodiment 2:

[0065] This embodiment provides a roadheader working system 10. In addition to the technical features of the above embodiment, this embodiment also includes the following technical features.

[0066] The system further includes a tracker 100, which is arranged in the lane 900 according to the absolute coordinates of the lane. Figure 2 As shown, the tracker 100 may select a laser tracker, such as a target ball. Six target balls may be set in the tunnel, namely the first target ball 110, the second target ball 120, the third target ball 130, the fourth target ball 140, the fifth target ball 150 and the sixth target ball 160, and three target balls are set at both ends of the tunnel 900, wherein the first target ball 110, the second target ball 120 and the third target ball 130 may be set first, and as the tunnel 900 is excavated, the fourth target ball 140, the fifth target ball 150 and the sixth target ball 160 may be set, and when the fourth target ball 140, the fifth target ball 150 and the sixth target ball 160 are dug to their positions, they may be manually removed and set again in the direction along the working path. Multiple target balls are set in the tunnel, and the setting positions of the target balls are determined as follows: first, the tunnel geological data is obtained to determine the absolute coordinate values ​​of the tunnel, and then the target balls are arranged in the tunnel using the absolute coordinate values. At this time, the laser radar obtains scanning information by scanning the target balls and the tunnel 900, and then sends the scanning information to the processing device 500, which obtains the virtual map of the tunnel through analysis and calculation.

[0067] Embodiment 3:

[0068] This embodiment provides a roadheader working system 10. In addition to the technical features of the above embodiment, this embodiment also includes the following technical features.

[0069] The system also includes a wireless communication module 800 for receiving scanning information, cutting section information R2 and working path information R1, and sending the cutting section information R2 and working path information R1 to the controller 600 for controlling the action of the tunnel boring machine body 700.

[0070] The tunnel boring machine works on the move, so it cannot be connected via cables. However, since the position data of the reference station is relatively important for the tunnel boring machine navigation algorithm during real-time solution, the present embodiment uses a wireless communication module 800 to establish a data connection between the scanner and the processing device.

[0071] The wireless communication module 800 can be used to receive the scanning information of the laser radar and send the scanning information to the processing device 500, while receiving the working path information R1 obtained after calculation by the processing device, and sending the path information to the controller to control the movement of the tunnel boring machine body through the controller.

[0072] Embodiment 4:

[0073] This embodiment provides a roadheader working system 10. In addition to the technical features of the above embodiment, this embodiment also includes the following technical features.

[0074] The tunnel boring machine working system 10 includes: a tracker 100 , an information acquisition device 200 , a wireless communication module 800 , an inertial navigation device 300 , a cutting position acquisition sensor 400 , a processing device 500 and a controller 600 .

[0075] Six target balls can be set in the tunnel, and three are set at both ends of the tunnel. Specifically, the tracker 100 can select a laser tracker, such as a target ball. Six target balls can be set in the tunnel, namely the first target ball 110, the second target ball 120, the third target ball 130, the fourth target ball 140, the fifth target ball 150 and the sixth target ball 160, and three are set at both ends of the tunnel 900, wherein the first target ball 110, the second target ball 120, and the third target ball 130 can be set first, and as the tunnel 900 is excavated, the fourth target ball 140, the fifth target ball 150 and the sixth target ball 160 are set, and when the fourth target ball 140, the fifth target ball 150 and the sixth target ball 160 are dug to the position, they are manually removed and set again in the direction along the working path. After completing one working cycle, the target ball is moved to start the next working cycle. The reciprocating cycle is performed autonomously to realize the unmanned and autonomous cutting work of the tunnel boring machine.

[0076] Multiple target balls are set in the tunnel, and the setting positions of the target balls are determined as follows: first, the tunnel geological data is obtained to determine the absolute coordinate values ​​of the tunnel, and then the target balls are arranged in the tunnel using the absolute coordinate values. At this time, the laser radar obtains scanning information by scanning the target balls and the tunnel 900, and then sends the scanning information to the processing device 500, which obtains the virtual map of the tunnel through analysis and calculation.

[0077] The information acquisition device 200 and the inertial navigation device 300 are both arranged on the top of the tunnel boring machine body 700. The information acquisition device 200 uses a laser radar to scan the tunnel 900, so as to obtain a virtual map of the tunnel through the scanning information. Before the tunnel boring machine body 700 works, the tunnel 900 is scanned in all directions by the information acquisition device 200. The target ball is set in the tunnel according to the absolute coordinates of the tunnel. In the process of moving forward with the tunnel boring machine body 700, the laser radar continuously scans the tunnel surface. At this time, the laser radar obtains scanning information by scanning the target ball, and then sends the scanning information to the processing device 500. The processing device 500 obtains the virtual map of the tunnel through analysis and calculation. The processing device 500 then combines the tunnel boring machine body posture and position data R4, the cutting position data R3 of the tunnel boring machine body 700 and the tunnel boring machine body state data R5 to obtain the tunnel map on the basis of the virtual map.

[0078] The wireless communication module 800 receives the scanning information of the laser radar and sends it to the processing device 500, and the virtual map is obtained through calculation and analysis by the processing device 500.

[0079] The inertial navigation device 300 detects the posture of the tunnel boring machine body 700 to obtain the posture and position data of the tunnel boring machine body.

[0080] The cutting position acquisition sensor 400 acquires the cutting position data R3 of the boring machine by detecting the cutting part and other cylinder states of the boring machine body 700 .

[0081] The processing device 500 is arranged in the remote control room and is used to receive the virtual map, the attitude and position data of the tunnel boring machine body, the cutting position data R3 of the tunnel boring machine body and the state data R5 of the tunnel boring machine body to obtain the tunnel map. The processing device 500 combines the virtual map with the received attitude and position data of the tunnel boring machine body, the cutting position data R3 of the tunnel boring machine body and the state data R5 of the tunnel boring machine body to obtain the tunnel map.

[0082] The controller 600 is used to receive the attitude and position data of the tunnel boring machine, the cutting position data R3 of the tunnel boring machine, and the working path information R1, and to send action instructions to the tunnel boring machine. The controller 600 is the core of the entire tunnel boring machine attitude control system. The controller 600 completes the collection of various signals, calculates the position and attitude information of the tunnel boring machine and the cutting head through algorithms, and forms a closed-loop control with the control drive, thereby ultimately realizing the automatic driving of the tunnel boring machine and the automatic control of the cutting head action.

[0083] It can be seen from this that the working method of the tunnel boring machine working system of the present invention is to first obtain the virtual map of the tunnel, and then obtain the tunnel map and the working path information R1 of the tunnel boring machine body 700 based on the virtual map combined with the data of the relevant sensors, and the tunnel boring machine works autonomously according to the working path information R1. Specifically, the working system obtains the tunnel scanning information through the information acquisition device 200, and then obtains the virtual map of the tunnel through analysis and processing by the processing device 500, and then combines the posture and position data and the cutting part state data, and the processing device 500 calculates the travel path information of the tunnel boring machine body 700 to realize the posture control and cutting of the tunnel boring machine, and complete the autonomous work of the tunnel boring machine body 700.

[0084] The working system obtains tunnel information through the information acquisition device 200, and then obtains the virtual map of the tunnel through analysis and processing by the processing device 500. Then, the processing device 500 obtains the tunnel ground body by combining the posture and position data and the cutting part status data, and then calculates the travel path information of the tunnel boring machine body 700 to realize the posture control and cutting of the tunnel boring machine and complete the autonomous operation of the tunnel boring machine body 700.

[0085] Embodiment 5:

[0086] This embodiment provides a working method using the above-mentioned tunnel boring machine working system 10 to enable the tunnel boring machine to work autonomously.

[0087] like Figure 4 As shown, the working method of the tunnel boring machine includes the following steps:

[0088] S102: Acquire a virtual lane map.

[0089] S104: Acquire the lane map and work path information R1.

[0090] S106: The tunnel boring machine works according to the work path information R1.

[0091] Embodiment 6:

[0092] This embodiment provides a working method of a tunnel boring machine. In addition to the technical features of the above-mentioned embodiments, this embodiment also includes the following technical features.

[0093] The step S102 of obtaining the virtual map of the tunnel also includes the following steps: obtaining the tunnel geological data to determine the absolute coordinate value of the tunnel, obtaining the basic coordinate information through the absolute coordinate value and storing it in the processing device 500, and the processing device 500 obtains the virtual map of the tunnel through the scanning information sent by the laser radar.

[0094] In step S104 of obtaining the tunnel map and work path information R1, after the processing device 500 obtains the virtual map of the tunnel, it combines the tunnel boring machine body posture and position data sent by the inertial navigation device 3, the tunnel boring machine cutting position data R3 sent by the cutting position acquisition sensor 400, and the tunnel boring machine body status data R5 to obtain the tunnel map, and at the same time generates the work path information R1 in the tunnel map.

[0095] In step S106 of the tunnel boring machine working according to the working path information R1, the data acquired by the inertial navigation device 300 on the tunnel boring machine and the data acquired by the cutting position acquisition sensor 400 enter the controller 600 of the tunnel boring machine. The controller 600 combines the working path information R1 and uses the relevant algorithm and path information to control the tunnel boring machine body 700 to autonomously cut and complete the autonomous work.

[0096] This embodiment provides a working method using the above-mentioned tunnel boring machine working system 10, so that the tunnel boring machine can work autonomously within a limited working range.

[0097] When the processing device obtains the tunnel map and the working path information R1, it also obtains the tunnel cross-section diagram, which serves as the limited working range of the tunnel boring machine body 700.

[0098] In summary, the beneficial effects of the embodiments of the present invention are:

[0099] 1. Able to quickly obtain the coordinate information of the tunnel working face and the tunnel boring machine;

[0100] 2. The positional relationship between the tunnel and the tunnel boring machine can be determined;

[0101] 3. It is helpful to guide the working path of the tunnel boring machine body 700 and complete the autonomous cutting and shaping of the tunnel;

[0102] 4. Sensors are calibrated and interdependent with each other to ensure data accuracy, which is conducive to improving precision.

[0103] In the present invention, the term "plurality" refers to two or more than two, unless otherwise clearly defined. The terms "upper", "lower", etc., indicating directions or positional relationships, are based on directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or unit referred to must have a specific direction, be constructed and operate in a specific direction, and therefore, cannot be understood as limiting the present invention.

[0104] 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.

[0105] 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 tunnel boring machine working system, used to control the tunnel boring machine body to excavate a tunnel, the tunnel boring machine body is provided with a hydraulic transmission part, characterized in that: include: An information acquisition device is provided on the tunnel boring machine body and is used to acquire information. The information acquisition device is a scanner, and the scanner is a laser radar; Inertial navigation device, used to obtain the attitude and position data of the tunnel boring machine; A cutting position acquisition sensor is used to obtain cutting position data of the tunnel boring machine; A processing device, used to receive the information of the information acquisition device, the posture and position data of the roadheader body, and the cutting position data of the roadheader, so as to obtain the tunnel map and work path information; A controller, used for receiving the posture and position data of the tunnel boring machine body, the cutting position data of the tunnel boring machine and the working path information, and issuing an action instruction to the tunnel boring machine body; A plurality of trackers are arranged in the lane according to the absolute coordinates of the lane, the trackers are laser trackers, and the laser trackers are target balls; The laser radar obtains scanning information by scanning the target ball and the lane, and then sends the scanning information to the processing device. The processing device obtains a virtual map of the lane through analysis and calculation. After completing one working cycle, the target ball is moved to start the next working cycle.

2. The tunnel boring machine working system according to claim 1, characterized in that: Also includes: The wireless communication module is used to receive the information, cutting section information and the working path information acquired by the information acquisition device, and send the cutting section information and the working path information to the controller.

3. A tunnel boring machine working method, characterized in that: The tunnel boring machine working system as claimed in claim 1 is adopted, and comprises the following steps: Get a virtual map of the laneway; Obtain laneway maps and work path information; The tunnel boring machine body works according to the working path information.

4. The working method of the tunnel boring machine according to claim 3, characterized in that: Before the step of obtaining the lane map, the method further includes: Determine the absolute coordinate values ​​based on the tunnel geological data; Setting a tracker in the lane according to the absolute coordinate values; The basic coordinate information of the lane is obtained to obtain a virtual map of the lane according to the basic coordinate information.

5. The working method of the tunnel boring machine according to claim 3, characterized in that: The step of obtaining the lane map comprises: The processing device combines the posture and position data of the roadheader body, the cutting position data of the roadheader and the information acquired by the information acquisition device, and the virtual map of the tunnel; The processing device obtains it by parsing the above information and data.

6. The working method of the tunnel boring machine according to claim 5, characterized in that: The information acquired by the information acquisition device includes: Roadway surface information; TBM status information.

7. The working method of the tunnel boring machine according to claim 3, characterized in that: In the process of acquiring the working path information, a tunnel cross-section diagram is intercepted, and the tunnel cross-section diagram serves as a limited working range of the tunnel boring machine body.

8. The working method of the tunnel boring machine according to claim 3, characterized in that: The step of the tunnel boring machine body working according to the working path information includes: The controller receives cutting section information and working path information through the wireless communication module; The controller realizes the operation of the tunnel boring machine body through calculation, so that the tunnel boring machine body reaches an automatic cutting state.

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