Control method and device of tunnel boring machine, readable storage medium and tunnel boring machine

Abstract

The present invention proposes a control method, device, readable storage medium and tunnel boring machine, the tunnel boring machine includes a fuselage, a cutting arm and a cylinder for driving the cutting arm to swing, the cutting arm is arranged on the fuselage, and the control method includes: obtaining a first data set detected by a first detection component, the first data set is used to indicate the working parameters of the cutting arm; determining a swing speed prediction value according to the first data set; obtaining a second data set detected by a second detection component, the second data set is used to indicate the posture parameters of the fuselage; determining a target swing speed value according to the swing speed prediction value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value. Through the above technical solution, the present invention improves the accuracy of the swing speed estimation and control of the cutting arm, thereby ensuring the safety and reliability of the operation of the tunnel boring machine.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a control method and device for a tunnel boring machine, a readable storage medium and a tunnel boring machine. Background Art

[0002] In the prior art, a current sensor is usually used to detect changes in the cutting arm motor current, and then the swing speed of the cutting arm is estimated and controlled based on the cutting arm motor current. This solution has low accuracy, and if the current sensor fails, the swing speed of the cutting arm cannot be estimated and controlled. 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 is to provide a control method for a roadheader.

[0005] A second aspect of the present invention is to provide a control device for a tunnel boring machine.

[0006] A third aspect of the present invention is to provide a readable storage medium.

[0007] A fourth aspect of the present invention is to provide a tunnel boring machine.

[0008] In view of this, according to one aspect of the present invention, a control method for a tunnel boring machine is proposed, the tunnel boring machine includes a fuselage, a cutting arm and a cylinder for driving the cutting arm to swing, the cutting arm is arranged on the fuselage, and the control method includes: obtaining a first data set detected by a first detection component, the first data set is used to indicate the working parameters of the cutting arm; determining a swing speed prediction value according to the first data set; obtaining a second data set detected by a second detection component, the second data set is used to indicate the posture parameters of the fuselage; determining a target swing speed value according to the swing speed prediction value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.

[0009] It should be noted that the executor of the control method of the tunnel boring machine proposed in the present invention may be the control device of the tunnel boring machine. In order to more clearly illustrate the control method of the tunnel boring machine proposed in the present invention, the following technical scheme will exemplarily illustrate the executor of the control method of the tunnel boring machine as the control device of the tunnel boring machine.

[0010] In this technical solution, the first data set is used to indicate the working parameters of the cutting arm, such as the motor current of the cutting arm, the vibration acceleration of the cutting arm, the oil pressure of the oil cylinder, etc. The second data set is used to indicate the posture parameters of the tunnel boring machine body, such as the heading angle offset of the body, the pitch angle deflection of the body, the lateral offset of the body, and the longitudinal offset of the body.

[0011] Specifically, the control device obtains a first data set detected by the first detection component, and determines a predicted value of the swing speed based on the first data set. Specifically, the first detection component is composed of multiple sensors, which are respectively connected to the control device. The control device obtains the first data set through the multiple sensors. After obtaining the first data set, the control device estimates the swing speed of the cutting arm according to the corresponding working parameters of the cutting arm to determine the predicted value of the swing speed of the cutting arm.

[0012] Furthermore, after determining the predicted swing speed value of the cutting arm, the control device obtains a second data set detected by the second detection component, and determines a target swing speed value for controlling the swing of the cutting arm based on the second data set and the predicted swing speed value. It can be understood that the second detection component is also composed of a plurality of sensors, which are respectively connected to the control device, and the control device obtains the second data set through the plurality of sensors. After obtaining the second data set, the control device determines the target swing speed value based on the predicted swing speed value and the corresponding cutting arm posture parameters in the second data, so that the cutting arm swings according to the target swing speed value.

[0013] In the prior art, a current sensor is usually used to detect changes in the cutting arm motor current, and then the swing speed of the cutting arm is estimated and controlled based on the cutting arm motor current. This solution has low accuracy, and if the current sensor fails, the swing speed of the cutting arm cannot be estimated and controlled.

[0014] Therefore, in the technical solution of the present invention, the control device determines the swing speed prediction value according to the first data set detected by the first detection component, and then determines the target rotation speed value in combination with the swing speed prediction value through the second data set detected by the second detection component, wherein the first data set is used to indicate the working parameters of the cutting arm, and the second data set is used to indicate the posture parameters of the fuselage. That is to say, in the technical solution of the present invention, the control device estimates and controls the swing speed of the cutting arm according to the working parameters of the cutting arm and the posture parameters of the fuselage of the tunnel boring machine, which improves the accuracy of the estimation and control of the swing speed of the cutting arm. At the same time, it can be understood that both the first data set and the second data set include more than one parameter. It can be seen that in the technical solution of the present invention, multiple sensors for detecting the working parameters of the cutting arm and the fuselage of the tunnel boring machine are included, that is, when a sensor fails, it will not affect the estimation and control of the swing speed of the cutting arm, thereby ensuring the safety and reliability of the operation of the tunnel boring machine.

[0015] In addition, the control method of the tunnel boring machine according to the present invention may also have the following additional technical features:

[0016] In the above technical solution, the first data set includes the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the cylinder; the second data set includes the heading angle offset of the fuselage, the pitch angle deflection of the fuselage, the lateral offset of the fuselage and the longitudinal offset of the fuselage.

[0017] In this technical solution, the first data set specifically includes the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the cylinder. It should be noted that the predicted value of the swing speed of the cutting arm can be determined based on any one of the working parameters of the cutting arm, including the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the cylinder.

[0018] Furthermore, the second data set specifically includes the heading angle offset of the tunnel boring machine's fuselage, the pitch angle deflection of the tunnel boring machine's fuselage, the lateral offset of the tunnel boring machine's fuselage and the longitudinal offset of the tunnel boring machine's fuselage. It should be noted that, based on any one of the tunnel boring machine's fuselage posture parameters including the heading angle offset of the fuselage, the pitch angle deflection of the fuselage, the lateral offset of the fuselage and the longitudinal offset of the fuselage, it can be determined whether the above-mentioned swing speed prediction value is suitable as the target swing speed value for controlling the swing of the cutting arm.

[0019] In the above technical scheme, the step of determining the swing speed prediction value according to the first data set specifically includes: obtaining a first preset relationship coefficient between the cutting load resistance and the swing speed of the cutting arm; determining the first cutting load resistance according to the motor current of the cutting arm, and determining the first swing speed prediction value according to the first cutting load resistance and the first preset relationship coefficient; determining the second cutting load resistance according to the vibration acceleration of the cutting arm, and determining the second swing speed prediction value according to the second cutting load resistance and the first preset relationship coefficient; determining the third cutting load resistance according to the oil circuit pressure of the cylinder, and determining the third swing speed prediction value according to the third cutting load resistance and the first preset relationship coefficient; determining the swing speed prediction value according to the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value.

[0020] In this technical solution, the first preset relationship coefficient is the corresponding relationship coefficient between the cutting load resistance and the swing speed of the cutting arm. Specifically, the cutting load resistance can be calculated according to the working parameters of the cutting arm, and the predicted value of the swing speed of the cutting arm can be determined according to the corresponding relationship coefficient between the cutting load resistance and the swing speed of the cutting arm.

[0021] In the technical solution, the specific steps of the control device determining the swing speed prediction value according to the first data set are as follows: the control device first obtains a first preset relationship coefficient between the cutting load resistance and the swing speed of the cutting arm, and then determines multiple swing speed prediction values ​​of the cutting arm according to the first preset relationship coefficient and multiple working parameters of the cutting arm. The first preset relationship coefficient is set according to the equipment information of the roadheader and the actual working conditions.

[0022] Specifically, the control device determines the first cutting load resistance according to the motor current of the cutting arm in the first data set, and determines the first swing speed prediction value according to the first cutting load resistance and the first preset relationship coefficient; the control device determines the second cutting load resistance according to the vibration acceleration of the cutting arm in the first data set, and determines the second swing speed prediction value according to the second cutting load resistance and the first preset relationship; the control device determines the third cutting load resistance according to the oil circuit pressure of the oil cylinder in the first data set, and determines the first swing speed prediction value according to the third cutting load resistance and the first preset relationship.

[0023] Furthermore, after determining the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value according to the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the cylinder, the control device is also used to judge the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value to determine the swing speed prediction value.

[0024] In this technical solution, the control device determines three predicted values ​​of the swing speed of the cutting arm through the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the cylinder, and then determines the final predicted value of the swing speed based on these three predicted values, thereby improving the accuracy of determining the predicted value of the swing speed.

[0025] In the above technical scheme, the cutting arm specifically includes a cutting head, and the step of determining the first cutting load resistance according to the motor current of the cutting arm specifically includes: obtaining the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm; determining the first cutting load resistance according to the diameter of the cutting head, the motor speed of the cutting arm, the input voltage of the motor of the cutting arm and the motor current of the cutting arm.

[0026] In this technical solution, the cutting arm includes a cutting head, and the specific steps for the control device to determine the first cutting load resistance according to the motor current of the cutting arm are: the control device obtains three data: the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm, and then calculates the first cutting load resistance based on the above three data combined with the motor current of the cutting arm.

[0027] It can be understood that the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm can all be determined based on the equipment information of the tunnel boring machine, and can be pre-stored in a storage device. When calculating the first cutting load resistance, the control device obtains the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm from the storage device.

[0028] In the above technical solution, the step of determining the second cutting load resistance according to the vibration acceleration of the cutting arm specifically includes: obtaining the second preset relationship coefficient between the vibration acceleration of the cutting arm and the cutting load resistance; determining the second cutting load resistance according to the second preset relationship coefficient and the vibration acceleration of the cutting arm.

[0029] In this technical solution, the specific steps for the control device to determine the second cutting load resistance according to the vibration acceleration of the cutting arm are that the control device first obtains the second preset relationship coefficient between the vibration acceleration of the cutting arm of the cutting head and the cutting load resistance, and then calculates the second cutting load resistance according to the second preset relationship coefficient combined with the vibration acceleration of the cutting arm.

[0030] It can be understood that the second preset relationship coefficient is set based on the equipment information of the tunnel boring machine and the actual working environment of the tunnel boring machine, and can be pre-stored in a storage device. When calculating the second cutting load resistance, the control device obtains the second preset relationship coefficient from the storage device, and then calculates the second cutting load resistance.

[0031] In the above technical scheme, the step of determining the third cutting load resistance according to the oil circuit pressure of the cylinder specifically includes: determining the displacement of the piston in the cylinder according to the oil circuit pressure of the cylinder; obtaining the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, and the stiffness of the load spring; determining the third cutting load resistance according to the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder.

[0032] In this technical solution, the specific steps for the control device to determine the third cutting load resistance according to the oil circuit pressure of the cylinder are: the control device determines the displacement of the piston in the cylinder according to the oil circuit pressure of the cylinder, and obtains the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder to determine the third cutting load resistance.

[0033] It can be understood that the third cutting load resistance determined by the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder can be determined according to the equipment information of the tunnel boring machine and the actual working conditions of the tunnel boring machine.

[0034] Furthermore, the control device calculates the third cutting load resistance according to the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder.

[0035] In the above technical scheme, the step of determining the swing speed prediction value according to the first swing speed prediction value, the second swing speed prediction value and the third swing speed prediction value specifically includes: when there are identical items in the first swing speed prediction value, the second swing speed prediction value and the third swing speed prediction value, determining the prediction value of the identical item as the swing speed prediction value; or when the first swing speed prediction value, the second swing speed prediction value and the third swing speed prediction value are all different, determining the prediction value with the highest priority as the swing speed prediction value.

[0036] In the technical solution, the control device determines the final sway speed prediction value according to the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value. The specific steps are as follows: if there are identical items in the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value, the prediction value of the identical item is used as the final sway speed prediction value, that is, the principle of "minority obeys majority" is followed. If the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value are all different, the prediction value with the highest priority is used as the final sway speed prediction value, that is, the principle of "priority protection" is followed.

[0037] It should be noted that the priority of the predicted value is determined according to the calculation source, that is, it is determined according to the motor current of the cutting arm, the vibration acceleration of the cutting arm and the oil circuit pressure of the cylinder. The priority of the motor current of the cutting arm, the vibration acceleration of the cutting arm and the oil circuit pressure of the cylinder is determined according to the actual working environment of the tunnel boring machine.

[0038] In this technical solution, the control device determines three predicted values ​​of the swing speed of the cutting arm according to the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the cylinder, and determines the final predicted value of the swing speed from the three predicted values ​​in accordance with the principles of "minority obeys majority" and "priority protection", thereby improving the accuracy of determining the predicted value of the swing speed.

[0039] In the above technical solution, the step of determining the target swing speed according to the swing speed prediction value and the second data set specifically includes: determining the fuselage heading angle offset prediction value, the fuselage pitch angle deflection prediction value, the fuselage lateral offset prediction value and the fuselage longitudinal offset prediction value according to the swing speed prediction value; confirming whether the fuselage heading angle offset prediction value, the fuselage pitch angle deflection prediction value, the fuselage lateral offset prediction value and the fuselage longitudinal offset prediction value match the fuselage heading angle offset, the fuselage pitch angle deflection, the fuselage lateral offset and the fuselage longitudinal offset in the second data set; when any one of the prediction values ​​matches the parameters in the second data set, the swing speed prediction value is determined as the target swing speed value.

[0040] In this technical solution, the specific steps for the control device to determine the target swing speed based on the swing speed prediction value and the second data set are: the control device estimates the fuselage heading angle offset prediction value, the fuselage pitch angle deflection prediction value, the fuselage lateral offset prediction value and the fuselage longitudinal offset prediction value based on the swing speed prediction value, that is, predicts the posture parameters of the tunnel boring machine body based on the swing speed prediction value.

[0041] Further, after the control device predicts the posture parameters of the tunnel boring machine body according to the swing speed prediction value, the control device determines whether there are matching items among the predicted posture parameters of the tunnel boring machine body, namely, the predicted value of the fuselage heading angle offset, the predicted value of the fuselage pitch angle deflection, the predicted value of the fuselage lateral offset and the predicted value of the fuselage longitudinal offset, and the fuselage heading angle offset, the fuselage pitch angle deflection, the fuselage lateral offset and the fuselage longitudinal offset in the second data set; if any one of the predicted values ​​matches the posture parameters in the second data set, the above-mentioned swing speed prediction value is determined as the target swing speed value for controlling the swing of the cutting arm.

[0042] In this technical solution, the control device predicts the posture parameters of the tunnel boring machine body based on the swing speed prediction value, and then makes a judgment in combination with the posture parameters of the second data set to finally determine whether to use the swing speed prediction value as the target swing speed value, thereby improving the accuracy of the target swing speed value determined for controlling the swing of the cutting arm, thereby improving the safety and reliability of the tunnel boring machine operation.

[0043] According to a second aspect of the present invention, a control device for a tunnel boring machine is proposed, comprising: an acquisition unit, used to acquire a first data set detected by a first detection component, the first data set being used to indicate working parameters of a cutting arm; a processing unit, used to determine a swing speed prediction value based on the first data set; the acquisition unit is also used to acquire a second data set detected by a second detection component, the second data set being used to indicate posture parameters of a fuselage; the processing unit is also used to determine a target swing speed value based on the swing speed prediction value and the second data set, and to control the swing of the cutting arm based on the target swing speed value.

[0044] In this technical solution, the first data set is used to indicate the working parameters of the cutting arm, such as the motor current of the cutting arm, the vibration acceleration of the cutting arm, the oil pressure of the oil cylinder, etc. The second data set is used to indicate the posture parameters of the tunnel boring machine body, such as the heading angle offset of the body, the pitch angle deflection of the body, the lateral offset of the body, and the longitudinal offset of the body.

[0045] Specifically, the acquisition unit acquires a first data set detected by the first detection component, and the processing unit determines a swing speed prediction value based on the first data set. Specifically, the first detection component is composed of a plurality of sensors, which are respectively connected to the control device. The acquisition unit acquires the first data set through the plurality of sensors. After acquiring the first data set, the processing unit estimates the swing speed of the cutting arm based on the corresponding working parameters of the cutting arm to determine the swing speed prediction value of the cutting arm.

[0046] Furthermore, after the processing unit determines the predicted swing speed value of the cutting arm, the acquisition unit is also used to acquire a second data set detected by the second detection component, and the processing unit is also used to determine a target swing speed value for controlling the swing of the cutting arm based on the second data set and the predicted swing speed value. It can be understood that the second detection component is also composed of a plurality of sensors, which are respectively connected to the control device, and the acquisition unit acquires the second data set through the plurality of sensors. After acquiring the second data set, the processing unit determines the target swing speed value based on the predicted swing speed value and the corresponding position parameters of the cutting arm in the second data, so that the cutting arm swings according to the target swing speed value.

[0047] In the prior art, a current sensor is usually used to detect changes in the cutting arm motor current, and then the swing speed of the cutting arm is estimated and controlled based on the cutting arm motor current. This solution has low accuracy, and if the current sensor fails, the swing speed of the cutting arm cannot be estimated and controlled.

[0048] Therefore, in the technical solution of the present invention, the processing unit determines the swing speed prediction value according to the first data set obtained by the acquisition unit, and then determines the target rotation speed value in combination with the swing speed prediction value through the second data set obtained by the acquisition unit, wherein the first data set is used to indicate the working parameters of the cutting arm, and the second data set is used to indicate the posture parameters of the fuselage. That is to say, in the technical solution of the present invention, the processing unit estimates and controls the swing speed of the cutting arm according to the working parameters of the cutting arm and the posture parameters of the fuselage of the tunnel boring machine, which improves the accuracy of the estimation and control of the swing speed of the cutting arm. At the same time, it can be understood that both the first data set and the second data set include more than one parameter. It can be seen that in the technical solution of the present invention, multiple sensors for detecting the working parameters of the cutting arm and the fuselage of the tunnel boring machine are included, that is, when a sensor fails, it will not affect the estimation and control of the swing speed of the cutting arm, thereby ensuring the safety and reliability of the operation of the tunnel boring machine.

[0049] According to the third aspect of the present invention, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the control method of the tunnel boring machine as provided in the first aspect of the present invention is implemented. Therefore, the readable storage medium has all the beneficial effects of the control method of the tunnel boring machine provided in the first aspect of the present invention, which will not be described in detail here.

[0050] According to a fourth aspect of the present invention, a tunneling machine is provided, comprising: a machine body; a cutting arm, arranged on the machine body; a cylinder, connected to the cutting arm, and used to drive the cutting arm to swing; a first detection component, used to detect a first data set, the first data set is used to indicate the working parameters of the cutting arm; a second detection component, used to detect a second data set, the second data set is used to indicate the posture parameters of the machine body;

[0051] Furthermore, the above-mentioned tunnel boring machine also includes a control device for the tunnel boring machine as proposed in the second aspect of the present invention, and / or a readable storage medium as proposed in the third aspect of the present invention. Therefore, the tunnel boring machine has all the beneficial effects of the control device for the tunnel boring machine proposed in the second aspect of the present invention or the readable storage medium proposed in the third aspect of the present invention, which will not be repeated here.

[0052] Additional aspects and advantages of the present invention will become apparent in the following description or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] 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:

[0054] Figure 1 One of the flow charts of the control method of the tunnel boring machine according to the embodiment of the present invention is shown;

[0055] Figure 2 A second flow chart of a method for controlling a roadheader according to an embodiment of the present invention is shown;

[0056] Figure 3 A third flow chart of a method for controlling a tunnel boring machine according to an embodiment of the present invention is shown;

[0057] Figure 4 A fourth flow chart of a method for controlling a tunnel boring machine according to an embodiment of the present invention is shown;

[0058] Figure 5 A fifth flow chart of a method for controlling a roadheader according to an embodiment of the present invention is shown;

[0059] Figure 6 A sixth flow chart of a method for controlling a tunnel boring machine according to an embodiment of the present invention is shown;

[0060] Figure 7 FIG7 is a flow chart showing a method for controlling a tunnel boring machine according to an embodiment of the present invention;

[0061] Figure 8 A schematic block diagram showing a control device for a roadheader according to an embodiment of the present invention is shown;

[0062] Fig. 9A schematic block diagram of a tunnel boring machine according to an embodiment of the present invention is shown;

[0063] Fig.10 The overall flow chart of the control method of the tunnel boring machine according to the embodiment of the present invention is shown. DETAILED DESCRIPTION

[0064] 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.

[0065] 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.

[0066] Combine the following Figures 1 to 10 , the control method, device, readable storage medium and tunnel boring machine provided by the embodiments of the present invention are described in detail through specific embodiments and their application scenarios.

[0067] Embodiment 1:

[0068] Figure 1 A schematic flow chart of a control method for a tunnel boring machine according to an embodiment of the present invention is shown, wherein the control method comprises:

[0069] Step S102, obtaining a first data set detected by a first detection component, where the first data set is used to indicate a working parameter of the cutting arm;

[0070] Step S104, determining a sway speed prediction value according to the first data set;

[0071] Step S106, obtaining a second data set detected by the second detection component, where the second data set is used to indicate a posture parameter of the fuselage;

[0072] Step S108, determining a target swing speed value according to the swing speed prediction value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.

[0073] It should be noted that the executor of the control method of the tunnel boring machine proposed in this embodiment may be the control device of the tunnel boring machine. In order to more clearly illustrate the control method of the tunnel boring machine proposed in this embodiment, the following description will exemplify the executor of the control method of the tunnel boring machine as the control device of the tunnel boring machine.

[0074] In this embodiment, the first data set is used to indicate the working parameters of the cutting arm, and the second data set is used to indicate the posture parameters of the tunnel boring machine body.

[0075] Specifically, the control device obtains a first data set detected by the first detection component, and determines a predicted value of the swing speed based on the first data set. Specifically, the first detection component is composed of multiple sensors, which are respectively connected to the control device. The control device obtains the first data set through the multiple sensors. After obtaining the first data set, the control device estimates the swing speed of the cutting arm according to the corresponding working parameters of the cutting arm to determine the predicted value of the swing speed of the cutting arm.

[0076] Furthermore, after determining the predicted swing speed value of the cutting arm, the control device obtains a second data set detected by the second detection component, and determines a target swing speed value for controlling the swing of the cutting arm based on the second data set and the predicted swing speed value. It can be understood that the second detection component is also composed of a plurality of sensors, which are respectively connected to the control device, and the control device obtains the second data set through the plurality of sensors. After obtaining the second data set, the control device determines the target swing speed value based on the predicted swing speed value and the corresponding cutting arm posture parameters in the second data, so that the cutting arm swings according to the target swing speed value.

[0077] In this embodiment, specifically, the first data set specifically includes the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the cylinder. It should be noted that the predicted value of the swing speed of the cutting arm can be determined based on any one of the working parameters of the cutting arm, including the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the cylinder.

[0078] In this embodiment, specifically, the second data set specifically includes the heading angle offset of the tunnel boring machine's fuselage, the pitch angle deflection of the tunnel boring machine's fuselage, the lateral offset of the tunnel boring machine's fuselage and the longitudinal offset of the tunnel boring machine's fuselage. It should be noted that, based on any one of the posture parameters of the tunnel boring machine's fuselage, including the heading angle offset of the fuselage, the pitch angle deflection of the fuselage, the lateral offset of the fuselage and the longitudinal offset of the fuselage, it can be determined whether the above-mentioned swing speed prediction value is suitable as the target swing speed value for controlling the swing of the cutting arm.

[0079] In the prior art, a current sensor is usually used to detect changes in the cutting arm motor current, and then the swing speed of the cutting arm is estimated and controlled based on the cutting arm motor current. This solution has low accuracy, and if the current sensor fails, the swing speed of the cutting arm cannot be estimated and controlled.

[0080] Therefore, in this embodiment, the control device determines the swing speed prediction value according to the first data set detected by the first detection component, and then determines the target rotation speed value by combining the swing speed prediction value with the second data set detected by the second detection component, wherein the first data set is used to indicate the working parameters of the cutting arm, and the second data set is used to indicate the posture parameters of the fuselage. That is to say, in this embodiment, the control device estimates and controls the swing speed of the cutting arm according to the working parameters of the cutting arm and the posture parameters of the fuselage of the tunnel boring machine, which improves the accuracy of the estimation and control of the swing speed of the cutting arm. At the same time, it can be understood that both the first data set and the second data set include more than one parameter. It can be seen that in this embodiment, multiple sensors for detecting the working parameters of the cutting arm and the fuselage of the tunnel boring machine are included, that is, when a sensor fails, it will not affect the estimation and control of the swing speed of the cutting arm, thereby ensuring the safety and reliability of the operation of the tunnel boring machine.

[0081] Figure 2 A schematic flow chart of a control method for a tunnel boring machine according to an embodiment of the present invention is shown, wherein the control method comprises:

[0082] Step S202, obtaining a first data set detected by a first detection component, where the first data set is used to indicate a working parameter of the cutting arm;

[0083] Step S204, obtaining a first preset relationship coefficient between the cutting load resistance and the swing speed of the cutting arm;

[0084] Step S206, determining a first cutting load resistance according to the motor current of the cutting arm, and determining a first swing speed prediction value according to the first cutting load resistance and a first preset relationship coefficient;

[0085] Step S208, determining a second cutting load resistance according to the vibration acceleration of the cutting arm, and determining a second swing speed prediction value according to the second cutting load resistance and the first preset relationship coefficient;

[0086] Step S210, determining a third cutting load resistance according to the oil circuit pressure of the oil cylinder, and determining a third swing speed prediction value according to the third cutting load resistance and the first preset relationship coefficient;

[0087] Step S212, determining a sway speed prediction value according to the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value;

[0088] Step S214, obtaining a second data set detected by the second detection component, where the second data set is used to indicate a posture parameter of the fuselage;

[0089] Step S216, determining a target swing speed value according to the swing speed prediction value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.

[0090] In this embodiment, the first preset relationship coefficient is the corresponding relationship coefficient between the cutting load resistance and the swing speed of the cutting arm. Specifically, the cutting load resistance can be calculated according to the working parameters of the cutting arm, and the predicted value of the swing speed of the cutting arm can be determined according to the corresponding relationship coefficient between the cutting load resistance and the swing speed of the cutting arm.

[0091] In this embodiment, the specific steps of the control device determining the swing speed prediction value according to the first data set are as follows: the control device first obtains a first preset relationship coefficient between the cutting load resistance and the swing speed of the cutting arm, and then determines a plurality of cutting arm swing speed prediction values ​​according to the first preset relationship coefficient and a plurality of working parameters of the cutting arm. The first preset relationship coefficient is set according to the equipment information and actual working conditions of the roadheader.

[0092] Specifically, the control device determines the first cutting load resistance according to the motor current of the cutting arm in the first data set, and determines the first swing speed prediction value according to the first cutting load resistance and the first preset relationship coefficient; the control device determines the second cutting load resistance according to the vibration acceleration of the cutting arm in the first data set, and determines the second swing speed prediction value according to the second cutting load resistance and the first preset relationship; the control device determines the third cutting load resistance according to the oil circuit pressure of the oil cylinder in the first data set, and determines the first swing speed prediction value according to the third cutting load resistance and the first preset relationship.

[0093] Furthermore, after determining the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value according to the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the cylinder, the control device is also used to judge the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value to determine the swing speed prediction value.

[0094] In this embodiment, the control device determines three predicted values ​​of the swing speed of the cutting arm through the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the cylinder, and then determines the final predicted value of the swing speed based on these three predicted values, thereby improving the accuracy of determining the predicted value of the swing speed.

[0095] Figure 3 A schematic flow chart of a control method for a tunnel boring machine according to an embodiment of the present invention is shown, wherein the control method comprises:

[0096] Step S302, obtaining a first data set detected by a first detection component, where the first data set is used to indicate a working parameter of the cutting arm;

[0097] Step S304, obtaining a first preset relationship coefficient between the cutting load resistance and the swing speed of the cutting arm;

[0098] Step S306, obtaining the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm;

[0099] Step S308, determining a first cutting load resistance according to the diameter of the cutting head, the motor speed of the cutting arm, the input voltage of the motor of the cutting arm, and the motor current of the cutting arm, and determining a first swing speed prediction value according to the first cutting load resistance and a first preset relationship coefficient;

[0100] Step S310, determining a second cutting load resistance according to the vibration acceleration of the cutting arm, and determining a second swing speed prediction value according to the second cutting load resistance and a first preset relationship coefficient;

[0101] Step S312, determining a third cutting load resistance according to the oil circuit pressure of the oil cylinder, and determining a third swing speed prediction value according to the third cutting load resistance and the first preset relationship coefficient;

[0102] Step S314, determining a sway speed prediction value according to the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value;

[0103] Step S316, obtaining a second data set detected by the second detection component, where the second data set is used to indicate a posture parameter of the fuselage;

[0104] Step S318, determining a target swing speed value according to the swing speed prediction value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.

[0105] In this embodiment, the cutting arm includes a cutting head, and the specific steps for the control device to determine the first cutting load resistance according to the motor current of the cutting arm are: the control device obtains three data, namely, the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm, and then calculates the first cutting load resistance based on the above three data combined with the motor current of the cutting arm.

[0106] It can be understood that the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm can all be determined based on the equipment information of the tunnel boring machine, and can be pre-stored in a storage device. When calculating the first cutting load resistance, the control device obtains the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm from the storage device.

[0107] Specifically, the formula for calculating the first cutting load resistance according to the motor current of the cutting arm is as follows:

[0108]

[0109] In the above formula, F1 is used to represent the first cutting load resistance, D is used to represent the diameter of the cutting head, I is used to represent the motor current of the cutting arm, and U is used to represent the input voltage of the motor of the cutting arm. Used to indicate the motor power factor, where n indicates the number of motor pole pairs.

[0110] Figure 4 A schematic flow chart of a control method for a tunnel boring machine according to an embodiment of the present invention is shown, wherein the control method comprises:

[0111] Step S402, obtaining a first data set detected by a first detection component, where the first data set is used to indicate a working parameter of the cutting arm;

[0112] Step S404, obtaining a first preset relationship coefficient between the cutting load resistance and the swing speed of the cutting arm;

[0113] Step S406, determining a first cutting load resistance according to the motor current of the cutting arm, and determining a first swing speed prediction value according to the first cutting load resistance and a first preset relationship coefficient;

[0114] Step S408, obtaining a second preset relationship coefficient between the vibration acceleration of the cutting arm and the cutting load resistance;

[0115] Step S410, determining a second cutting load resistance according to a second preset relationship coefficient and the vibration acceleration of the cutting arm, and determining a second swing speed prediction value according to the second cutting load resistance and the first preset relationship coefficient;

[0116] Step S412, determining a third cutting load resistance according to the oil circuit pressure of the oil cylinder, and determining a third swing speed prediction value according to the third cutting load resistance and the first preset relationship coefficient;

[0117] Step S414, determining a sway speed prediction value according to the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value;

[0118] Step S416, obtaining a second data set detected by the second detection component, where the second data set is used to indicate a posture parameter of the fuselage;

[0119] Step S418, determining a target swing speed value according to the swing speed prediction value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.

[0120] In this embodiment, the specific steps for the control device to determine the second cutting load resistance according to the vibration acceleration of the cutting arm are that the control device first obtains the second preset relationship coefficient between the vibration acceleration of the cutting arm of the cutting head and the cutting load resistance, and then calculates the second cutting load resistance according to the second preset relationship coefficient combined with the vibration acceleration of the cutting arm.

[0121] It can be understood that the second preset relationship coefficient is set based on the equipment information of the tunnel boring machine and the actual working environment of the tunnel boring machine, and can be pre-stored in a storage device. When calculating the second cutting load resistance, the control device obtains the second preset relationship coefficient from the storage device, and then calculates the second cutting load resistance.

[0122] Specifically, the formula for calculating the second cutting load resistance according to the vibration acceleration of the cutting arm is as follows:

[0123] F2=kα 2

[0124] In the above formula, F2 is used to represent the second cutting load resistance, k is used to represent the second preset relationship coefficient, and α is used to represent the vibration acceleration of the cutting arm.

[0125] Figure 5 A schematic flow chart of a control method for a tunnel boring machine according to an embodiment of the present invention is shown, wherein the control method comprises:

[0126] Step S502, obtaining a first data set detected by a first detection component, where the first data set is used to indicate a working parameter of the cutting arm;

[0127] Step S504, obtaining a first preset relationship coefficient between the cutting load resistance and the swing speed of the cutting arm;

[0128] Step S506, determining a first cutting load resistance according to the motor current of the cutting arm, and determining a first swing speed prediction value according to the first cutting load resistance and a first preset relationship coefficient;

[0129] Step S508, determining a second cutting load resistance according to the vibration acceleration of the cutting arm, and determining a second swing speed prediction value according to the second cutting load resistance and the first preset relationship coefficient;

[0130] Step S510, determining the displacement of the piston in the oil cylinder according to the oil circuit pressure of the oil cylinder;

[0131] Step S512, obtaining the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, and the stiffness of the load spring;

[0132] Step S514, determining a third cut-off load resistance according to the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder, and determining a third swing speed prediction value according to the third cut-off load resistance and the first preset relationship coefficient;

[0133] Step S516, determining a sway speed prediction value according to the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value;

[0134] Step S518, obtaining a second data set detected by the second detection component, where the second data set is used to indicate a posture parameter of the fuselage;

[0135] Step S520, determining a target swing speed value according to the swing speed prediction value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.

[0136] In this embodiment, the specific steps for the control device to determine the third cutting load resistance according to the oil circuit pressure of the cylinder are: the control device determines the displacement of the piston in the cylinder according to the oil circuit pressure of the cylinder, and obtains the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder to determine the third cutting load resistance.

[0137] It can be understood that the third cutting load resistance determined by the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder can be determined according to the equipment information of the tunnel boring machine and the actual working conditions of the tunnel boring machine.

[0138] Further, the control device calculates the third cut load resistance according to the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder. The calculation formula is as follows:

[0139]

[0140] In the above formula, F3 is used to represent the third cutting load resistance, A k Used to indicate the effective area of ​​the cylinder cavity, P L Used to indicate load voltage drop, m t Used to represent the total mass of the load and the piston in the cylinder, B p It is used to indicate the load and the viscous damping coefficient of the piston in the cylinder, K is used to indicate the stiffness of the load spring, t is used to indicate time, and L is used to indicate the displacement of the piston in the cylinder determined according to the oil circuit pressure of the cylinder.

[0141] Figure 6 A schematic flow chart of a control method for a tunnel boring machine according to an embodiment of the present invention is shown, wherein the control method comprises:

[0142] Step S602, obtaining a first data set detected by a first detection component, where the first data set is used to indicate a working parameter of the cutting arm;

[0143] Step S604, obtaining a first preset relationship coefficient between the cutting load resistance and the cutting arm swing speed;

[0144] Step S606, determining a first cutting load resistance according to the motor current of the cutting arm, and determining a first swing speed prediction value according to the first cutting load resistance and a first preset relationship coefficient;

[0145] Step S608, determining a second cutting load resistance according to the vibration acceleration of the cutting arm, and determining a second swing speed prediction value according to the second cutting load resistance and the first preset relationship coefficient;

[0146] Step S610, determining a third cutting load resistance according to the oil circuit pressure of the oil cylinder, and determining a third swing speed prediction value according to the third cutting load resistance and the first preset relationship coefficient;

[0147] Step S612, when the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value have the same items, determine the prediction value of the same items to be the sway speed prediction value; or when the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value are all different, determine the prediction value with the highest priority to be the sway speed prediction value;

[0148] Step S614, obtaining a second data set detected by the second detection component, where the second data set is used to indicate a posture parameter of the fuselage;

[0149] Step S616, determining a target swing speed value according to the swing speed prediction value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value.

[0150] In the embodiment, the control device determines the final sway speed prediction value according to the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value in the specific steps that if there are identical items in the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value, the prediction value of the identical item is used as the final sway speed prediction value, that is, the principle of "minority obeys majority" is followed. If the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value are all different, the prediction value with the highest priority is used as the final sway speed prediction value, that is, the principle of "priority protection" is followed.

[0151] It should be noted that the priority of the predicted value is determined according to the calculation source, that is, it is determined according to the motor current of the cutting arm, the vibration acceleration of the cutting arm and the oil circuit pressure of the cylinder. The priority of the motor current of the cutting arm, the vibration acceleration of the cutting arm and the oil circuit pressure of the cylinder is determined according to the actual working environment of the tunnel boring machine.

[0152] In this embodiment, the control device determines three cutting arm swing speed prediction values ​​according to the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the cylinder, and follows the "minority obeys the majority" principle and the "priority protection" principle to determine the final swing speed prediction value from the three prediction values, thereby improving the accuracy of determining the swing speed prediction value.

[0153] Figure 7 A schematic flow chart of a control method for a tunnel boring machine according to an embodiment of the present invention is shown, wherein the control method comprises:

[0154] Step S702, obtaining a first data set detected by a first detection component, where the first data set is used to indicate a working parameter of the cutting arm;

[0155] Step S704, determining a sway speed prediction value according to the first data set;

[0156] Step S706, obtaining a second data set detected by the second detection component, where the second data set is used to indicate a posture parameter of the fuselage;

[0157] Step S708, determining a predicted value of a fuselage heading angle offset, a predicted value of a fuselage pitch angle deflection, a predicted value of a fuselage lateral offset, and a predicted value of a fuselage longitudinal offset according to the predicted value of the swing speed;

[0158] Step S710, confirming whether the predicted value of the heading angle offset of the fuselage, the predicted value of the pitch angle deflection of the fuselage, the predicted value of the lateral offset of the fuselage, and the predicted value of the longitudinal offset of the fuselage match the heading angle offset of the fuselage, the pitch angle deflection of the fuselage, the lateral offset of the fuselage, and the longitudinal offset of the fuselage in the second data set;

[0159] Step S712: when any predicted value matches the parameter in the second data set, the predicted sway speed value is determined as the target sway speed value.

[0160] In this embodiment, the specific steps for the control device to determine the target swing speed based on the swing speed prediction value and the second data set are: the control device estimates the fuselage heading angle offset prediction value, the fuselage pitch angle deflection prediction value, the fuselage lateral offset prediction value and the fuselage longitudinal offset prediction value based on the swing speed prediction value, that is, predicts the posture parameters of the tunnel boring machine fuselage based on the swing speed prediction value.

[0161] Further, after the control device predicts the posture parameters of the tunnel boring machine body according to the swing speed prediction value, the control device determines whether there are matching items among the predicted posture parameters of the tunnel boring machine body, namely, the predicted value of the fuselage heading angle offset, the predicted value of the fuselage pitch angle deflection, the predicted value of the fuselage lateral offset and the predicted value of the fuselage longitudinal offset, and the fuselage heading angle offset, the fuselage pitch angle deflection, the fuselage lateral offset and the fuselage longitudinal offset in the second data set; if any one of the predicted values ​​matches the posture parameters in the second data set, the above-mentioned swing speed prediction value is determined as the target swing speed value for controlling the swing of the cutting arm.

[0162] In this embodiment, the control device predicts the posture parameters of the tunnel boring machine body based on the swing speed prediction value, and then makes a judgment in combination with the posture parameters of the second data set to finally determine whether to use the swing speed prediction value as the target swing speed value, thereby improving the accuracy of the target swing speed value determined for controlling the swing of the cutting arm, thereby improving the safety and reliability of the tunnel boring machine operation.

[0163] Embodiment 2:

[0164] Figure 8 A schematic block diagram of a control device for a roadheader according to an embodiment of the present invention is shown, wherein the control device 800 for the roadheader comprises: an acquisition unit 802, for acquiring a first data set detected by a first detection component, the first data set being used to indicate working parameters of a cutting arm; a processing unit 804, for determining a predicted swing speed value according to the first data set; the acquisition unit 802 is also used to acquire a second data set detected by a second detection component, the second data set being used to indicate posture parameters of a fuselage; the processing unit 804 is also used to determine a target swing speed value according to the predicted swing speed value and the second data set, and to control the swing of the cutting arm according to the target swing speed value.

[0165] In this embodiment, the first data set is used to indicate the working parameters of the cutting arm, such as: the motor current of the cutting arm, the vibration acceleration of the cutting arm, the oil pressure of the oil cylinder, etc. The second data set is used to indicate the posture parameters of the tunnel boring machine body, such as: the heading angle offset of the body, the pitch angle deflection of the body, the lateral offset of the body, and the longitudinal offset of the body.

[0166] Specifically, the acquisition unit 802 acquires a first data set detected by the first detection component, and the processing unit 804 determines a swing speed prediction value based on the first data set. Specifically, the first detection component is composed of multiple sensors, which are respectively connected to the control device. The acquisition unit 802 acquires the first data set through multiple sensors. After acquiring the first data set, the processing unit 804 estimates the swing speed of the cutting arm according to the corresponding working parameters of the cutting arm to determine the swing speed prediction value of the cutting arm.

[0167] Further, after the processing unit 804 determines the predicted swing speed value of the cutting arm, the acquisition unit 802 is also used to acquire the second data set detected by the second detection component, and the processing unit 804 is also used to determine the target swing speed value for controlling the swing of the cutting arm according to the second data set and the predicted swing speed value. It can be understood that the second detection component is also composed of multiple sensors, which are respectively connected to the control device, and the acquisition unit 802 acquires the second data set through multiple sensors. After acquiring the second data set, the processing unit 804 determines the target swing speed value according to the predicted swing speed value and the corresponding cutting arm posture parameters in the second data, so that the cutting arm swings according to the target swing speed value.

[0168] In the prior art, a current sensor is usually used to detect changes in the cutting arm motor current, and then the swing speed of the cutting arm is estimated and controlled based on the cutting arm motor current. This solution has low accuracy, and if the current sensor fails, the swing speed of the cutting arm cannot be estimated and controlled.

[0169] Therefore, in this embodiment, the processing unit 804 determines the swing speed prediction value according to the first data set obtained by the acquisition unit 802, and then determines the target speed value by combining the second data set obtained by the acquisition unit 802 with the swing speed prediction value, wherein the first data set is used to indicate the working parameters of the cutting arm, and the second data set is used to indicate the posture parameters of the fuselage. That is to say, in this embodiment, the processing unit 804 estimates and controls the swing speed of the cutting arm according to the working parameters of the cutting arm and the posture parameters of the fuselage of the tunnel boring machine, which improves the accuracy of the estimation and control of the swing speed of the cutting arm. At the same time, it can be understood that both the first data set and the second data set include more than one parameter. It can be seen that in this embodiment, multiple sensors for detecting the working parameters of the cutting arm and the fuselage of the tunnel boring machine are included, that is, when a sensor fails, it will not affect the estimation and control of the swing speed of the cutting arm, thereby ensuring the safety and reliability of the operation of the tunnel boring machine.

[0170] Furthermore, in this embodiment, in the step of determining the swing speed prediction value according to the first data set, the acquisition unit 802 is also used to obtain a first preset relationship coefficient between the cutting load resistance and the swing speed of the cutting arm; the processing unit 804 is also used to determine the first cutting load resistance according to the motor current of the cutting arm, and determine the first swing speed prediction value according to the first cutting load resistance and the first preset relationship coefficient; determine the second cutting load resistance according to the vibration acceleration of the cutting arm, and determine the second swing speed prediction value according to the second cutting load resistance and the first preset relationship coefficient; determine the third cutting load resistance according to the oil circuit pressure of the cylinder, and determine the third swing speed prediction value according to the third cutting load resistance and the first preset relationship coefficient; determine the swing speed prediction value according to the first swing speed prediction value, the second swing speed prediction value, and the third swing speed prediction value.

[0171] Furthermore, in this embodiment, in the step of determining the first cutting load resistance based on the motor current of the cutting arm, the acquisition unit 802 is also used to obtain the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm; the processing unit 804 is also used to determine the first cutting load resistance based on the diameter of the cutting head, the motor speed of the cutting arm, the input voltage of the motor of the cutting arm and the motor current of the cutting arm.

[0172] Furthermore, in this embodiment, in the step of determining the second cutting load resistance based on the vibration acceleration of the cutting arm, the acquisition unit 802 is also used to obtain a second preset relationship coefficient between the vibration acceleration of the cutting arm and the cutting load resistance; the processing unit 804 is also used to determine the second cutting load resistance based on the second preset relationship coefficient and the vibration acceleration of the cutting arm.

[0173] Further, in this embodiment, in the step of determining the third cutting load resistance according to the oil circuit pressure of the cylinder, the processing unit 804 is also used to determine the displacement of the piston in the cylinder according to the oil circuit pressure of the cylinder; the acquisition unit 802 is also used to obtain the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, and the stiffness of the load spring; the processing unit 804 is also used to determine the third cutting load resistance according to the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder.

[0174] Further, in this embodiment, in the step of determining the sway speed prediction value according to the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value, the processing unit 804 is specifically used to, when there are identical items in the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value, determine the predicted value of the identical item to be the sway speed prediction value; or when the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value are all different, determine the predicted value with the highest priority to be the sway speed prediction value.

[0175] Further, in this embodiment, in the step of determining the target sway speed value according to the sway speed prediction value and the second data set, the processing unit 804 is specifically used to determine the fuselage heading angle offset prediction value, the fuselage pitch angle deflection prediction value, the fuselage lateral offset prediction value and the fuselage longitudinal offset prediction value according to the sway speed prediction value; confirm whether the fuselage heading angle offset prediction value, the fuselage pitch angle deflection prediction value, the fuselage lateral offset prediction value and the fuselage longitudinal offset prediction value match the fuselage heading angle offset, the fuselage pitch angle deflection, the fuselage lateral offset and the fuselage longitudinal offset in the second data set; when any one of the prediction values ​​matches the parameters in the second data set, the sway speed prediction value is determined as the target sway speed value.

[0176] Embodiment three:

[0177] According to a third embodiment of the present invention, a readable storage medium is provided, on which a program or instruction is stored, and when the program or instruction is executed by a processor, the control method of the tunnel boring machine proposed in the above embodiment is implemented. Therefore, the readable storage medium has all the beneficial effects of the control method of the tunnel boring machine proposed in the above embodiment, which will not be repeated here.

[0178] Embodiment 4:

[0179] Fig. 9A schematic block diagram of a tunnel boring machine according to an embodiment of the present invention is shown, wherein the tunnel boring machine 900 includes: a body 902; a cutting arm 904, which is arranged on the body 902; a cylinder 906, which is connected to the cutting arm 904 and is used to drive the cutting arm 904 to swing; a first detection component 908, which is used to detect a first data set, and the first data set is used to indicate the working parameters of the cutting arm 904; and a second detection component 910, which is used to detect a second data set, and the second data set is used to indicate the posture parameters of the body 902.

[0180] Furthermore, the above-mentioned tunnel boring machine 900 also includes the tunnel boring machine control device 800 as proposed in the above-mentioned embodiment, and / or the readable storage medium 912 as proposed in the above-mentioned embodiment. Therefore, the tunnel boring machine 900 has all the beneficial effects of the tunnel boring machine control device 800 proposed in the above-mentioned embodiment or the readable storage medium 912 proposed in the above-mentioned embodiment, which will not be repeated here.

[0181] Embodiment five:

[0182] This embodiment combines Fig.10 The control method of the tunnel boring machine proposed in the present invention is exemplified.

[0183] like Fig.10 As shown, in the control method of the tunnel boring machine proposed in this embodiment, the calculation layer obtains the motor current of the cutting arm, the vibration acceleration of the cutting arm and the oil circuit pressure of the cylinder in the working parameters of the tunnel boring machine, and inputs them into the cutting motor current analysis module, the cutting arm vibration acceleration analysis module and the cylinder oil circuit analysis module for analysis, respectively, calculates the first swing speed prediction value, the second swing speed prediction value and the third swing speed prediction value, and inputs the above three prediction values ​​into the voter for voting. When the first swing speed prediction value, the second swing speed prediction value and the third swing speed prediction value have the same items, the voter determines the prediction value of the same item as the swing speed prediction value; when the first swing speed prediction value, the second swing speed prediction value and the third swing speed prediction value are all different, the prediction value with the highest priority is determined to be the swing speed prediction value.

[0184] Furthermore, after determining the predicted swing speed value, the voter sends the predicted swing speed value to the logic judgment layer for logic judgment. Specifically, the logic judgment layer includes a fuselage heading angle offset analysis module, a fuselage pitch angle deflection analysis module, a fuselage lateral offset analysis module and a fuselage longitudinal offset analysis module for analysis.

[0185] Specifically, the logic judgment layer estimates the fuselage heading angle offset prediction value, the fuselage pitch angle deflection prediction value, the fuselage lateral offset prediction value and the fuselage longitudinal offset prediction value respectively according to the swing speed prediction value, that is, predicts the posture parameters of the tunnel boring machine fuselage according to the swing speed prediction value. Then, it is judged whether the fuselage heading angle offset prediction value, the fuselage pitch angle deflection prediction value, the fuselage lateral offset prediction value and the fuselage longitudinal offset prediction value in the predicted posture parameters of the tunnel boring machine fuselage match the fuselage heading angle offset, the fuselage pitch angle deflection, the fuselage lateral offset and the fuselage longitudinal offset in the second data set, and the judgment result is determined, and the judgment result is sent to the voter.

[0186] When it is confirmed that any predicted value in the judgment result matches the posture parameter in the second data set, the voter determines the above-mentioned swing speed prediction value as the target swing speed value for controlling the swing of the cutting arm.

[0187] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance unless otherwise clearly specified and limited; the terms "connection", "installation", "fixation" and the like should be understood in a broad sense, for example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0188] 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.

[0189] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0190] 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 control method for a roadheader, the roadheader comprising a machine body, a cutting arm and a cylinder for driving the cutting arm to swing, the cutting arm being arranged on the machine body, characterized in that: The control method comprises: Acquire a first data set detected by a first detection component, wherein the first data set is used to indicate a working parameter of the cutting arm; determining a sway speed prediction value according to the first data set; Acquire a second data set detected by a second detection component, where the second data set is used to indicate a posture parameter of the fuselage; Determining a target swing speed value according to the swing speed prediction value and the second data set, and controlling the swing of the cutting arm according to the target swing speed value; The first data set includes the motor current of the cutting arm, the vibration acceleration of the cutting arm, and the oil circuit pressure of the oil cylinder; The second data set includes a heading angle offset of the fuselage, a pitch angle deflection of the fuselage, a lateral offset of the fuselage, and a longitudinal offset of the fuselage; The determining the target sway speed value according to the sway speed prediction value and the second data set specifically includes: Determine a predicted value of a fuselage heading angle offset, a predicted value of a fuselage pitch angle deflection, a predicted value of a fuselage lateral offset, and a predicted value of a fuselage longitudinal offset according to the predicted value of the swing speed; confirming whether the predicted value of the heading angle offset of the fuselage, the predicted value of the pitch angle deflection of the fuselage, the predicted value of the lateral offset of the fuselage, and the predicted value of the longitudinal offset of the fuselage match the heading angle offset of the fuselage, the pitch angle deflection of the fuselage, the lateral offset of the fuselage, and the longitudinal offset of the fuselage in the second data set; In the event that any predicted value matches the parameter in the second data set, the predicted sway speed value is determined as the target sway speed value.

2. The control method of the tunnel boring machine according to claim 1, characterized in that: The step of determining the sway speed prediction value according to the first data set specifically includes: Obtaining a first preset relationship coefficient between cutting load resistance and cutting arm swing speed; determining a first cutting load resistance according to the motor current of the cutting arm, and determining a first swing speed prediction value according to the first cutting load resistance and the first preset relationship coefficient; determining a second cutting load resistance according to the cutting arm vibration acceleration, and determining a second swing speed prediction value according to the second cutting load resistance and the first preset relationship coefficient; determining a third cutting load resistance according to the oil circuit pressure of the oil cylinder, and determining a third swing speed prediction value according to the third cutting load resistance and the first preset relationship coefficient; The sway speed prediction value is determined according to the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value.

3. The control method of the tunnel boring machine according to claim 2, characterized in that: The cutting arm includes a cutting head, and determining the first cutting load resistance according to the motor current of the cutting arm specifically includes: Obtaining the diameter of the cutting head, the motor speed value of the cutting arm, and the input voltage of the motor of the cutting arm; The first cutting load resistance is determined according to the diameter of the cutting head, the motor speed of the cutting arm, the input voltage of the motor of the cutting arm, and the motor current of the cutting arm.

4. The control method of the tunnel boring machine according to claim 2, characterized in that: Determining the second cutting load resistance according to the cutting arm vibration acceleration specifically includes: Obtaining a second preset relationship coefficient between the vibration acceleration of the cutting arm and the cutting load resistance; The second cutting load resistance is determined according to the second preset relationship coefficient and the cutting arm vibration acceleration.

5. The control method of the tunnel boring machine according to claim 2, characterized in that: Determining the third cutting load resistance according to the oil circuit pressure of the oil cylinder specifically includes: Determining the displacement of the piston in the oil cylinder according to the oil circuit pressure of the oil cylinder; Obtain the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, and the stiffness of the load spring; The third cutting load resistance is determined based on the effective area of ​​the cylinder cavity, the load pressure drop, the total mass of the load and the piston in the cylinder, the viscous damping coefficient of the load and the piston in the cylinder, the stiffness of the load spring and the displacement of the piston in the cylinder.

6. The control method of the tunnel boring machine according to claim 2, characterized in that: Determining the sway speed prediction value according to the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value specifically includes: When there are identical items in the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value, determining the predicted value of the identical item as the sway speed prediction value; or When the first sway speed prediction value, the second sway speed prediction value, and the third sway speed prediction value are all different, the prediction value with the highest priority is determined to be the sway speed prediction value.

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