A deviation correction control method and system for a tunnel boring machine, a tunnel boring machine and a storage medium

Abstract

The present application discloses a deviation correction control method, system, tunneling machine and storage medium for a tunneling machine, and the technical field to which it belongs is the field of automatic control technology. The deviation correction control method for a tunneling machine includes: determining the center position of the tunneling machine after this travel, and determining the offset distance of the vehicle center of the tunneling machine relative to the central axis of the construction tunnel according to the center position of the vehicle body; judging whether the offset distance is greater than or equal to the deviation correction threshold; if so, determining the maximum safe deviation correction angle of the tunneling machine according to the width of the construction tunnel, the size of the tunneling machine, the current heading angle of the tunneling machine and the offset distance; and controlling the left and right crawlers of the tunneling machine to rotate in opposite directions according to the maximum safe deviation correction angle and the theoretical deviation correction angle, so as to correct the heading angle of the tunneling machine. The present application can realize automatic and precise deviation correction of the tunneling machine and improve the tunneling quality.

Description

Technical Field

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

[0002] The working environment of the roadheader is harsh and the geological conditions are complex. When the roadheader is excavating in the tunnel, the axis of the body and the design axis of the tunnel will inevitably have an angle deviation. As the mileage of the roadheader advances, the actual excavation trajectory will deviate from the design trajectory in the tunnel space coordinates, causing the tunnel forming quality to fail to meet the construction acceptance requirements.

[0003] The current tunneling method mainly adopts manual control, that is, the driver uses his naked eyes to observe and his own experience to operate the tunneling machine to move and correct the deviation. However, due to factors such as the driver's physical strength, environmental factors and personal experience, it is very easy to make correction errors.

[0004] Therefore, how to achieve automatic and accurate deviation correction of the tunnel boring machine and improve the tunnel boring quality is a technical problem that technical personnel in this field currently need to solve. Summary of the invention

[0005] The purpose of this application is to provide a deviation correction control method and system for a tunnel boring machine, a tunnel boring machine and a storage medium, which can realize automatic deviation correction of the tunnel boring machine and improve the tunnel boring quality.

[0006] In order to solve the above technical problems, the present application provides a deviation correction control method for a roadheader, comprising:

[0007] Determine the center position of the vehicle body of the tunnel boring machine after this travel, and determine the offset distance of the vehicle center of the tunnel boring machine relative to the central axis of the construction tunnel according to the center position of the vehicle body;

[0008] Determine whether the offset distance is greater than or equal to a deviation correction threshold;

[0009] If yes, determining the maximum safe deviation correction angle of the tunnel boring machine according to the width of the construction tunnel, the size of the tunnel boring machine, the current heading angle of the tunnel boring machine and the offset distance;

[0010] The left and right crawlers of the tunnel boring machine are controlled to rotate in opposite directions according to the maximum safe correction angle and the theoretical correction angle so as to correct the heading angle of the tunnel boring machine; wherein the theoretical correction angle is determined according to the single walking step of the tunnel boring machine and the offset distance.

[0011] Optionally, controlling the left and right crawlers of the roadheader to rotate in opposite directions according to the maximum safe deviation correction angle and the theoretical deviation correction angle so as to correct the heading angle of the roadheader includes:

[0012] The minimum angle between the maximum safe deviation correction angle and the theoretical deviation correction angle is set as a reference deviation correction angle, and the left and right crawlers of the roadheader are controlled to rotate in opposite directions so as to adjust the heading angle of the roadheader to the reference deviation correction angle;

[0013] Wherein, when the left and right crawlers of the tunnel boring machine rotate in opposite directions, the speeds of the left crawler and the right crawler are the same.

[0014] Optionally, controlling the left and right crawlers of the roadheader to rotate in opposite directions includes:

[0015] If the vehicle center of the tunnel boring machine is located on the left side of the central axis of the construction tunnel, the left crawler of the tunnel boring machine is controlled to rotate in a first direction, and the right crawler of the tunnel boring machine is controlled to rotate in a second direction; wherein the crawler rotating in the first direction moves forward, and the crawler rotating in the second direction moves backward;

[0016] If the vehicle center of the tunnel boring machine is located on the right side of the central axis of the construction tunnel, the left crawler of the tunnel boring machine is controlled to rotate in the second direction, and the right crawler of the tunnel boring machine is controlled to rotate in the first direction.

[0017] Optionally, before controlling the left and right crawlers of the roadheader to rotate in opposite directions according to the maximum safe deviation correction angle and the theoretical deviation correction angle, the method further includes:

[0018] Calculate the theoretical deviation correction angle according to a preset formula;

[0019] Among them, the preset formula is B=arcsin(s / d), B is the theoretical correction angle, s is the offset distance, and d is the step distance of the tunnel boring machine in a single walk.

[0020] Optionally, after determining whether the offset distance is greater than or equal to the deviation correction threshold, the method further includes:

[0021] If the offset distance is less than the deviation correction threshold, determining the historical heading angle of the roadheader before the current travel;

[0022] Calculating a heading angle difference between the heading angle of the tunnel boring machine and the historical heading angle;

[0023] If the heading angle difference is within the preset deviation range, the heading angle of the tunnel boring machine is not adjusted;

[0024] If the heading angle difference is not within the preset deviation interval, controlling the left and right crawlers of the tunnel boring machine to rotate in opposite directions so as to adjust the heading angle of the tunnel boring machine to the historical heading angle;

[0025] Wherein, when the left and right crawlers of the tunnel boring machine rotate in opposite directions, the speeds of the left crawler and the right crawler are the same.

[0026] Optionally, determining the center position of the vehicle body of the roadheader after the current travel includes:

[0027] Determining the prism coordinates of the roadheader according to information collected by a total station disposed at the top of the construction tunnel;

[0028] Determine the azimuth angle of the tunnel boring machine; wherein the azimuth angle includes a roll angle, a pitch angle and a heading angle;

[0029] The center position of the vehicle body of the tunnel boring machine after this travel is calculated according to the prism coordinates and the azimuth angle.

[0030] Optionally, before determining whether the offset distance is greater than or equal to the deviation correction threshold, the method further includes:

[0031] Determining whether the tunnel boring machine has reached the cutting surface of the construction tunnel;

[0032] If yes, proceed to the step of determining whether the offset distance is greater than or equal to the deviation correction threshold;

[0033] If not, the tunnel boring machine is controlled to move next time.

[0034] The present application also provides a deviation correction control system for a roadheader, the system comprising:

[0035] An offset calculation module is used to determine the center position of the vehicle body of the roadheader after this travel, and determine the offset distance of the vehicle center of the roadheader relative to the central axis of the construction tunnel according to the center position of the vehicle body;

[0036] A judging module, used to judge whether the offset distance is greater than or equal to a deviation correction threshold;

[0037] A maximum safe deviation correction angle determination module is used to determine the maximum safe deviation correction angle of the roadheader according to the width of the construction tunnel, the size of the roadheader, the current heading angle of the roadheader and the deviation distance if the deviation distance is greater than or equal to the deviation correction threshold;

[0038] A correction control module is used to control the left and right crawlers of the tunnel boring machine to rotate in opposite directions according to the maximum safe correction angle and the theoretical correction angle, so as to correct the heading angle of the tunnel boring machine; wherein the theoretical correction angle is determined according to the single walking step of the tunnel boring machine and the offset distance.

[0039] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps of the deviation correction control method of the above-mentioned tunnel boring machine are implemented.

[0040] The present application also provides a tunnel boring machine, including a memory, a control unit, an execution unit and a sensing unit, wherein a computer program is stored in the memory, and the steps implemented when the control unit calls the computer program in the memory include: determining the center position of the tunnel boring machine after this walking, and determining the offset distance of the vehicle center of the tunnel boring machine relative to the central axis of the construction tunnel according to the center position of the vehicle body; judging whether the offset distance is greater than or equal to a correction threshold; if so, determining the maximum safe correction angle of the tunnel boring machine according to the width of the construction tunnel, the size of the tunnel boring machine, the current heading angle of the tunnel boring machine and the offset distance; generating a control instruction according to the maximum safe correction angle and the theoretical correction angle; sending the control instruction to the execution unit so that the execution unit controls the left and right crawlers of the tunnel boring machine to rotate in opposite directions to achieve the heading angle correction of the tunnel boring machine; wherein the theoretical correction angle is determined according to the single walking step of the tunnel boring machine and the offset distance.

[0041] The present application provides a deviation correction control method for a tunnel boring machine, comprising: determining the center position of a vehicle body of the tunnel boring machine after this walking, and determining the offset distance of the vehicle center of the tunnel boring machine relative to the central axis of a construction tunnel according to the center position of the vehicle body; judging whether the offset distance is greater than or equal to a deviation correction threshold; if so, determining the maximum safe deviation correction angle of the tunnel boring machine according to the width of the construction tunnel, the size of the tunnel boring machine, the current heading angle of the tunnel boring machine and the offset distance; controlling the left and right crawlers of the tunnel boring machine to rotate in opposite directions according to the maximum safe deviation correction angle and the theoretical deviation correction angle, so as to correct the heading angle of the tunnel boring machine; wherein the theoretical deviation correction angle is determined according to the single walking step length of the tunnel boring machine and the offset distance.

[0042] The present application determines the center position of the vehicle body after the tunnel boring machine has traveled this time, and then determines the offset distance of the vehicle center of the tunnel boring machine relative to the central axis of the construction tunnel. When the above-mentioned offset distance is greater than or equal to the correction threshold, the present application determines the maximum safe correction angle of the tunnel boring machine based on the width of the construction tunnel, the size of the tunnel boring machine, the current heading angle of the tunnel boring machine and the offset distance. The present application controls the left and right crawlers of the tunnel boring machine to rotate in opposite directions according to the maximum safe correction angle and the theoretical correction angle, so as to correct the tunnel boring machine within the allowable range of the actual scene. The present embodiment can realize automatic correction of the tunnel boring machine and improve the tunneling quality. The present application also provides a tunnel boring machine correction control system, a storage medium and a tunnel boring machine, which have the above-mentioned beneficial effects and are not repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0044] Figure 1 A flow chart of a deviation correction control method for a tunnel boring machine provided in an embodiment of the present application;

[0045] Figure 2 A structural diagram of a deviation correction system for an anchor miner provided in an embodiment of the present application;

[0046] Figure 3 A schematic diagram of the maximum safe deviation correction angle calculation principle provided in an embodiment of the present application;

[0047] Figure 4 A schematic diagram of a positioning structure provided in an embodiment of the present application;

[0048] Figure 5 A schematic diagram of a correction provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] See below Figure 1 , Figure 1 A flow chart of a deviation correction control method for a tunnel boring machine provided in an embodiment of the present application.

[0051] Specific steps may include:

[0052] S101: determining the center position of the vehicle body of the roadheader after the current travel, and determining the offset distance of the vehicle center of the roadheader relative to the central axis of the construction tunnel according to the center position of the vehicle body;

[0053] Among them, this embodiment can be applied to the control unit of the tunnel boring machine. The tunnel boring machine performs multiple walks at a fixed step distance during operation, and this step is implemented in the interval time between this walk and the next walk. Specifically, this embodiment can determine the center position of the vehicle body of the tunnel boring machine after this walk in the following ways: determine the prism coordinates of the tunnel boring machine based on the information collected by the total station set at the top of the construction tunnel; determine the azimuth angle of the tunnel boring machine; wherein the azimuth angle includes the roll angle, the pitch angle and the heading angle; calculate the center position of the vehicle body of the tunnel boring machine after this walk based on the prism coordinates and the azimuth angle.

[0054] S102: Determine whether the offset distance is greater than or equal to the deviation correction threshold; if so, proceed to S103; if not, end the process.

[0055] Before this step, there may be an operation to determine the deviation correction threshold of the tunnel boring machine, which may be input by the user or set according to the model of the tunnel boring machine and the construction scene. When the offset distance is greater than or equal to the deviation correction threshold, deviation correction may be performed within the allowable range of the actual scene through S103 to S104.

[0056] As a feasible implementation method, before determining whether the offset distance is greater than or equal to the deviation correction threshold, it is possible to determine whether the tunnel boring machine has reached the cutting surface of the construction tunnel; if so, proceed to step S102; if not, control the tunnel boring machine to perform the next walk.

[0057] S103: determining a maximum safe deviation correction angle of the tunnel boring machine according to the width of the construction tunnel, the size of the tunnel boring machine, the current heading angle of the tunnel boring machine and the offset distance;

[0058] Among them, before this step, there may be an operation to determine the width of the construction tunnel and the size (length and width) of the tunnel boring machine, as well as the current heading angle of the tunnel boring machine, and then determine the maximum safe correction angle of the tunnel boring machine based on the width of the construction tunnel, the size of the tunnel boring machine, the heading angle and the offset distance.

[0059] S104: controlling the left and right crawlers of the roadheader to rotate in opposite directions according to the maximum safe deviation correction angle and the theoretical deviation correction angle, so as to correct the heading angle of the roadheader;

[0060] Before this step, there may also be an operation of determining a theoretical correction angle based on the single walking step of the tunnel boring machine and the offset distance, and then controlling the left and right crawlers of the tunnel boring machine to rotate in opposite directions based on the maximum safe correction angle and the theoretical correction angle, so as to correct the heading angle of the tunnel boring machine.

[0061] Furthermore, before controlling the left and right tracks of the tunnel boring machine to rotate in opposite directions according to the maximum safe correction angle and the theoretical correction angle, the theoretical correction angle can also be calculated according to a preset formula; wherein the preset formula is B=arcsin(s / d), B is the theoretical correction angle, s is the offset distance, and d is the step length of a single walk of the tunnel boring machine.

[0062] This embodiment determines the center position of the vehicle body after the tunnel boring machine has traveled this time, and then determines the offset distance of the vehicle center of the tunnel boring machine relative to the central axis of the construction tunnel. When the above-mentioned offset distance is greater than or equal to the correction threshold, this embodiment determines the maximum safe correction angle of the tunnel boring machine based on the width of the construction tunnel, the size of the tunnel boring machine, the current heading angle of the tunnel boring machine, and the offset distance. This embodiment controls the left and right crawlers of the tunnel boring machine to rotate in opposite directions based on the maximum safe correction angle and the theoretical correction angle, so as to correct the tunnel boring machine within the allowable range of the actual scene. This embodiment can realize automatic correction of the tunnel boring machine and improve the tunneling quality.

[0063] As for Figure 1 Further introduction to the corresponding embodiment, the heading angle of the tunnel boring machine can be corrected in the following manner: the minimum angle between the maximum safe correction angle and the theoretical correction angle is set as a reference correction angle, and the left and right crawlers of the tunnel boring machine are controlled to rotate in opposite directions, so as to adjust the heading angle of the tunnel boring machine to the reference correction angle; wherein, when the left and right crawlers of the tunnel boring machine rotate in opposite directions, the speeds of the left crawler and the right crawler are the same. The above manner can make the left crawler and the right crawler rotate in opposite directions, and keep the speeds of the left crawler and the right crawler the same, so as to avoid the center position of the tunnel boring machine from shifting again.

[0064] As a feasible implementation mode, the above-mentioned embodiment can control the left and right crawlers of the tunnel boring machine to rotate in opposite directions in the following manner: if the vehicle center of the tunnel boring machine is located on the left side of the central axis of the construction tunnel, the left crawler of the tunnel boring machine is controlled to rotate in a first direction, and the right crawler of the tunnel boring machine is controlled to rotate in a second direction; wherein, the crawler rotating in the first direction moves forward, and the crawler rotating in the second direction moves backward; if the vehicle center of the tunnel boring machine is located on the right side of the central axis of the construction tunnel, the left crawler of the tunnel boring machine is controlled to rotate in the second direction, and the right crawler of the tunnel boring machine is controlled to rotate in the first direction.

[0065] As for Figure 1Further introduction to the corresponding embodiment, after determining whether the offset distance is greater than or equal to the correction threshold, if the offset distance is less than the correction threshold, correction can be performed in the following manner: determine the historical heading angle of the tunnel boring machine before this walking; calculate the heading angle difference between the heading angle of the tunnel boring machine and the historical heading angle; if the heading angle difference is within the preset deviation range, the heading angle of the tunnel boring machine is not adjusted; if the heading angle difference is not within the preset deviation range, the left and right crawlers of the tunnel boring machine are controlled to rotate in opposite directions so as to adjust the heading angle of the tunnel boring machine to the historical heading angle; wherein, when the left and right crawlers of the tunnel boring machine rotate in opposite directions, the speeds of the left crawler and the right crawler are the same.

[0066] The anchor digger is a common tunneling machine. The following uses the anchor digger as an example to illustrate the automatic travel and automatic deviation correction control scheme of the anchor digger used in mining in actual applications. In this embodiment, an encoder, a gyroscope, a radar ranging sensor, and a prism are installed on the anchor digger to measure the roll, pitch, heading angle, and tunneling speed; in this embodiment, a total station installed on the top plate of the tunnel is used to measure the offset distance between the anchor digger and the design axis, and the controller controls the speed and direction of the electro-hydraulic proportional valve and the hydraulic motor; the above-mentioned controller collects the deflection angle, offset distance, travel direction displacement, and left and right crawler speed information of the vehicle body, and according to the designed travel and deviation correction strategy, gives the travel direction angle, distance, and speed of the left and right crawlers, controls the left and right crawlers of the anchor digger to automatically move along the design axis of the tunnel, and realizes the automatic travel and deviation correction of the anchor digger.

[0067] The deviation correction system of the bolter miner includes a sensor unit, a control unit and an actuator unit. Figure 2 , Figure 2 This is a structural diagram of a correction system for an anchor miner provided in an embodiment of the present application. The sensing unit includes a radar ranging sensor, a total station, an encoder, a gyroscope and a prism. The control unit is used to generate control instructions through a PLC controller according to the position information of the anchor miner, the track speed information and the correction reading information, so as to control the two hydraulic proportional valves of the execution unit to drive the left crawler travel motor and the right crawler travel motor respectively.

[0068] The sensing unit is an encoder, a gyroscope, a radar ranging sensor, a prism and a total station. Encoders are installed on the left and right tracks of the anchor miner to obtain the current value N Lcode 、N Rcode, a gyroscope is installed on the vehicle body to obtain the angles (a, β, γ) of the heading, roll and pitch of the anchor miner. The radar range sensor installed on the vehicle body obtains the displacement s2 in the forward direction of the anchor miner. A total station is arranged on the top of the tunnel to obtain the coordinates (X0, Y0, Z0) of the prism on the anchor miner in the geodetic coordinate system. The control unit includes four controllers for completing signal acquisition and calculation. CAN bus communication is used between controllers and between controllers and sensor units. The execution unit includes an electro-hydraulic proportional valve and a hydraulic motor. The two electro-hydraulic proportional valves receive the output instructions of the controller and control the hydraulic motors of the left and right crawler walking mechanisms to complete the forward and backward movement of the left and right crawlers.

[0069] The software design of the deviation correction system of the bolter and miner includes parameter calculation, automatic travel, and automatic deviation correction control strategy.

[0070] The parameters are calculated as follows:

[0071] Given the lane width B0, vehicle length L, vehicle width B1, and offset distance s, we can know the closest distance s3 between the vehicle and the lane:

[0072]

[0073] When s3 = 0, the maximum safe correction angle A can be obtained, such as Figure 3 As shown, Figure 3 A schematic diagram of the maximum safe correction angle calculation principle provided in an embodiment of the present application.

[0074] The current value N of the left and right track encoders Lcode 、N Rcode , encode the previous sampling data N PreLcode 、N PreRcode Encoder sampling period T vs , left walking coefficient μ L , μ R Then the left and right track speeds v can be obtained L 、v R .

[0075] The travel coefficient is related to the reduction ratio and the track radius. When the encoder rotates one circle, the track will travel a certain distance. The travel distance of the track can be measured by the number of revolutions of the encoder. |N Lcode -N PreLcode | indicates T vs Encoder value change in time, μ L ×|N Lcode -N PreLcode | indicates T vs The change in walking displacement over time.

[0076]

[0077]

[0078] Given the coordinates of the prism on the bolter and miner in the geodetic coordinate system (X0, Y0, Z0) and the three azimuth angles (a, β, γ) of the bolter and miner, the coordinates of the center point of the vehicle body in the geodetic coordinate system (X, Y, Z) can be obtained.

[0079]

[0080] in:

[0081]

[0082] R X The rotation matrix that represents the rotation of the coordinate system around the X-axis of the reference coordinate system; R Y The rotation matrix that represents the rotation of the coordinate system around the Y axis of the reference coordinate system; R Z The rotation matrix represents the rotation of the coordinate system around the Z axis of the reference coordinate system. Given the coordinates of the prism on the bolter miner in the geodetic coordinate system (X0, Y0, Z0) and the three azimuths of the bolter miner (a, β, γ), the coordinates of the center point of the vehicle in the geodetic coordinate system (X, Y, Z) can be obtained.

[0083] Trans(ΔX, ΔY, ΔZ) is the translation transformation matrix between the vehicle center and the prism; and then the offset distance S=Y from the vehicle center to the lane design centerline can be obtained, such as Figure 4 As shown, Figure 4 A schematic diagram of a positioning structure provided in an embodiment of the present application shows a total station, a rear-view prism, a prism and a gyroscope.

[0084] Set the single step distance D of the anchor miner, the center offset distance s of the vehicle body is known, the correction distance d = D, and the theoretical correction angle B = arcsin (s / d), such as Figure 5 , Figure 5 A schematic diagram of correction provided in an embodiment of the present application. Figure 5 Where A is the maximum safety angle, s is the offset distance, D is the single walking step, B is the theoretical correction angle, and the ideal axis is the center axis of the construction tunnel. Figure 5 The left picture in the middle shows the process of correcting the angle using the maximum safety angle, and the right picture shows the process of correcting the angle using the theoretical correction angle.

[0085] The process of automatic walking and automatic deviation correction control of an anchor miner provided in the embodiment of the present application is as follows:

[0086] Step 1: Use the remote control to start the oil pump motor, the transport and loading system, the dust removal and spray system, the cutting motor, retract the shovel and cutting head, obtain the heading angle of the anchor miner before traveling and record it as a1, and complete the preparation work before traveling;

[0087] Step 2: The remote control starts automatic walking;

[0088] Step 3: Control the anchor miner to move along the direction a1 with a step distance D. When the real-time heading angle a=a1, the controller outputs a closed loop with the speed of the left and right crawlers, controlling the left and right crawlers to move at the same speed, that is, v L_forward =v R_forward ; When a>a1, the anchor miner deviates from the center line of the current tunnel, controlling the left and right crawler differential movement to meet v L_forward =v R_forward +Δv; when a<a1, the anchor miner deviates from the center line of the current tunnel in the opposite direction, and controls the speed difference of the left and right crawlers to meet v L_forward =v R_forward -Δv. The relationship between the speed difference and the deviation angle is Δv=k|a-a1|; when the displacement s2 of the anchor miner reaches the set value D, the travel ends. L_forward is the left track speed, v R_forward is the speed of the right crawler, |a-a1| is the deviation angle; k is the proportional coefficient (man-made value) indicating a proportional relationship; Δv is the speed difference between the left and right crawlers. For example, when a=11, a1=10, the deviation angle is 1, the left crawler can be controlled to v=2m / s, the right crawler v=1m / s, the speed difference is 1m / s, and it is slowly corrected in the direction of a1.

[0089] Step 4: When the anchor miner reaches the excavation face, the relationship between the current vehicle center offset distance s and the correction threshold s' is first determined to determine the correction strategy.

[0090] Strategy 1: When |s|<|s'|, the offset is within the allowable range, and the body angle a (heading angle) is adjusted until a1-Δa≤a≤a1+Δa. When a1-Δa≤a≤a1+Δa, the deviation correction is completed; when a>a1+Δa, the left and right tracks need to be controlled to rotate in opposite directions, and v L_forward =v R_back , until a1-Δa≤a≤a1+Δa, the deviation correction is completed; when a<a1-Δa, it is necessary to control the left and right tracks to rotate in the opposite direction, and there is v L_back =v R_forward , until a1-Δa≤a≤a1+Δa, the correction is completed.

[0091] Strategy 2: When |s|≥|s'|, the offset distance exceeds the allowable range. At this time, the body angle is adjusted to the theoretical correction angle within the safe angle range.

[0092] When s>0, the positive offset exceeds the allowable range, and the left and right tracks need to be controlled to rotate in the opposite direction, and there is v L_forward =v R_back When |A|≥|B|, the left and right crawlers are controlled to move until a=B and then stop, and the deviation correction is completed; when |A|<|B|, the left and right crawlers are controlled to move until a=A and then stop, and the deviation correction is completed.

[0093] When s<0, the offset distance exceeds the allowable range, and the left and right tracks need to be controlled to rotate in the opposite direction, and there is v L_back =v R_forward When |A|≥|B|, the left and right crawlers are controlled to move until a=B and then stop, and the deviation correction is completed; when |A|<|B|, the left and right crawlers are controlled to move until a=A and then stop, and the deviation correction is completed.

[0094] In the above text, v L_forward is the forward speed of the left track, v R_forward is the forward speed of the right track, v L_back is the backward speed of the left track, v R_back It is the reverse speed of the right track.

[0095] This embodiment provides a method for calculating the offset distance from the center point of the anchor digger body to the designed axis through coordinate system matrix conversion based on the coordinates of the body prism in the geodetic coordinate system and the three azimuths of the body; this embodiment provides a method for calculating the correction angle of the anchor digger through the body offset, maximum safety angle and stepping distance, provides a method for controlling the differential movement of the left and right tracks according to the azimuth of the body to achieve automatic walking of the body along the initial direction, provides a method for controlling the reverse movement of the tracks according to the offset, correction angle and azimuth of the body to achieve automatic correction of the anchor digger, and also provides an automatic walking and correction control system for the anchor digger composed of an encoder, a gyroscope, a radar ranging sensor, a prism, a total station, a controller, an electro-hydraulic proportional valve and a hydraulic motor.

[0096] The above-mentioned anchor digger realizes automated travel, effectively reduces the operator's workload and improves the level of intelligent excavation. The above-mentioned anchor digger realizes the movement of the vehicle body along the designed axis through automatic travel and deviation correction control, reducing travel errors caused by manual operation. The above-mentioned anchor digger reduces the time of manual operation and coordination through automatic travel and deviation correction control, greatly improving the efficiency of underground coal mine excavation. The above-mentioned anchor digger has precise guidance, which effectively improves the quality of tunneling.

[0097] The embodiment of the present application provides a deviation correction control system for a roadheader, comprising:

[0098] An offset calculation module is used to determine the center position of the vehicle body of the roadheader after this travel, and determine the offset distance of the vehicle center of the roadheader relative to the central axis of the construction tunnel according to the center position of the vehicle body;

[0099] A judging module, used to judge whether the offset distance is greater than or equal to a deviation correction threshold;

[0100] A maximum safe deviation correction angle determination module is used to determine the maximum safe deviation correction angle of the roadheader according to the width of the construction tunnel, the size of the roadheader, the current heading angle of the roadheader and the deviation distance if the deviation distance is greater than or equal to the deviation correction threshold;

[0101] A correction control module is used to control the left and right crawlers of the tunnel boring machine to rotate in opposite directions according to the maximum safe correction angle and the theoretical correction angle, so as to correct the heading angle of the tunnel boring machine; wherein the theoretical correction angle is determined according to the single walking step of the tunnel boring machine and the offset distance.

[0102] This embodiment determines the center position of the vehicle body after the tunnel boring machine has traveled this time, and then determines the offset distance of the vehicle center of the tunnel boring machine relative to the central axis of the construction tunnel. When the above-mentioned offset distance is greater than or equal to the correction threshold, this embodiment determines the maximum safe correction angle of the tunnel boring machine based on the width of the construction tunnel, the size of the tunnel boring machine, the current heading angle of the tunnel boring machine, and the offset distance. This embodiment controls the left and right crawlers of the tunnel boring machine to rotate in opposite directions based on the maximum safe correction angle and the theoretical correction angle, so as to correct the tunnel boring machine within the allowable range of the actual scene. This embodiment can realize automatic correction of the tunnel boring machine and improve the tunneling quality.

[0103] Furthermore, the deviation correction control module is used to set the minimum angle between the maximum safe deviation correction angle and the theoretical deviation correction angle as a reference deviation correction angle, and control the left and right crawlers of the roadheader to rotate in opposite directions so as to adjust the heading angle of the roadheader to the reference deviation correction angle;

[0104] Wherein, when the left and right crawlers of the tunnel boring machine rotate in opposite directions, the speeds of the left crawler and the right crawler are the same.

[0105] Furthermore, the process in which the correction control module controls the left and right crawlers of the tunnel boring machine to rotate in opposite directions includes: if the vehicle center of the tunnel boring machine is located on the left side of the central axis of the construction tunnel, the left crawler of the tunnel boring machine is controlled to rotate in a first direction, and the right crawler of the tunnel boring machine is controlled to rotate in a second direction; wherein the crawler rotating in the first direction moves forward, and the crawler rotating in the second direction moves backward; if the vehicle center of the tunnel boring machine is located on the right side of the central axis of the construction tunnel, the left crawler of the tunnel boring machine is controlled to rotate in the second direction, and the right crawler of the tunnel boring machine is controlled to rotate in the first direction.

[0106] Furthermore, it also includes:

[0107] A theoretical deviation correction angle determination module, used for calculating the theoretical deviation correction angle according to a preset formula before controlling the left and right crawlers of the roadheader to rotate in opposite directions according to the maximum safe deviation correction angle and the theoretical deviation correction angle;

[0108] Among them, the preset formula is B=arcsin(s / d), B is the theoretical correction angle, s is the offset distance, and d is the step distance of the tunnel boring machine in a single walk.

[0109] Furthermore, the deviation correction control module is also used to determine the historical heading angle of the tunnel boring machine before this walking if the deviation distance is less than the deviation correction threshold after judging whether the offset distance is greater than or equal to the deviation correction threshold; it is also used to calculate the heading angle difference between the heading angle of the tunnel boring machine and the historical heading angle; it is also used to not adjust the heading angle of the tunnel boring machine if the heading angle difference is within a preset deviation interval; it is also used to control the left and right crawlers of the tunnel boring machine to rotate in opposite directions if the heading angle difference is not within the preset deviation interval, so as to adjust the heading angle of the tunnel boring machine to the historical heading angle;

[0110] Wherein, when the left and right crawlers of the tunnel boring machine rotate in opposite directions, the speeds of the left crawler and the right crawler are the same.

[0111] Furthermore, the process of the offset calculation module determining the center position of the vehicle body of the tunnel boring machine after this travel includes: determining the prism coordinates of the tunnel boring machine based on information collected by a total station arranged at the top of the construction tunnel; determining the azimuth angle of the tunnel boring machine; wherein the azimuth angle includes a roll angle, a pitch angle and a heading angle; and calculating the center position of the vehicle body of the tunnel boring machine after this travel based on the prism coordinates and the azimuth angle.

[0112] Furthermore, it also includes:

[0113] The position judgment module is used to judge whether the tunnel boring machine has reached the cutting surface of the construction tunnel before judging whether the offset distance is greater than or equal to the correction threshold; if so, enter the step of judging whether the offset distance is greater than or equal to the correction threshold; if not, control the tunnel boring machine to make the next move.

[0114] The present application also provides a storage medium on which a computer program is stored, and when the computer program is executed, the steps provided in the above embodiment can be implemented. The storage medium may include: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0115] The present application also provides a roadheader, including a memory, a control unit, an execution unit and a sensor unit, wherein a computer program is stored in the memory, and the steps implemented when the control unit calls the computer program in the memory include:

[0116] Determine the center position of the vehicle body of the tunnel boring machine after this travel, and determine the offset distance of the vehicle center of the tunnel boring machine relative to the central axis of the construction tunnel according to the center position of the vehicle body;

[0117] Determine whether the offset distance is greater than or equal to a deviation correction threshold;

[0118] If yes, determining the maximum safe deviation correction angle of the tunnel boring machine according to the width of the construction tunnel, the size of the tunnel boring machine, the current heading angle of the tunnel boring machine and the offset distance;

[0119] Generate a control instruction according to the maximum safe deviation correction angle and the theoretical deviation correction angle;

[0120] The control instruction is sent to the execution unit so that the execution unit controls the left and right crawlers of the tunnel boring machine to rotate in opposite directions to achieve heading angle correction of the tunnel boring machine; wherein the theoretical correction angle is determined based on a single walking step of the tunnel boring machine and the offset distance.

[0121] Since the embodiments of the system, tunnel boring machine and storage medium parts correspond to the embodiments of the method part, the embodiments of the system part refer to the description of the embodiments of the method part and will not be repeated here.

[0122] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of this application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0123] It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises", "comprising" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprising a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element.

Claims

1. A deviation correction control method for a roadheader, characterized in that: include: Determine the center position of the vehicle body of the tunnel boring machine after this travel, and determine the offset distance of the vehicle center of the tunnel boring machine relative to the central axis of the construction tunnel according to the center position of the vehicle body; Determine whether the offset distance is greater than or equal to a deviation correction threshold; If yes, determining the maximum safe deviation correction angle of the tunnel boring machine according to the width of the construction tunnel, the size of the tunnel boring machine, the current heading angle of the tunnel boring machine and the offset distance; Controlling the left and right crawlers of the roadheader to rotate in opposite directions according to the maximum safe deviation correction angle and the theoretical deviation correction angle, so as to correct the heading angle of the roadheader; wherein the theoretical deviation correction angle is determined according to the single walking step of the roadheader and the offset distance; Wherein, according to the maximum safe deviation correction angle and the theoretical deviation correction angle, the left and right crawlers of the roadheader are controlled to rotate in opposite directions so as to correct the heading angle of the roadheader, including: The minimum angle between the maximum safe deviation correction angle and the theoretical deviation correction angle is set as a reference deviation correction angle, and the left and right crawlers of the roadheader are controlled to rotate in opposite directions so as to adjust the heading angle of the roadheader to the reference deviation correction angle; Wherein, when the left and right crawlers of the tunnel boring machine rotate in opposite directions, the speeds of the left crawler and the right crawler are the same; Wherein, controlling the left and right crawlers of the roadheader to rotate in opposite directions comprises: If the vehicle center of the tunnel boring machine is located on the left side of the central axis of the construction tunnel, the left crawler of the tunnel boring machine is controlled to rotate in a first direction, and the right crawler of the tunnel boring machine is controlled to rotate in a second direction; wherein the crawler rotating in the first direction moves forward, and the crawler rotating in the second direction moves backward; If the vehicle center of the tunnel boring machine is located on the right side of the central axis of the construction tunnel, the left crawler of the tunnel boring machine is controlled to rotate in the second direction, and the right crawler of the tunnel boring machine is controlled to rotate in the first direction.

2. The deviation correction control method of a roadheader according to claim 1, characterized in that: Before controlling the left and right crawlers of the roadheader to rotate in opposite directions according to the maximum safe deviation correction angle and the theoretical deviation correction angle, the method further includes: Calculate the theoretical deviation correction angle according to a preset formula; Among them, the preset formula is B=arcsin(s / d), B is the theoretical correction angle, s is the offset distance, and d is the step length of a single walk of the tunnel boring machine.

3. The deviation correction control method of a roadheader according to claim 1, characterized in that: After determining whether the offset distance is greater than or equal to the deviation correction threshold, the method further includes: If the offset distance is less than the deviation correction threshold, determining the historical heading angle of the roadheader before the current travel; Calculating a heading angle difference between the heading angle of the tunnel boring machine and the historical heading angle; If the heading angle difference is within the preset deviation range, the heading angle of the tunnel boring machine is not adjusted; If the heading angle difference is not within the preset deviation interval, controlling the left and right crawlers of the tunnel boring machine to rotate in opposite directions so as to adjust the heading angle of the tunnel boring machine to the historical heading angle; Wherein, when the left and right crawlers of the tunnel boring machine rotate in opposite directions, the speeds of the left crawler and the right crawler are the same.

4. The deviation correction control method of a roadheader according to claim 1, characterized in that: Determining the center position of the vehicle body of the roadheader after the current travel includes: Determining the prism coordinates of the roadheader according to information collected by a total station disposed at the top of the construction tunnel; Determine the azimuth angle of the tunnel boring machine; wherein the azimuth angle includes a roll angle, a pitch angle and a heading angle; The center position of the vehicle body of the tunnel boring machine after this travel is calculated according to the prism coordinates and the azimuth angle.

5. The deviation correction control method of a roadheader according to claim 1, characterized in that: Before determining whether the offset distance is greater than or equal to the deviation correction threshold, the method further includes: Determining whether the tunnel boring machine has reached the cutting surface of the construction tunnel; If yes, proceed to the step of determining whether the offset distance is greater than or equal to the deviation correction threshold; If not, the tunnel boring machine is controlled to move next time.

6. A deviation correction control system for implementing the deviation correction control method of a roadheader according to any one of claims 1 to 5, characterized in that: include: An offset calculation module is used to determine the center position of the vehicle body of the roadheader after this travel, and determine the offset distance of the vehicle center of the roadheader relative to the central axis of the construction tunnel according to the center position of the vehicle body; A judging module, used to judge whether the offset distance is greater than or equal to a deviation correction threshold; A maximum safe deviation correction angle determination module is used to determine the maximum safe deviation correction angle of the roadheader according to the width of the construction tunnel, the size of the roadheader, the current heading angle of the roadheader and the deviation distance if the deviation distance is greater than or equal to the deviation correction threshold; A correction control module is used to control the left and right crawlers of the tunnel boring machine to rotate in opposite directions according to the maximum safe correction angle and the theoretical correction angle, so as to correct the heading angle of the tunnel boring machine; wherein the theoretical correction angle is determined according to the single walking step of the tunnel boring machine and the offset distance.

7. A roadheader for implementing the roadheader deviation correction control method according to any one of claims 1 to 5, characterized in that: The system comprises a memory, a control unit, an execution unit and a sensing unit, wherein the memory stores a computer program, and the steps implemented when the control unit calls the computer program in the memory include: Determine the center position of the vehicle body of the tunnel boring machine after this travel, and determine the offset distance of the vehicle center of the tunnel boring machine relative to the central axis of the construction tunnel according to the center position of the vehicle body; Determine whether the offset distance is greater than or equal to a deviation correction threshold; If yes, determining the maximum safe deviation correction angle of the tunnel boring machine according to the width of the construction tunnel, the size of the tunnel boring machine, the current heading angle of the tunnel boring machine and the offset distance; Generate a control instruction according to the maximum safe deviation correction angle and the theoretical deviation correction angle; The control instruction is sent to the execution unit so that the execution unit controls the left and right crawlers of the tunnel boring machine to rotate in opposite directions to achieve heading angle correction of the tunnel boring machine; wherein the theoretical correction angle is determined based on a single walking step of the tunnel boring machine and the offset distance.

8. A storage medium, characterized in that: The storage medium stores computer executable instructions, and when the computer executable instructions are loaded and executed by the processor, the steps of the deviation correction control method for the tunnel boring machine as described in any one of claims 1 to 5 are implemented.

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