Tunnel boring machine control method and device, tunnel boring machine

Abstract

The present invention relates to the field of mechanical control, and provides a method and device for controlling a tunnel boring machine, and a tunnel boring machine, wherein the method comprises: collecting target information of at least one feeding device of the tunnel boring machine, wherein the target information of the feeding device is used to characterize the feeding condition of the feeding device; and controlling the cutting operation of the tunnel boring machine based on the target information of the at least one feeding device. The method solves the problem in the prior art that the cutting speed affects the feeding device of the tunnel boring machine, often causing failure of the feeding device of the tunnel boring machine, and resulting in reduced efficiency of the cutting operation. The cutting operation of the tunnel boring machine is automatically controlled based on the target information of the at least one feeding device, without manual control, thereby improving the automation rate, and being able to automatically adapt to the feeding condition of the feeding device, thereby improving the stability and accuracy of the control of the cutting operation of the tunnel boring machine.

Description

Technical Field

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

[0002] At present, tunnel boring machines have been widely used in coal mines, tunnels, urban underground projects and other scenes, and can perform operations such as cutting and loading. However, in the prior art, when performing cutting operations, the cutting speed of the tunnel boring machine is mainly controlled by manual experience, and the cutting speed of the tunnel boring machine is unstable. Since the cutting speed affects the feeding equipment of the tunnel boring machine, it often causes the feeding equipment of the tunnel boring machine to malfunction, resulting in reduced efficiency of the cutting operation. Summary of the invention

[0003] The present invention provides a tunnel boring machine control method and device, and a tunnel boring machine, which are used to solve the defect in the prior art that the cutting speed affects the feeding equipment of the tunnel boring machine, often causing the failure of the feeding equipment of the tunnel boring machine, resulting in reduced efficiency of the cutting operation, thereby improving the efficiency of the cutting operation.

[0004] The present invention provides a roadheader control method, comprising:

[0005] Collecting target information of at least one material feeding device of the roadheader, wherein the target information of the material feeding device is used to characterize the material feeding condition of the material feeding device;

[0006] Based on the target information of the at least one material feeding device, the cutting operation of the roadheader is controlled.

[0007] According to a method for controlling a roadheader provided by the present invention, the target information of the at least one feeding device includes: a current rotation speed of the second conveyor and an image for representing the height of the material on the feeding belt of the second conveyor;

[0008] The controlling the cutting operation of the roadheader based on the target information of the at least one feeding device comprises:

[0009] Determine the current feeding flow rate of the conveyor belt based on the current rotation speed of the second conveyor and the image;

[0010] Based on the correspondence between the preset material feeding flow rate and the movement speed of the cantilever of the roadheader during cutting, the movement speed of the cantilever during cutting corresponding to the current material feeding flow rate is obtained;

[0011] The cantilever is controlled based on the movement speed of the cantilever during cutting corresponding to the current feeding flow rate.

[0012] According to a roadheader control method provided by the present invention, the current feeding flow rate of the conveyor belt is determined based on the current rotation speed of the second conveyor and the image, including:

[0013] Determine the area of ​​the cross section of the current feeding perpendicular to the conveyor belt based on the image;

[0014] The current material feeding flow rate of the conveyor belt is determined based on the product of the area of ​​the cross section and the current rotation speed of the second conveyor.

[0015] A roadheader control method provided by the present invention further includes:

[0016] Based on the preset correspondence between the current data of the cutting motor of the roadheader and the movement speed of the cantilever of the roadheader during cutting, determine the movement speed of the cantilever during cutting corresponding to the current current data of the cutting motor; control the cantilever according to the movement speed of the cantilever during cutting corresponding to the current current data of the cutting motor;

[0017] and / or, based on a preset correspondence between the vibration data of the tunnel boring machine and the movement speed of the cantilever of the tunnel boring machine during cutting, determining the movement speed of the cantilever during cutting corresponding to the current vibration data of the tunnel boring machine; and controlling the cantilever according to the movement speed of the cantilever during cutting corresponding to the current vibration data of the tunnel boring machine;

[0018] And / or, based on a preset correspondence between the current data of the cutting motor of the roadheader and the footage speed, determining the footage speed corresponding to the current current data of the cutting motor; and controlling the cutting operation of the roadheader according to the footage speed corresponding to the current current data of the cutting motor;

[0019] And / or, based on a preset correspondence between the vibration data of the tunnel boring machine and the advancement speed, determining the advancement speed corresponding to the current vibration data of the tunnel boring machine; and controlling the cutting operation of the tunnel boring machine according to the advancement speed corresponding to the current vibration data of the tunnel boring machine.

[0020] A roadheader control method provided by the present invention further includes:

[0021] Acquire a current parameter value and a corresponding current change rate of at least one target device; the at least one target device includes at least one of the feed equipment or the cutting motor of the tunneling machine;

[0022] Based on the preset corresponding relationship between the parameter value, change rate and target value of the target device, determine the target value corresponding to the current parameter value of the target device and the corresponding current change rate;

[0023] The target device is controlled based on a current parameter value of the target device and a target value corresponding to a corresponding current change rate.

[0024] According to a roadheader control method provided by the present invention, the target information of the at least one feeding device includes the current rotation speed of the star wheel;

[0025] The controlling the cutting operation of the roadheader based on the target information of the at least one feeding device comprises:

[0026] If the current rotation speed of the star wheel is less than or equal to the first threshold, at least one of the following operations is performed: controlling the cutting motor of the tunnel boring machine to pause; controlling the boom of the tunnel boring machine to pause; controlling the star wheel to alternately rotate in forward and reverse directions.

[0027] According to a roadheader control method provided by the present invention, the target information of the at least one material conveying device includes the current rotation speed of the first conveyor;

[0028] The controlling the cutting operation of the roadheader based on the target information of the at least one feeding device comprises:

[0029] If the current rotation speed of the first conveyor is less than or equal to the second threshold, perform at least one of the following operations: control to pause the cutting motor of the tunnel boring machine; control to pause the boom of the tunnel boring machine; control the first conveyor to alternately operate in forward and reverse directions.

[0030] The present invention also provides a roadheader control device, comprising:

[0031] An acquisition module, used for acquiring target information of at least one material feeding device of the roadheader, wherein the target information of the material feeding device is used for characterizing the material feeding condition of the material feeding device;

[0032] A control module is used to control the cutting operation of the roadheader based on the target information of the at least one feeding device.

[0033] The present invention also provides a tunnel boring machine, comprising a tunnel boring machine body and a controller, wherein the controller is used to execute any of the tunnel boring machine control methods described above.

[0034] A roadheader provided according to the present invention further includes: a first rotation speed sensor, and / or a second rotation speed sensor, and / or a third rotation speed sensor, and / or a vibration sensor, and / or a current sensor, and / or an image acquisition device;

[0035] The first rotation speed sensor is used to collect the rotation speed of the second conveyor;

[0036] The second rotation speed sensor is used to collect the rotation speed of the star wheel;

[0037] The third rotation speed sensor is used to collect the rotation speed of the first conveyor;

[0038] The vibration sensor is used to collect vibration data of the tunnel boring machine;

[0039] The current sensor is used to collect current data of the cutting motor of the roadheader;

[0040] The image acquisition device is used to acquire an image for characterizing the material height on the feed belt of the second conveyor.

[0041] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a tunnel boring machine control method as described above is implemented.

[0042] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the tunnel boring machine control method described in any one of the above is implemented.

[0043] The tunnel boring machine control method provided by the present invention can collect target information of at least one feeding device of the tunnel boring machine that can characterize the feeding condition of the feeding device, and automatically control the cutting operation of the tunnel boring machine based on the target information of the at least one feeding device. No manual control is required, thereby improving the automation rate and being able to automatically adapt to the feeding condition of the feeding device, thereby improving the stability and accuracy of the control of the cutting operation of the tunnel boring machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0045] Figure 1 It is one of the flow charts of the tunnel boring machine control method provided by the present invention;

[0046] Figure 2 It is a scene schematic diagram of the binocular vision device provided by the present invention;

[0047] Figure 3 This is the second flow chart of the tunnel boring machine control method provided by the present invention;

[0048] Figure 4 This is the third flow chart of the tunnel boring machine control method provided by the present invention;

[0049] Figure 5is a curve diagram of vibration data provided by the present invention;

[0050] Figure 6 is a curve schematic diagram of current data provided by the present invention;

[0051] Figure 7 It is a structural schematic diagram of the tunnel boring machine control device provided by the present invention;

[0052] Figure 8 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] At present, tunnel boring machines have been widely used in coal mines, tunnels, urban underground projects and other scenes, and can perform operations such as cutting and loading. However, in the prior art, when performing cutting operations, the cutting speed of the tunnel boring machine is mainly controlled by manual experience, and the cutting speed of the tunnel boring machine is unstable. Since the cutting speed affects the feeding equipment of the tunnel boring machine, it often causes the feeding equipment of the tunnel boring machine to malfunction, resulting in reduced efficiency of the cutting operation.

[0055] When the tunnel boring machine is cutting, the feeding equipment often fails due to overload, overflow or blockage. During the cutting operation, in addition to the driver of the tunnel boring machine, personnel are also required to observe whether the feeding equipment has any faults in real time and deal with related faults, which makes the cutting operation inefficient.

[0056] To this end, the present invention provides a tunnel boring machine control method, which can be executed by the tunnel boring machine or the software and / or hardware therein, for example, can be executed by a controller in the tunnel boring machine. The tunnel boring machine control method can improve the efficiency of the cutting operation, which is described in detail below.

[0057] This embodiment provides a method for controlling a roadheader. Figure 1 As shown, at least the following steps are included:

[0058] Step 101: Collect target information of at least one material feeding device of a roadheader, wherein the target information of the material feeding device is used to characterize the material feeding condition of the material feeding device.

[0059] Step 102: Control the cutting operation of the roadheader based on the target information of the at least one feeding device.

[0060] Among them, the tunnel boring machine may include a star wheel, a first conveyor and a second conveyor. The star wheel can deliver the cut material to the first conveyor, and then discharge it through the second conveyor. The star wheel, the first conveyor and the second conveyor are all feeding equipment of the tunnel boring machine. These feeding equipment may be blocked, etc., resulting in failure of the feeding equipment, which may be caused by unreasonable control of the cutting operation. In this embodiment, target information that can characterize the feeding condition of at least one feeding equipment of the tunnel boring machine can be collected, and the cutting operation of the tunnel boring machine can be automatically controlled based on the target information of the at least one feeding equipment. No manual control is required, which improves the automation rate and can automatically adapt to the feeding condition of the feeding equipment, thereby improving the stability and accuracy of the control of the cutting operation of the tunnel boring machine.

[0061] If at least one feeding device includes a second conveyor, then, in an exemplary embodiment, the target information of the at least one feeding device may include: the current rotation speed of the second conveyor and an image used to characterize the material height on the feeding belt of the second conveyor. In practical applications, an image acquisition device may be provided, which is used to acquire an image characterizing the material height on the feeding belt of the second conveyor. The image can accurately reflect the feeding conditions on the feeding belt, whether there is a lot of material or a little material. The image acquisition device may be, but is not limited to, a binocular vision device, which can acquire binocular vision images and can obtain three-dimensional information. Of course, other image acquisition devices capable of acquiring three-dimensional information may also be used. For example Figure 2 As shown, taking the setting of a binocular vision device as an example, a binocular vision image above the conveyor belt of the second conveyor is collected to obtain an image for characterizing the material height on the conveyor belt of the second conveyor.

[0062] Accordingly, the image is a binocular visual image, and the cutting operation of the tunneling machine is controlled based on the target information of the at least one feeding device, such as Figure 3 As shown, the specific implementation method may include:

[0063] Step 301: Determine the current feeding flow rate of the conveyor belt based on the current rotation speed of the second conveyor and the image.

[0064] Exemplarily, based on the current rotation speed of the second conveyor and the image, determining the current feeding flow rate of the conveyor belt may specifically include:

[0065] The first step is to determine the area of ​​the cross section of the current material loading perpendicular to the conveyor belt based on the image, wherein the area of ​​the cross section is obtained based on the integral of the material height of the surface points on the cross section.

[0066] Taking the above-mentioned binocular vision image as an example, through the binocular vision image, the point of the area of ​​the cross-section of the current material loading perpendicular to the conveyor belt can be obtained, wherein the height of the upper surface point of the cross-section away from the conveyor belt can represent the material height, and then, the material height of the upper surface point of the cross-section is integrated to obtain the area of ​​the cross-section.

[0067] The second step is to determine the current feeding flow rate of the conveyor belt based on the product of the area of ​​the cross section and the current rotation speed of the second conveyor.

[0068] By combining the area of ​​a cross section with the rotation speed of the second conveyor, the flow rate of the material conveyor belt feeding under the rotation speed of the second conveyor can be reflected, thereby obtaining the current flow rate of the material conveyor belt feeding. In implementation, the rotation speed of the second conveyor can be collected by a first rotation speed sensor arranged on the second conveyor. The first rotation speed sensor can be a Hall rotation speed sensor, which can collect the rotation speed of the hydraulic motor corresponding to the second conveyor.

[0069] In this embodiment, the current feeding flow of the conveyor belt can be obtained by processing only one cross section, and the amount of calculation is very small, which can meet the real-time requirements.

[0070] In addition, the weighing can be realized by combining the current feeding flow rate of the conveyor belt and the density of the material, and the weighing value is obtained based on the product of the current feeding flow rate of the conveyor belt and the density of the material.

[0071] Step 302: Based on the correspondence between the preset material feeding flow rate and the movement speed of the cantilever of the roadheader during cutting, the movement speed of the cantilever during cutting corresponding to the current material feeding flow rate is obtained.

[0072] In practical applications, the correspondence between the preset feed flow rate and the movement speed of the cantilever of the tunnel boring machine during cutting can be configured according to actual needs. When the feed flow rate is large, overflow and blockage may occur, and the movement speed of the cantilever during cutting can be set to be smaller. When the feed flow rate is small, the movement speed of the cantilever during cutting can be set to be larger. Here, the movement speed of the cantilever during cutting can include the rotation speed of the cantilever and the lifting speed of the cantilever.

[0073] Step 303: Control the cantilever based on the movement speed of the cantilever during cutting corresponding to the current feeding flow rate.

[0074] In this embodiment, by collecting an image of the feed belt of the second conveyor of the tunnel boring machine, the rotation speed of the second conveyor and an image used to characterize the material height on the feed belt of the second conveyor, the current feeding flow rate is obtained, thereby being able to accurately reflect the feeding situation on the feed belt of the second conveyor, whether there is a lot of material or a little material, and combining the correspondence between the preset feeding flow rate and the movement speed of the cantilever of the tunnel boring machine during cutting, it is possible to determine the movement speed of the cantilever during cutting corresponding to the current feeding flow rate, based on which, accurate control of the cantilever is achieved, and overflow is avoided while ensuring efficient cutting operations.

[0075] If at least one feeding device includes a star wheel, then, in an exemplary embodiment, the target information of the at least one feeding device includes the current rotation speed of the star wheel. Accordingly, the cutting operation of the tunneling machine is controlled based on the target information of the at least one feeding device, and its specific implementation method may include: if the current rotation speed of the star wheel is less than or equal to the first threshold, performing at least one of the following operations: controlling the suspension of the cutting motor of the tunneling machine; controlling the suspension of the boom of the tunneling machine; controlling the star wheel to alternately operate in forward and reverse directions.

[0076] The first threshold can be set according to actual conditions and is not specifically limited here.

[0077] In practical applications, if the star wheel is stuck by a large piece of material, i.e., the material is stuck, the rotation speed of the star wheel will be relatively low. Therefore, the material feeding condition of the star wheel can be reflected by the rotation speed of the star wheel. In implementation, a second rotation speed sensor arranged on the star wheel can be used to collect the current rotation speed of the star wheel. The second rotation speed sensor can be a Hall rotation speed sensor, which can collect the rotation speed of the hydraulic motor corresponding to the star wheel.

[0078] In this embodiment, when the current rotation speed of the star wheel is less than or equal to the first threshold, it is considered that material jam may occur. At this time, the cutting motor of the tunnel boring machine can be controlled to be suspended, and the cantilever of the tunnel boring machine can also be controlled to be suspended to avoid causing more serious material jams. The star wheel can also be controlled to repeatedly alternate forward and reverse to automatically remove the material stuck on the star wheel, so that the transportation channel is automatically and quickly unblocked and restored, further improving the efficiency of the cutting operation. Of course, when the current rotation speed of the star wheel is greater than the first threshold, the control of the repeated alternating forward and reverse operation of the star wheel can be stopped, the cantilever of the tunnel boring machine can be restarted, and the cutting motor of the tunnel boring machine can also be restarted, so as to automatically resume the cutting operation.

[0079] If at least one feeding device includes a first conveyor, then, in an exemplary embodiment, the target information of the at least one feeding device includes the current rotation speed of the first conveyor. Accordingly, the specific implementation of controlling the cutting operation of the tunnel boring machine based on the target information of the at least one feeding device may include: if the rotation speed of the first conveyor is less than or equal to the second threshold, performing at least one of the following operations: controlling the suspension of the cutting motor of the tunnel boring machine; controlling the suspension of the boom of the tunnel boring machine; controlling the first conveyor to alternately operate in forward and reverse directions.

[0080] The second threshold can be set according to actual conditions and is not specifically limited here.

[0081] In practical applications, if the first conveyor is blocked due to overload, the speed of the first conveyor will be relatively low. Therefore, the speed of the first conveyor can be used to reflect the feeding situation of the first conveyor. A third speed sensor set on the first conveyor can be used to collect the current speed of the first conveyor. The third speed sensor can be a Hall speed sensor, which can collect the speed of the hydraulic motor corresponding to the first conveyor.

[0082] In this embodiment, when the current speed of the first conveyor is less than or equal to the second threshold, it is considered that material blockage may occur. At this time, the cutting motor of the tunnel boring machine can be controlled to be suspended, and the cantilever of the tunnel boring machine can also be controlled to be suspended to avoid causing more serious material blockage. The first conveyor can also be controlled to alternately operate in the forward and reverse directions, so that the transport channel is automatically and quickly unblocked and restored, further improving the efficiency of the cutting operation. Of course, when the current speed of the first conveyor is greater than the second threshold, the control of the first conveyor to alternately operate in the forward and reverse directions can be stopped, the cantilever of the tunnel boring machine can be restarted, and the cutting motor of the tunnel boring machine can also be restarted, so as to automatically resume the cutting operation.

[0083] In an exemplary embodiment, the tunnel boring machine control method provided in this embodiment is as follows: Figure 4 As shown, it may also include:

[0084] Step 401, obtaining a current parameter value and a corresponding current change rate of at least one target device; the at least one target device includes at least one of the feed equipment or the cutting motor of the tunneling machine.

[0085] In practical applications, at least one target device in the tunnel boring machine can be monitored, and the at least one target device can reflect the load condition of the tunnel boring machine. For example, at least one target device can include a star wheel, a first conveyor, a second conveyor, and a cutting motor. Then, obtaining the current parameter value and current change rate of the preset parameter of at least one target device can include: obtaining the current rotation speed of the star wheel and the corresponding current change rate, the current rotation speed of the first conveyor and the corresponding current change rate, the current feeding flow of the second conveyor and the corresponding current change rate, the current current data of the cutting motor and the corresponding current change rate, and the current vibration data of the tunnel boring machine and the corresponding current change rate. Among them, the current change rate corresponding to the current parameter value of the target device can reflect the future change of the current parameter value. If the change is large, an overload may occur. Taking the current rotation speed of the first conveyor as an example, if the current change rate corresponding to the current rotation speed of the first conveyor is large, the current rotation speed of the first conveyor may increase quickly, resulting in an overload.

[0086] Step 402: Determine the target value corresponding to the current parameter value of the target device and the corresponding current change rate based on the preset corresponding relationship between the parameter value, change rate and target value of the target device.

[0087] In this step, a tunnel boring machine load model is established based on the actual needs in combination with the response time of the target device, including: the corresponding relationship between the parameter value, change rate and target value of each target device. Among them, the target value is the parameter value that needs to be adjusted. The target value can prevent overload.

[0088] Step 403: Control the target device based on the current parameter value of the target device and the target value corresponding to the corresponding current change rate.

[0089] For example, the current rotation speed of the star wheel is a, and the current rate of change is b. At this time, there is a tendency to increase rapidly. In order to avoid overloading due to excessive rotation speed of the star wheel, the rotation speed of the star wheel can be adjusted to the target value.

[0090] In this embodiment, the current parameter value of the target device and the corresponding current change rate can be combined with the preset correspondence between the parameter value, change rate and target value of the target device to obtain the target value of the current parameter value of the target device and the corresponding current change rate, so as to adjust the target device to the target value in advance to avoid overload, thereby allowing the tunnel boring machine to maintain reasonable and efficient cutting operations.

[0091] In an exemplary embodiment, the roadheader control method provided in this embodiment may further include:

[0092] Based on the preset correspondence between the current data of the cutting motor of the roadheader and the movement speed of the cantilever of the roadheader during cutting, determine the movement speed of the cantilever during cutting corresponding to the current current data of the cutting motor; control the cantilever according to the movement speed of the cantilever during cutting corresponding to the current current data of the cutting motor;

[0093] And / or, based on a preset correspondence between the vibration data of the tunnel boring machine and the movement speed of the cantilever of the tunnel boring machine during cutting, determining the movement speed of the cantilever during cutting corresponding to the current vibration data of the tunnel boring machine; controlling the cantilever according to the movement speed of the cantilever during cutting corresponding to the current vibration data of the tunnel boring motor;

[0094] And / or, based on a preset correspondence between the current data of the cutting motor of the roadheader and the footage speed, determining the footage speed corresponding to the current current data of the cutting motor; and controlling the cutting operation of the roadheader according to the footage speed corresponding to the current current data of the cutting motor;

[0095] And / or, based on a preset correspondence between the vibration data of the tunnel boring machine and the advancement speed, determining the advancement speed corresponding to the current vibration data of the tunnel boring machine; and controlling the cutting operation of the tunnel boring machine according to the advancement speed corresponding to the current vibration data of the tunnel boring machine.

[0096] In implementation, a vibration sensor may be provided to collect vibration data of the body of the tunnel boring machine, such as vibration acceleration. Figure 5 The curves shown are the vibration accelerations corresponding to different moments, and the dotted line is the warning value of the vibration acceleration. If the warning value of the vibration acceleration is exceeded, it will be overloaded. A current sensor can also be set to collect the current data of the cutting motor, such as Figure 6 The curves shown are current data corresponding to different moments, wherein the dark smooth curve is the effective value after processing the actual value of the light curve, the effective value is the effective current of the current doing work, and the dotted line is the warning value of the current data, exceeding the warning value of the current data, overload occurs. The current data in this embodiment can be an effective value.

[0097] In practical applications, the vibration data and current data of the tunnel boring machine can both reflect the load condition of the motor. Therefore, a cutting motor load model can be established based on the vibration data and current data. The cutting motor load model includes the preset corresponding relationship between the current data of the cutting motor of the tunnel boring machine and the movement speed of the cantilever of the tunnel boring machine during cutting, and can also include the preset corresponding relationship between the vibration data of the tunnel boring machine and the movement speed of the cantilever of the tunnel boring machine during cutting, and can also include the preset corresponding relationship between the current data of the cutting motor of the tunnel boring machine and the footage speed, and can also include the preset corresponding relationship between the vibration data of the tunnel boring machine and the footage speed. In this embodiment, through the cutting motor load model, combined with the current current data of the cutting motor and the current vibration data of the tunnel boring machine, the appropriate footage speed and the movement speed of the cantilever during cutting are found, so as to avoid overload, excessive vibration, etc., so that the tunnel boring machine can maintain a suitable and efficient cutting operation.

[0098] The tunnel boring machine control device provided by the present invention is described below. The tunnel boring machine control device described below and the tunnel boring machine control method described above can be referenced to each other.

[0099] like Figure 7 As shown, the tunnel boring machine control device of this embodiment includes:

[0100] An acquisition module 701 is used to acquire target information of at least one material feeding device of a roadheader, wherein the target information of the material feeding device is used to characterize the material feeding condition of the material feeding device;

[0101] The control module 702 is used to control the cutting operation of the roadheader based on the target information of the at least one feeding device.

[0102] In an exemplary embodiment, the target information of the at least one material conveying device includes: a current rotation speed of the second conveyor and an image for representing the material height on the conveyor belt of the second conveyor;

[0103] The control module is specifically used for:

[0104] Determine the current feeding flow rate of the conveyor belt based on the current rotation speed of the second conveyor and the image;

[0105] Based on the correspondence between the preset material feeding flow rate and the movement speed of the cantilever of the roadheader during cutting, the movement speed of the cantilever during cutting corresponding to the current material feeding flow rate is obtained;

[0106] The cantilever is controlled based on the movement speed of the cantilever during cutting corresponding to the current feeding flow rate.

[0107] In an exemplary embodiment, the control module is specifically configured to:

[0108] Determine the area of ​​the cross section of the current feeding perpendicular to the conveyor belt based on the image;

[0109] The current material feeding flow rate of the conveyor belt is determined based on the product of the area of ​​the cross section and the current rotation speed of the second conveyor.

[0110] In an exemplary embodiment, the control module is further configured to:

[0111] Based on the preset correspondence between the current data of the cutting motor of the roadheader and the movement speed of the cantilever of the roadheader during cutting, determine the movement speed of the cantilever during cutting corresponding to the current current data of the cutting motor; control the cantilever according to the movement speed of the cantilever during cutting corresponding to the current current data of the cutting motor;

[0112] and / or, based on a preset correspondence between the vibration data of the tunnel boring machine and the movement speed of the cantilever of the tunnel boring machine during cutting, determining the movement speed of the cantilever during cutting corresponding to the current vibration data of the tunnel boring machine; and controlling the cantilever according to the movement speed of the cantilever during cutting corresponding to the current vibration data of the tunnel boring machine;

[0113] And / or, based on a preset correspondence between the current data of the cutting motor of the roadheader and the footage speed, determining the footage speed corresponding to the current current data of the cutting motor; and controlling the cutting operation of the roadheader according to the footage speed corresponding to the current current data of the cutting motor;

[0114] And / or, based on a preset correspondence between the vibration data of the tunnel boring machine and the advancement speed, determining the advancement speed corresponding to the current vibration data of the tunnel boring machine; and controlling the cutting operation of the tunnel boring machine according to the advancement speed corresponding to the current vibration data of the tunnel boring machine.

[0115] In an exemplary embodiment, the control module is further configured to:

[0116] Acquire a current parameter value and a corresponding current change rate of at least one target device; the at least one target device includes at least one of the feed equipment or the cutting motor of the tunneling machine;

[0117] Based on the preset corresponding relationship between the parameter value, change rate and target value of the target device, determine the target value corresponding to the current parameter value of the target device and the corresponding current change rate;

[0118] The target device is controlled based on a current parameter value of the target device and a target value corresponding to a corresponding current change rate.

[0119] In an exemplary embodiment, the target information of the at least one material conveying device includes a current rotation speed of a star wheel;

[0120] The control module is specifically used for:

[0121] If the current rotation speed of the star wheel is less than or equal to the first threshold, at least one of the following operations is performed: controlling the cutting motor of the tunnel boring machine to pause; controlling the boom of the tunnel boring machine to pause; controlling the star wheel to alternately rotate in forward and reverse directions.

[0122] In an exemplary embodiment, the target information of the at least one material conveying device includes a current rotation speed of the first conveyor;

[0123] The control module is specifically used for:

[0124] If the current rotation speed of the first conveyor is less than or equal to the second threshold, perform at least one of the following operations: control to pause the cutting motor of the tunnel boring machine; control to pause the boom of the tunnel boring machine; control the first conveyor to alternately operate in forward and reverse directions.

[0125] Based on the same concept, the present invention also provides a tunnel boring machine, including a tunnel boring machine body and a controller, wherein the controller is used to execute the tunnel boring machine control method provided in any of the above embodiments.

[0126] In an exemplary embodiment, the roadheader may further include: a first rotation speed sensor connected to the controller, and / or a second rotation speed sensor, and / or a third rotation speed sensor, and / or a vibration sensor, and / or a current sensor, and / or an image acquisition device;

[0127] The first rotation speed sensor is used to collect the rotation speed of the second conveyor;

[0128] The second rotation speed sensor is used to collect the rotation speed of the star wheel;

[0129] The third rotation speed sensor is used to collect the rotation speed of the first conveyor;

[0130] The vibration sensor is used to collect vibration data of the tunnel boring machine;

[0131] The current sensor is used to collect current data of the cutting motor of the roadheader;

[0132] The image acquisition device is used to acquire an image for characterizing the material height on the feed belt of the second conveyor.

[0133] The image acquisition device can be a binocular vision device.

[0134] Figure 8 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 8As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the tunnel boring machine control method, which includes:

[0135] Collecting target information of at least one material feeding device of the roadheader, wherein the target information of the material feeding device is used to characterize the material feeding condition of the material feeding device;

[0136] Based on the target information of the at least one material feeding device, the cutting operation of the roadheader is controlled.

[0137] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0138] On the other hand, the present invention further provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a computer, the computer can execute the tunnel boring machine control method provided by the above methods, the method comprising:

[0139] Collecting target information of at least one material feeding device of the roadheader, wherein the target information of the material feeding device is used to characterize the material feeding condition of the material feeding device;

[0140] Based on the target information of the at least one material feeding device, the cutting operation of the roadheader is controlled.

[0141] In another aspect, the present invention further provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the method for controlling a roadheader provided above is implemented, and the method comprises:

[0142] Collecting target information of at least one material feeding device of the roadheader, wherein the target information of the material feeding device is used to characterize the material feeding condition of the material feeding device;

[0143] Based on the target information of the at least one material feeding device, the cutting operation of the roadheader is controlled.

[0144] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0145] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0146] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling a tunnel boring machine, It is characterized in that include: Collecting target information of at least one material feeding device of the roadheader, wherein the target information of the material feeding device is used to characterize the material feeding condition of the material feeding device; Controlling the cutting operation of the roadheader based on the target information of the at least one feeding device; The target information of the at least one feeding device includes: a current rotation speed of the second conveyor and an image for representing the material height on the feeding belt of the second conveyor; The controlling the cutting operation of the roadheader based on the target information of the at least one feeding device comprises: Determine the current feeding flow rate of the conveyor belt based on the current rotation speed of the second conveyor and the image; Based on the correspondence between the preset material feeding flow rate and the movement speed of the cantilever of the roadheader during cutting, the movement speed of the cantilever during cutting corresponding to the current material feeding flow rate is obtained; Controlling the cantilever based on the movement speed of the cantilever during cutting corresponding to the current feeding flow rate; The method of determining the current material feeding flow rate of the conveyor belt based on the current rotational speed of the second conveyor and the image includes: determining the area of ​​the cross-section of the current material feeding perpendicular to the conveyor belt based on the image; and determining the current material feeding flow rate of the conveyor belt based on the product of the area of ​​the cross-section and the current rotational speed of the second conveyor.

2. The tunnel boring machine control method according to claim 1, It is characterized in that Also includes: Obtaining a current parameter value and a corresponding current change rate of at least one target device; The at least one target device includes at least one of the feed equipment or the cutting motor of the tunneling machine; Based on the preset corresponding relationship between the parameter value, change rate and target value of the target device, determine the target value corresponding to the current parameter value of the target device and the corresponding current change rate; The target device is controlled based on a current parameter value of the target device and a target value corresponding to a corresponding current change rate.

3. The tunnel boring machine control method according to claim 2, It is characterized in that Also includes: Based on the preset correspondence between the current data of the cutting motor of the roadheader and the movement speed of the cantilever of the roadheader during cutting, determining the movement speed of the cantilever during cutting corresponding to the current current data of the cutting motor; Controlling the cantilever according to the movement speed of the cantilever during cutting corresponding to the current current data of the cutting motor; and / or, based on a preset correspondence between the vibration data of the tunnel boring machine and the movement speed of the cantilever of the tunnel boring machine during cutting, determining the movement speed of the cantilever during cutting corresponding to the current vibration data of the tunnel boring machine; and controlling the cantilever according to the movement speed of the cantilever during cutting corresponding to the current vibration data of the tunnel boring machine; and / or, based on a preset correspondence between the current data of the cutting motor of the roadheader and the footage speed, determining the footage speed corresponding to the current current data of the cutting motor; Controlling the cutting operation of the roadheader according to the footage speed corresponding to the current current data of the cutting motor; And / or, based on a preset correspondence between the vibration data of the tunnel boring machine and the advancement speed, determining the advancement speed corresponding to the current vibration data of the tunnel boring machine; and controlling the cutting operation of the tunnel boring machine according to the advancement speed corresponding to the current vibration data of the tunnel boring machine.

4. The tunnel boring machine control method according to claim 3, It is characterized in that The target information of the at least one feeding device includes the current rotation speed of the star wheel; The controlling the cutting operation of the roadheader based on the target information of the at least one feeding device comprises: If the current rotation speed of the star wheel is less than or equal to the first threshold, at least one of the following operations is performed: controlling the cutting motor of the tunnel boring machine to pause; controlling the boom of the tunnel boring machine to pause; controlling the star wheel to alternately rotate in forward and reverse directions.

5. The tunnel boring machine control method according to claim 3, It is characterized in that The target information of the at least one material conveying device includes a current rotation speed of the first conveyor; The controlling the cutting operation of the roadheader based on the target information of the at least one feeding device comprises: If the current rotation speed of the first conveyor is less than or equal to the second threshold, perform at least one of the following operations: control to pause the cutting motor of the tunnel boring machine; control to pause the boom of the tunnel boring machine; control the first conveyor to alternately operate in forward and reverse directions.

6. A tunnel boring machine control device, It is characterized in that The method for controlling a roadheader according to any one of claims 1 to 5 comprises: An acquisition module, used for acquiring target information of at least one material feeding device of the roadheader, wherein the target information of the material feeding device is used for characterizing the material feeding condition of the material feeding device; A control module is used to control the cutting operation of the roadheader based on the target information of the at least one feeding device.

7. A tunnel boring machine, It is characterized in that The invention comprises a tunnel boring machine body and a controller, wherein the controller is used to execute the tunnel boring machine control method as claimed in any one of claims 3 to 5.

8. The tunnel boring machine according to claim 7, It is characterized in that Also includes: A first rotation speed sensor, and / or a second rotation speed sensor, and / or a third rotation speed sensor, and / or a vibration sensor, and / or a current sensor, and an image acquisition device; The first rotation speed sensor is used to collect the rotation speed of the second conveyor; The second rotation speed sensor is used to collect the rotation speed of the star wheel; The third rotation speed sensor is used to collect the rotation speed of the first conveyor; The vibration sensor is used to collect vibration data of the tunnel boring machine; The current sensor is used to collect current data of the cutting motor of the roadheader; The image acquisition device is used to acquire an image for characterizing the material height on the feed belt of the second conveyor.

Images