Cutting control method, system, electronic device and storage medium

Abstract

The present application discloses a cutting control method, system, electronic device and storage medium, and the technical field to which it belongs is the field of automatic control technology. The tunnel boring machine includes a cutting arm, a cutting head and a cutting motor, and the cutting motor is used to drive the cutting head to rotate. The cutting control method includes: receiving a cutting instruction and performing a cutting operation according to the cutting instruction; obtaining the cutting head posture and / or load information of the tunnel boring machine during the cutting operation; determining a target cutting speed based on the cutting head posture and / or the load information, and controlling the cutting arm to drive the cutting head to perform a cutting operation according to the target cutting speed. The present application can improve the cutting performance of the tunnel boring machine.

Description

Technical Field

[0001] The present application relates to the field of automatic control technology, and in particular to a cutting control method, system, electronic device and storage medium. Background Art

[0002] Tunnel boring machines operate in a harsh environment characterized by high dust and gas concentrations. Traditional manual tunneling methods suffer from low operator efficiency, high labor intensity, low automation levels, and high risk. Tunnel boring machine efficiency has long been a key concern in the industry. In semi-coal-rock tunnels, when the cutter head encounters harder rock, it experiences a sudden increase in cutting current and severe wear on the cutter teeth, severely reducing the reliability of the mechanical system.

[0003] Therefore, how to improve the cutting performance of the roadheader is a technical problem that those skilled in the art currently need to solve. Summary of the Invention

[0004] The purpose of this application is to provide a cutting control method, a cutting control system, an electronic device and a storage medium, which can improve the cutting performance of a tunnel boring machine.

[0005] To solve the above technical problems, the present application provides a cutting control method applied to a roadheader, wherein the roadheader includes a cutting arm, a cutting head, and a cutting motor, wherein the cutting motor is used to drive the cutting head to rotate. The cutting control method includes:

[0006] receiving a cutting instruction and executing a cutting operation according to the cutting instruction;

[0007] Acquiring the cutting head posture and / or load information of the roadheader during the cutting operation;

[0008] A target cutting speed is determined according to the cutting head posture and / or the load information, and the cutting arm is controlled to drive the cutting head to perform a cutting operation according to the target cutting speed.

[0009] Optionally, determining a target cutting speed according to the cutting head posture and / or the load information includes:

[0010] The cutting head posture and / or the load information are calculated based on closed-loop control to obtain the target cutting speed; wherein the closed-loop control includes cutting current closed-loop control and / or position closed-loop control.

[0011] Optionally, controlling the cutting arm to drive the cutting head to perform a cutting operation according to the target cutting speed includes:

[0012] The cutting arm is controlled by a proportional valve closed-loop control strategy to drive the cutting head to perform a cutting operation according to the target cutting speed;

[0013] The proportional valve closed-loop control strategy is used to perform position-type PID debugging according to the proportional valve feedback current, so as to control the cutting arm to move according to the target cutting speed.

[0014] Optionally, if the closed-loop control includes cutting current closed-loop control, determining the target cutting speed according to the cutting head posture and / or the load information includes:

[0015] determining a current value of the cutting motor according to the load information;

[0016] If the current current value is greater than the preset current value, incremental PID adjustment is performed according to the current current value to obtain the target cutting speed.

[0017] Optionally, if the closed-loop control includes position closed-loop control, determining the target cutting speed according to the cutting head posture and / or the load information includes:

[0018] determining the position of the cutting head according to the cutting head posture;

[0019] If the cutting head is in the deceleration zone, the target cutting speed is determined according to the position of the cutting head.

[0020] Optionally, if the closed-loop control includes cutting current closed-loop control and position closed-loop control, determining the target cutting speed according to the cutting head posture and / or the load information includes:

[0021] determining a current value of the cutting motor according to the load information;

[0022] If the current current value is greater than the preset current value, performing incremental PID adjustment according to the current current value to obtain a first alternative cutting speed;

[0023] determining the position of the cutting head according to the cutting head posture;

[0024] If the cutting head is in the deceleration zone, determining a second alternative cutting speed according to the position of the cutting head;

[0025] A weighted calculation is performed on the first candidate cutting speed and the second candidate cutting speed to obtain a target cutting speed.

[0026] Optionally, performing a cutting operation according to the cutting instruction includes:

[0027] Determining the upper limit of cutting height, the lower limit of cutting height, the upper limit of cutting depth and the lower limit of cutting depth of the roadheader according to the cutting instruction;

[0028] If the height of the cutting head is less than the upper limit of the cutting height, controlling the cutting head to rise to the upper limit of the cutting height;

[0029] If the height of the cutting head is greater than or equal to the upper limit of the cutting height, and the cutting depth of the cutting head is less than the upper limit of the cutting depth, controlling the cutting head to advance to the upper limit of the cutting depth;

[0030] If the cutting depth of the cutting head is greater than or equal to the upper limit of the cutting depth, and if the height of the cutting head is greater than the upper limit of the cutting height, controlling the cutting head to move downward to the lower limit of the cutting height;

[0031] If the height of the cutting head is less than or equal to the cutting height lower limit, and if the cutting depth of the cutting head is greater than the cutting depth lower limit, the cutting head is controlled to retract to the cutting depth lower limit.

[0032] The present application also provides a cutting control system applied to a roadheader, wherein the roadheader includes a cutting arm, a cutting head, and a cutting motor, wherein the cutting motor is used to drive the cutting head to rotate. The cutting control system includes:

[0033] A cutting control module, configured to receive a cutting instruction and execute a cutting operation according to the cutting instruction;

[0034] An information acquisition module, configured to acquire the position and / or load information of the cutting head of the roadheader during the cutting operation;

[0035] The speed adjustment module is used to determine a target cutting speed according to the cutting head posture and / or the load information, and control the cutting arm to drive the cutting head to perform a cutting operation according to the target cutting speed.

[0036] The present application also provides a storage medium on which a computer program is stored. When the computer program is executed, the steps of the above-mentioned cutting control method are implemented.

[0037] The present application also provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above-mentioned cutting control method when calling the computer program in the memory.

[0038] The present application provides a cutting control method, which is applied to a tunnel boring machine. The tunnel boring machine includes a cutting arm, a cutting head and a cutting motor, and the cutting motor is used to drive the cutting head to rotate. The cutting control method includes: receiving a cutting instruction and performing a cutting operation according to the cutting instruction; obtaining the cutting head posture and / or load information of the tunnel boring machine during the cutting operation; determining a target cutting speed based on the cutting head posture and / or the load information, and controlling the cutting arm to drive the cutting head to perform the cutting operation according to the target cutting speed.

[0039] After receiving the cutting instruction, the present application performs the cutting operation according to the cutting instruction, and determines the position and / or load information of the cutting head during the cutting operation. The position and / or load information of the cutting head is used to determine the target cutting speed, so as to control the cutting arm to drive the cutting head to perform the cutting operation according to the target cutting speed. The above method can dynamically adjust the movement speed of the cutting arm according to the actual situation of the cutting operation process, which can improve the cutting performance of the roadheader. The present application also provides a cutting control system, a storage medium and an electronic device, which have the above-mentioned beneficial effects and are not described in detail here. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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 any creative work.

[0041] Figure 1 A flow chart of a cutting control method provided in an embodiment of the present application;

[0042] Figure 2 A schematic structural diagram of an adaptive cutting control system for an anchor miner provided in an embodiment of the present application;

[0043] Figure 3 A schematic diagram of calculating the cutting position of a large arm provided in an embodiment of the present application;

[0044] Figure 4 An automatic cutting flow chart provided in an embodiment of the present application;

[0045] Figure 5 A schematic diagram of a cutting protection control strategy for an anchor miner provided in an embodiment of the present application;

[0046] Figure 6 A schematic diagram of an adaptive cutting control strategy for an anchor miner provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0048] See below Figure 1 , Figure 1 This is a flow chart of a cutting control method provided in an embodiment of the present application.

[0049] Specific steps may include:

[0050] S101: receiving a cutting instruction and performing a cutting operation according to the cutting instruction;

[0051] This embodiment can be applied to a roadheader, which includes a cutting arm, a cutting head, and a cutting motor. The cutting motor is used to drive the cutting head to rotate, and the cutting arm drives the cutting head to move. Upon receiving a cutting command, the cutting arm can be controlled to drive the cutting head to move according to the cutting command, and the cutting motor can be controlled to drive the cutting head to rotate, thereby completing the cutting operation.

[0052] S102: Acquiring the cutting head posture and / or load information of the roadheader during the cutting operation;

[0053] During the cutting operation of the roadheader, the current cutting head posture and load information can be collected. The cutting head posture describes the position and posture of the cutting head, while the load information describes the current current value of the cutting motor.

[0054] S103: Determine a target cutting speed according to the cutting head posture and / or the load information, and control the cutting arm to drive the cutting head to perform a cutting operation according to the target cutting speed.

[0055] Based on the obtained cutting head posture and / or load information, a target cutting speed is determined based on the cutting head posture and / or load information. The target cutting speed is the speed at which the cutting arm drives the cutting head. After determining the target cutting speed, the cutting arm can be controlled to drive the cutting head to perform the cutting operation at the target cutting speed, so as to adjust the cutting speed in real time.

[0056] After receiving a cutting instruction, this embodiment executes the cutting operation in accordance with the cutting instruction. During the cutting operation, the cutting head position and / or load information are determined. This information is used to determine a target cutting speed, thereby controlling the cutting arm to drive the cutting head to perform the cutting operation at the target cutting speed. This method can dynamically adjust the movement speed of the cutting arm according to the actual situation during the cutting operation, thereby improving the cutting performance of the roadheader.

[0057] As a feasible implementation method, the cutting operation can be performed in the following manner:

[0058] Step A1: determining the upper limit of the cutting height, the lower limit of the cutting height, the upper limit of the cutting depth, and the lower limit of the cutting depth of the roadheader according to the cutting instruction;

[0059] Step A2: If the height of the cutting head is less than the upper limit of the cutting height, controlling the cutting head to rise to the upper limit of the cutting height;

[0060] Step A3: If the height of the cutting head is greater than or equal to the upper limit of the cutting height, and the cutting depth of the cutting head is less than the upper limit of the cutting depth, controlling the cutting head to advance to the upper limit of the cutting depth;

[0061] Step A4: If the cutting depth of the cutting head is greater than or equal to the upper limit of the cutting depth, and if the height of the cutting head is greater than the upper limit of the cutting height, controlling the cutting head to move downward to the lower limit of the cutting height;

[0062] Step A5: If the height of the cutting head is less than or equal to the cutting height lower limit, and if the cutting depth of the cutting head is greater than the cutting depth lower limit, control the cutting head to retract to the cutting depth lower limit.

[0063] The height and cutting depth of the cutting head can be determined according to the cutting head posture. Automatic cutting can be achieved in this way, thereby improving the cutting efficiency of the roadheader.

[0064] As a feasible implementation method, the above embodiment can determine the target cutting speed in the following manner: performing closed-loop control-based calculation on the cutting head posture and / or the load information to obtain the target cutting speed; wherein the closed-loop control includes cutting current closed-loop control and / or position closed-loop control.

[0065] If the closed-loop control includes cutting current closed-loop control, the process of determining the target cutting speed includes: determining a current current value of the cutting motor based on the load information; and if the current current value is greater than a preset current value, performing incremental PID control based on the current current value to obtain the target cutting speed. The preset current value can be determined based on the rated current value of the cutting motor, for example, the preset current value can be 1.1 times the rated current value.

[0066] If the closed-loop control includes position closed-loop control, the operation process of determining the target cutting speed includes: determining the position of the cutting head based on the position of the cutting head; if the cutting head is in the deceleration zone, determining the target cutting speed based on the position of the cutting head. In this embodiment, the fixed end of the cutting arm can be used as the center, and the area within a preset range from the fixed end can be set as the deceleration zone. If the vertical projection of the position of the cutting arm falls within the deceleration zone, it is determined that the cutting head is in the deceleration zone. If the vertical projection of the position of the cutting arm does not fall within the deceleration zone, it is determined that the cutting arm is not in the deceleration zone. The target cutting speed is less than the current cutting speed of the cutting arm to ensure smooth movement of the cutting arm.

[0067] If the closed-loop control includes cutting current closed-loop control and position closed-loop control, the operation process of determining the target cutting speed includes: determining the current current value of the cutting motor according to the load information;

[0068] If the current current value is greater than the preset current value, incremental PID adjustment is performed according to the current current value to obtain a first alternative cutting speed; the cutting head position is determined according to the cutting head posture; if the cutting head is in the deceleration zone, the second alternative cutting speed is determined according to the cutting head position; the first alternative cutting speed and the second alternative cutting speed are weightedly calculated to obtain a target cutting speed.

[0069] After determining the target cutting speed, the cutting arm can be controlled by a proportional valve closed-loop control strategy to drive the cutting head to perform the cutting operation according to the target cutting speed; wherein the proportional valve closed-loop control strategy is used to perform position PID debugging based on the proportional valve feedback current so as to control the cutting arm to move according to the target cutting speed.

[0070] An anchor drill is a common tunnel boring machine. The process described in the above embodiment is explained below through adaptive cutting control of an anchor drill in actual application.

[0071] The bolter miner's adaptive cutting control system uses a current transformer, motor integrated protector, displacement sensor, and encoder as the system's sensing unit, a controller as the control unit, and the boom (i.e., cutting arm) cylinder as the system's actuating unit. During the automatic cutting process, the cutting mechanism's feed and pull-down speeds are adjusted based on load changes and the current cutting position, achieving adaptive cutting. See Figure 2 , Figure 2 This is a schematic diagram of the structure of an adaptive cutting control system for an anchor miner provided in an embodiment of the present application. Figure 2 As shown, the sensing unit includes a motor integrated protector, a motor current sensor, a cylinder displacement sensor and a boom encoder. The control unit can perform PLC control according to the cutting head position information and the cutting load information. The execution unit includes a lifting solenoid valve for realizing lifting speed adjustment and a telescopic solenoid valve for realizing telescopic speed adjustment.

[0072] In this embodiment, the arm cutting height (i.e., the height of the cutting head) H can be calculated based on the measurement data of the encoder; and the cutting depth L can be calculated based on the measurement data of the displacement sensor. Figure 3 , Figure 3 A schematic diagram of calculating the boom cutting position provided in an embodiment of the present application, where S is the boom length, a is the boom angle, and the cutting height H = S*sin(a).

[0073] See Figure 4 , Figure 4 This is an automatic cutting flow chart provided by an embodiment of the present application. This embodiment uses a cylinder displacement sensor and encoder installed on the boom to obtain the boom cutting position in real time to achieve a method for automatic cutting throughout the entire process. The automatic cutting process of the bolter miner is as follows:

[0074] Step B1: Set the upper limit of cutting height Hmax, lower limit of cutting height Hmin, upper limit of cutting depth Lmax, and lower limit of cutting depth Lmin on the setting page of the bolter mining machine host computer;

[0075] Step B2: Use the remote control to start each motor in sequence, start the transportation and loading system, start the dust removal and spray system, and complete the preparation work before cutting;

[0076] Step B3: The remote control starts automatic cutting;

[0077] Step B4: The program determines the relationship between the current boom height H and the upper limit of the cutting height Hmax. When H<Hmax, the cutting head automatically rises to the upper limit of the cutting height. When H≥Hmax, it automatically enters step B5.

[0078] Step B5: The program determines the relationship between the current cutting depth L and the upper limit of the cutting depth Lmax. When L<Lmax, the cutting head automatically advances to the upper limit of the cutting depth Lmax. When L≥Lmax, it automatically enters step B6.

[0079] Step B6: The program determines the relationship between the current boom height H and the lower limit of the cutting height Hmin. When H>Hmin, the cutting head automatically descends to the lower limit of the cutting height. When H≤Hmin, it automatically enters step B7.

[0080] Step B7: The program determines the relationship between the current cutting depth L and the cutting depth lower limit Lmin. When L>Lmin, the cutting head automatically retracts to the cutting depth lower limit Lmin. When L≤Lmin, the cycle ends.

[0081] The above process obtains the cutting position of the boom in real time through the cylinder displacement sensor and encoder installed on the boom, and controls the cutting head to complete the full process of automatic cutting, including automatic raising, automatic feeding, automatic lowering and automatic bottom pulling.

[0082] During the automatic cutting process, the cutting speed is automatically adjusted based on the acquired cutting head posture and load conditions through the load and speed closed loop, the current setting and feedback closed loop, and the position closed loop, thereby achieving cutting adaptive adjustment. During the automatic cutting process, the cutting speed is automatically adjusted through the load and speed closed loop, the current setting and feedback closed loop, and the position closed loop.

[0083] The implementation process of proportional valve closed-loop control is as follows:

[0084] The PID control law is:

[0085]

[0086] Among them, K p represents the proportionality coefficient, T i Indicates the integration time constant, T D represents the differential time constant, u(t) represents the output signal, e(t) represents the current deviation, and t represents time.

[0087] Discretization formula:

[0088]

[0089] That is: u(k)=K p E K +K i ∑E K +K d (E K -E K-1 );

[0090] The controller obtains the feedback current i from the electro-hydraulic proportional valve. During the boom cylinder movement, the controller performs position PID debugging in real time based on the feedback current i from the electro-hydraulic proportional valve to ensure the stability of the boom movement.

[0091] The implementation process of the cut-off current closed-loop control is as follows:

[0092] If u(k-1) represents the last output control signal value, then the current output value is u(k). The relationship between the two is:

[0093] u(k)=u(k-1)+Δu(k), where Δu(k) is the incremental value that should be output;

[0094] The above formula is transformed into:

[0095] Δu(k)=u(k)-u(k-1);

[0096] Δu(k)=K p (E K -E K-1 )+K i E K +K d (E K -2E K-1 +E K-2 ).

[0097] Given the rated current Ie of the motor, the real-time current I is obtained through the current transformer. During the propulsion process, when the actual current I>1.1*Ie, the system enters the cut-off protection state and performs incremental PID adjustment. The traction speed is adjusted according to the real-time load current. When I<0.92*Ie, the system exits the cut-off protection state. Figure 5 , Figure 5 This is a schematic diagram of a cutting protection control strategy for a bolter miner provided by an embodiment of the present application. After load determination, if I > 1.1*Ie, the protection state = TRUE; if I < 0.92*Ie, the protection state = FALSE. The above-mentioned cutting protection state refers to the implementation process of the cutting current closed-loop control.

[0098] The implementation process of position closed-loop control is as follows:

[0099] The boom cutting height H and cutting depth L obtained by the encoder and displacement sensor are known. A deceleration zone is set within a certain range of the target position. When the boom enters the set deceleration zone during the propulsion process, the speed and position closed loop is used to control the boom to smoothly reach the target position.

[0100] See Figure 6 , Figure 6This is a schematic diagram of an adaptive cutting control strategy for an anchor miner provided in an embodiment of the present application. The diagram shows the set position, current position, PID control, PI control, proportional valve, cutting motor, current feedback, and motor current. Ie represents the rated current of the cutting motor, and Is represents the actual current (i.e., real-time current) of the cutting motor. The set position is used to determine the deceleration zone, and the current position refers to the position of the cutting head. During the cutting process, the cutting speed is automatically adjusted based on the acquired cutting head posture and load conditions through a load and speed closed loop, a current setting and feedback closed loop, and a position closed loop, thereby achieving adaptive cutting adjustment.

[0101] This embodiment utilizes automatic cutting technology to achieve automated control of the entire cutting process, effectively improving the cutting and tunneling effect and tunneling efficiency. This embodiment utilizes an adaptive cutting system to achieve load-based adaptive adjustment of cutting speed, reducing the risk of overload damage to the drive motor and extending the service life of the cutting mechanism and picks.

[0102] A cutting control system provided in an embodiment of the present application is applied to a roadheader, wherein the roadheader includes a cutting arm, a cutting head, and a cutting motor, wherein the cutting motor is used to drive the cutting head to rotate. The cutting control system includes:

[0103] A cutting control module, configured to receive a cutting instruction and execute a cutting operation according to the cutting instruction;

[0104] An information acquisition module, configured to acquire the position and / or load information of the cutting head of the roadheader during the cutting operation;

[0105] The speed adjustment module is used to determine a target cutting speed according to the cutting head posture and / or the load information, and control the cutting arm to drive the cutting head to perform a cutting operation according to the target cutting speed.

[0106] After receiving a cutting instruction, this embodiment executes the cutting operation in accordance with the cutting instruction. During the cutting operation, the cutting head position and / or load information are determined. This information is used to determine a target cutting speed, thereby controlling the cutting arm to drive the cutting head to perform the cutting operation at the target cutting speed. This method can dynamically adjust the movement speed of the cutting arm according to the actual situation during the cutting operation, thereby improving the cutting performance of the roadheader.

[0107] Furthermore, the speed adjustment module is used to perform closed-loop control calculation on the cutting head posture and / or the load information to obtain the target cutting speed; wherein the closed-loop control includes cutting current closed-loop control and / or position closed-loop control.

[0108] Furthermore, the process in which the speed adjustment module controls the cutting arm to drive the cutting head to perform the cutting operation according to the target cutting speed includes: controlling the cutting arm to drive the cutting head to perform the cutting operation according to the target cutting speed through the proportional valve closed-loop control strategy; wherein, the proportional valve closed-loop control strategy is used to perform position PID debugging based on the proportional valve feedback current so as to control the cutting arm to move according to the target cutting speed.

[0109] Furthermore, if the closed-loop control includes cutting current closed-loop control, the process of the speed adjustment module determining the target cutting speed according to the cutting head posture and / or the load information includes: determining the current current value of the cutting motor according to the load information; if the current current value is greater than the preset current value, performing incremental PID adjustment according to the current current value to obtain the target cutting speed.

[0110] Furthermore, if the closed-loop control includes position closed-loop control, the process of the speed adjustment module determining the target cutting speed based on the cutting head posture and / or the load information includes: determining the cutting head position based on the cutting head posture; if the cutting head is in the deceleration zone, determining the target cutting speed based on the cutting head position.

[0111] Furthermore, if the closed-loop control includes cutting current closed-loop control and position closed-loop control, the process of the speed adjustment module determining the target cutting speed according to the cutting head posture and / or the load information includes: determining the current current value of the cutting motor according to the load information; if the current current value is greater than the preset current value, performing incremental PID adjustment according to the current current value to obtain a first alternative cutting speed; determining the cutting head position according to the cutting head posture; if the cutting head is in the deceleration zone, determining the second alternative cutting speed according to the cutting head position; performing weighted calculation on the first alternative cutting speed and the second alternative cutting speed to obtain the target cutting speed.

[0112] Furthermore, the process of the cutting control module performing the cutting operation according to the cutting instruction includes: determining the upper limit of the cutting height, the lower limit of the cutting height, the upper limit of the cutting depth and the lower limit of the cutting depth of the tunnel boring machine according to the cutting instruction; if the height of the cutting head is less than the upper limit of the cutting height, controlling the cutting head to rise to the upper limit of the cutting height; if the height of the cutting head is greater than or equal to the upper limit of the cutting height, and the cutting depth of the cutting head is less than the upper limit of the cutting depth, controlling the cutting head to advance to the upper limit of the cutting depth; if the cutting depth of the cutting head is greater than or equal to the upper limit of the cutting depth, and if the height of the cutting head is greater than the upper limit of the cutting height, controlling the cutting head to move down to the lower limit of the cutting height; if the height of the cutting head is less than or equal to the lower limit of the cutting height, and if the cutting depth of the cutting head is greater than the lower limit of the cutting depth, controlling the cutting head to retract to the lower limit of the cutting depth.

[0113] Since the embodiments of the system part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the system part, and will not be repeated here.

[0114] The present application also provides a storage medium having a computer program stored thereon, which, when executed, can implement the steps provided in the above embodiments. The storage medium may include: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, among other media capable of storing program code.

[0115] The present application also provides an electronic device that may include a memory and a processor, wherein the memory stores a computer program, and when the processor calls the computer program in the memory, the steps provided in the above embodiment can be implemented. Of course, the electronic device may also include various network interfaces, a power supply, and other components.

[0116] 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 this application, and these improvements and modifications also fall within the scope of protection of the claims of this application.

[0117] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A cutting control method, characterized in that: Applied to a tunnel boring machine, the tunnel boring machine includes a cutting arm, a cutting head and a cutting motor, the cutting motor is used to drive the cutting head to rotate, and the cutting control method includes: receiving a cutting instruction and executing a cutting operation according to the cutting instruction; Acquiring the cutting head posture and load information of the roadheader during the cutting operation; wherein the cutting head posture is used to describe the position and posture of the cutting head, and the load information is used to describe the current value of the cutting motor; determining a target cutting speed according to the cutting head posture and the load information, and controlling the cutting arm to drive the cutting head to perform a cutting operation at the target cutting speed; Wherein, determining the target cutting speed according to the cutting head posture and the load information includes: determining a current value of the cutting motor according to the load information; If the current current value is greater than the preset current value, performing incremental PID adjustment according to the current current value to obtain a first alternative cutting speed; determining the position of the cutting head according to the cutting head posture; With the fixed end of the cutting arm as the center, the area within a preset range from the fixed end is set as a deceleration zone; If the vertical projection of the position of the cutting arm falls within the deceleration zone, it is determined that the cutting head is in the deceleration zone; If the vertical projection of the position of the cutting arm does not fall within the deceleration zone, it is determined that the cutting arm is not within the deceleration zone; If the cutting head is in the deceleration zone, determining a second alternative cutting speed according to the position of the cutting head; A weighted calculation is performed on the first candidate cutting speed and the second candidate cutting speed to obtain a target cutting speed.

2. The cutting control method according to claim 1, characterized in that: Controlling the cutting arm to drive the cutting head to perform a cutting operation according to the target cutting speed includes: The cutting arm is controlled by a proportional valve closed-loop control strategy to drive the cutting head to perform a cutting operation according to the target cutting speed; The proportional valve closed-loop control strategy is used to perform position-type PID debugging according to the proportional valve feedback current, so as to control the cutting arm to move according to the target cutting speed.

3. The cutting control method according to claim 1, characterized in that: Executing a cutting operation according to the cutting instruction includes: Determining the upper limit of cutting height, the lower limit of cutting height, the upper limit of cutting depth and the lower limit of cutting depth of the roadheader according to the cutting instruction; If the height of the cutting head is less than the upper limit of the cutting height, controlling the cutting head to rise to the upper limit of the cutting height; If the height of the cutting head is greater than or equal to the upper limit of the cutting height, and the cutting depth of the cutting head is less than the upper limit of the cutting depth, controlling the cutting head to advance to the upper limit of the cutting depth; If the cutting depth of the cutting head is greater than or equal to the upper limit of the cutting depth, and if the height of the cutting head is greater than the upper limit of the cutting height, controlling the cutting head to move downward to the lower limit of the cutting height; If the height of the cutting head is less than or equal to the cutting height lower limit, and if the cutting depth of the cutting head is greater than the cutting depth lower limit, the cutting head is controlled to retract to the cutting depth lower limit.

4. A cutting control system, characterized in that: Applied to a tunnel boring machine, the tunnel boring machine includes a cutting arm, a cutting head and a cutting motor, the cutting motor is used to drive the cutting head to rotate, and the cutting control system includes: A cutting control module, configured to receive a cutting instruction and execute a cutting operation according to the cutting instruction; an information acquisition module, configured to acquire the cutting head posture and load information of the roadheader during the cutting operation; wherein the cutting head posture is used to describe the position and posture of the cutting head, and the load information is used to describe the current value of the cutting motor; a speed adjustment module, configured to determine a target cutting speed according to the cutting head posture and the load information, and control the cutting arm to drive the cutting head to perform a cutting operation at the target cutting speed; The process of the speed adjustment module determining the target cutting speed according to the cutting head posture and the load information includes: Determine the current value of the cutting motor according to the load information; if the current current value is greater than the preset current value, perform incremental PID adjustment according to the current current value to obtain a first alternative cutting speed; determine the position of the cutting head according to the cutting head posture; take the fixed end of the cutting arm as the center, and set the area within the preset range from the fixed end as the deceleration zone; if the vertical projection of the position of the cutting arm falls in the deceleration zone, it is determined that the cutting head is in the deceleration zone; if the vertical projection of the position of the cutting arm does not fall in the deceleration zone, it is determined that the cutting arm is not in the deceleration zone; if the cutting head is in the deceleration zone, determine the second alternative cutting speed according to the cutting head position; perform weighted calculation on the first alternative cutting speed and the second alternative cutting speed to obtain the target cutting speed.

5. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the processor calls the computer program in the memory, the steps of the cutting control method according to any one of claims 1 to 3 are implemented.

6. 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 cutting control method according to any one of claims 1 to 3 are implemented.

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