Cantilever conveyor with anti-collision function, cantilever tunneling machine and control method

Abstract

The application discloses a cantilever conveyor with an anti-collision function, a cantilever tunneling machine and a control method. The cantilever conveyor comprises a distance sensor, the distance sensor is installed at the bottom of the cantilever conveyor and protrudes from the bottom wall of the cantilever conveyor, the monitoring direction of the distance sensor is parallel to the cantilever conveyor and faces the free end of the cantilever conveyor. The distance sensor forms a protective fence parallel to the cantilever conveyor at the bottom of the cantilever conveyor. When an obstacle touches the protective fence, the distance sensor monitors the distance between the obstacle and the distance sensor, thereby prompting the user that the obstacle will collide with the cantilever conveyor. Moreover, the distance sensor rotates with the cantilever conveyor, that is, the protective fence parallel to the cantilever conveyor also rotates with the cantilever conveyor. Therefore, the cantilever tunneling machine can still realize the anti-collision function under various working conditions (for example, special terrains such as uphill and downhill), and the anti-collision effect is better.

Description

Technical Field

[0001] This invention relates to the field of cantilever tunneling machine technology, and in particular to a cantilever transport machine with anti-collision function, a cantilever tunneling machine, and a control method. Background Technology

[0002] With the increasing prevalence of non-blasting construction methods such as mechanized tunnel excavation, cantilever tunneling machines, as a new type of tunneling equipment, have begun to be used in various tunnel projects. A cantilever tunneling machine consists of the main body, a cutting head, a shovel section, and a transport machine. The cutting head, shovel section, and transport machine are all connected to the main body. The cutting head at the front cuts off rock material, which is then swept onto the transport machine by the star wheel on the shovel section below the cutting head, and then transported to a dump truck. However, currently, few cantilever tunneling machines on the market are equipped with anti-collision radar alarm systems and anti-collision devices, leading to frequent incidents of collisions causing injuries or machine damage in the confined working space of tunnels.

[0003] During tunnel excavation, especially when turning and adjusting the machine to cut the tunnel sides, the machine's overall length (approximately 20 meters) creates blind spots for the operator. The conveyor extending from the main body of the tunnel boring machine is prone to collisions with the tunnel sides, causing damage or deformation to the material transport conveyor. This disrupts the tunneling operation, significantly impacting construction efficiency and schedule, and placing higher demands on the operator's experience. Relying solely on human command is both wasteful of manpower and poses significant safety hazards.

[0004] Therefore, some cantilever tunneling machines on the market now have a collision avoidance buffer device installed on each side of the rear end of the transport machine, and radar detectors installed near the collision avoidance buffer devices. When the operator is rotating the machine to cut the side of the tunnel or clearing the corners of the tunnel, because the operator cannot pay attention to the rear end of the transport machine, when the cantilever tunneling machine reaches a certain distance from the tunnel wall, the collision avoidance radar alarm system judges the distance based on the electronic control measurement system. If it reaches the predetermined distance range, it will start to issue a danger alarm signal to remind the surrounding personnel to pay attention to safety and remind the tunneling machine operator to stop operation in time to avoid collision between the equipment and the tunnel, thus reducing the occurrence of accidents. However, this collision avoidance scheme of installing detection radar on the transport machine can be deviated when the cantilever tunneling machine is on an angled slope, or when the road where the dump truck is traveling is at an angle to the road section where the tunneling machine is located. This can cause the dump truck to collide with the bottom of the transport machine. Summary of the Invention

[0005] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this invention is to provide a cantilever transport machine and cantilever tunneling machine with anti-collision function and a control method, so as to solve the problem of poor anti-collision effect of transport machines in the existing technology.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] The present invention provides a cantilever transport with anti-collision function, including a distance sensor. The distance sensor is installed at the bottom of the cantilever transport and protrudes from the bottom wall of the cantilever transport. The monitoring direction of the distance sensor is parallel to the cantilever transport and faces the free end of the cantilever transport.

[0008] Furthermore, the cantilever conveyor includes a processor and an alarm. Both the distance sensor and the alarm are electrically connected to the processor. The processor controls the alarm to issue an alarm signal based on the distance signal monitored by the distance sensor.

[0009] Furthermore, the cantilever transport includes a control box, the processor is disposed inside the control box, the control box is installed at the bottom of the cantilever transport, and the distance sensor is installed on the side of the control box away from the cantilever transport.

[0010] Furthermore, the alarm device includes a sound alarm, a light alarm, or a combined sound and light alarm.

[0011] Furthermore, the distance sensor includes a lidar sensor, an infrared distance sensor, or an acoustic distance sensor.

[0012] Furthermore, there are multiple distance sensors, and the distances between the multiple distance sensors and the bottom wall of the cantilever conveyor are not the same, and / or the distances between the multiple distance sensors and the free end of the cantilever conveyor are not the same.

[0013] This application also provides a cantilever tunneling machine, including a tunneling machine body, a cutting head, a shovel plate, and a cantilever conveyor as described above. The cantilever conveyor, the cutting head, and the shovel plate are all pivotally connected to the tunneling machine body. The cutting head and the shovel plate are located at the head of the tunneling machine body, and the cantilever conveyor is located at the tail of the tunneling machine body.

[0014] This application also provides a control method for a cantilever transport machine, the control method being used to control the cantilever transport machine as described above, the control method comprising:

[0015] The distance sensor monitors in real time whether there are obstacles in the monitored direction;

[0016] When the distance sensor detects an obstacle in the monitoring direction, and the distance between the obstacle and the distance sensor is within a preset distance range;

[0017] An alarm signal is issued.

[0018] Furthermore, the preset distance range is 0 to N1, where N1 = L2 + a*cosθ, d1 = a*sinθ;

[0019] In the formula: θ is the tilt angle of the cantilever conveyor 10, a is the set safety distance, d1 is the distance between the distance sensor 12 and the bottom surface of the cantilever conveyor 10, and L2 is the distance between the distance sensor 12 and the free end 102 of the cantilever conveyor 10.

[0020] Furthermore, the preset distance range is 0 to N2, where N2*sinθ=h, h=b+(d1+d2)*cosθ+L2*sinθ;

[0021] In the formula: θ is the tilt angle of the cantilever transport 10, h is the height difference between the distance sensor 12 and the obstacle, b is the set safety distance, d1 is the distance between the distance sensor 12 and the bottom surface of the cantilever transport 10, d2 is the thickness of the cantilever transport 10, and L2 is the distance between the distance sensor 12 and the free end 102 of the cantilever transport 10.

[0022] The beneficial effects of this invention are as follows: By installing a distance sensor protruding from the bottom wall of the cantilever conveyor, with the monitoring direction of the distance sensor parallel to the cantilever conveyor and facing the free end of the cantilever conveyor, a protective fence parallel to the cantilever conveyor is formed at the bottom of the cantilever conveyor. When an obstacle touches the protective fence, the distance sensor will detect the distance between the obstacle and the distance sensor, thereby alerting the user that the obstacle will collide with the cantilever conveyor. Moreover, the distance sensor will rotate with the cantilever conveyor, that is, the protective fence parallel to the cantilever conveyor will also rotate with it, enabling the cantilever tunneling machine to adapt to various working conditions (such as uphill, downhill and other special terrains) and still achieve the anti-collision function, with better anti-collision effect. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the cantilever tunneling machine in this invention;

[0024] Figure 2 This is one of the structural schematic diagrams of the cantilever transport machine and the obstacle in this invention;

[0025] Figure 3 This is a bottom view of the cantilever transport machine in this invention.

[0026] Figure 4This is the second schematic diagram of the cantilever transport machine and the obstacle in this invention;

[0027] Figure 5 This is a schematic diagram of the electrical signal transmission of the cantilever transport machine in this invention;

[0028] Figure 6 This is a flowchart of the control method in this invention.

[0029] In the diagram: cantilever conveyor 10, pivot end 101, free end 102, control box 11, processor 111, distance sensor 12, alarm 13, tunneling machine body 20, cutting head 30, shovel plate 40, dump truck 50, tunnel roof 60. Detailed Implementation

[0030] To further illustrate the technical means and effects adopted by the present invention to achieve the intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation methods, structures, features, and effects of the cantilever transport machine and cantilever tunneling machine with anti-collision function, and the control method proposed according to the present invention:

[0031] Figure 1 This is a schematic diagram of the cantilever tunneling machine in this invention. Figure 2 This is one of the structural schematic diagrams of the cantilever transport machine and the obstacle in this invention. Figure 3 This is a bottom-view structural schematic diagram of the cantilever transport machine in this invention. Figure 4 This is the second schematic diagram of the cantilever transport machine and the obstacle in this invention. Figure 5 This is a schematic diagram of the electrical signal transmission of the cantilever transport machine in this invention.

[0032] like Figures 1 to 5 As shown, the present invention provides a cantilever transport machine with anti-collision function, including a distance sensor 12. The distance sensor 12 is installed at the bottom of the cantilever transport machine 10 and protrudes from the bottom wall of the cantilever transport machine 10. The monitoring direction of the distance sensor 12 is parallel to the cantilever transport machine 10 and faces the free end 102 of the cantilever transport machine 10.

[0033] In this application, a distance sensor 12 protruding from the bottom wall of the cantilever conveyor 10 is installed at the bottom of the cantilever conveyor 10. The monitoring direction of the distance sensor 12 is parallel to the cantilever conveyor 10 and faces the free end of the cantilever conveyor 10. This allows the distance sensor 12 to form a protective fence parallel to the cantilever conveyor 10 at the bottom of the cantilever conveyor 10. When an obstacle touches the protective fence, the distance sensor 12 will detect the distance between the obstacle and the distance sensor 12, thereby alerting the user that the obstacle will collide with the cantilever conveyor 10 to avoid damage to the cantilever conveyor 10. Moreover, the distance sensor 12 will rotate with the cantilever conveyor 10, always forming a protective fence parallel to the cantilever conveyor 10 at the bottom of the cantilever conveyor 10. This allows the cantilever tunneling machine 10 to adapt to various working conditions (such as uphill, downhill and other special terrains) and still achieve the anti-collision function, with better anti-collision effect.

[0034] Furthermore, the distance sensor 12 is installed at the bottom of the cantilever conveyor 10 and close to the pivot end 101 of the cantilever conveyor 10. That is, the distance sensor 12 is as far away from the free end 102 of the cantilever conveyor 10 as possible, thereby increasing the monitoring range of the cantilever conveyor 10 and improving the protection of the cantilever conveyor 10. The pivot end 101 of the cantilever conveyor 10 is the end where the cantilever conveyor 10 is pivotally connected to the tunneling machine body 20, while the free end 102 of the cantilever conveyor 10 is the end of the cantilever conveyor 10 away from the tunneling machine body 20.

[0035] In this embodiment, the cantilever transport 10 includes a processor 111 ( Figure 5 The distance sensor 12 and alarm 13 are both electrically connected to the processor 111. The processor 111 is connected to the electrical control box 21 of the tunneling machine body 20 to provide power to the processor 111, distance sensor 12, and alarm 13. The processor 111, distance sensor 12, and alarm 13 are powered by a DC 24V source provided by the electrical control box 21 of the tunneling machine body 20. The alarm 13 is used to issue an alarm signal to alert the user that the cantilever conveyor 10 is about to collide with an obstacle. The processor 111 is used to process the distance signal monitored by the distance sensor 12 and control the alarm 13 to issue an alarm signal based on the distance signal monitored by the distance sensor 12. Of course, in other embodiments, the processor 111 can also be shared with the tunneling machine body 20, without the need for an additional processor 111, but the installation is more complicated. By adding a processor 111 and an alarm 13, only the power supply needs to be connected to the tunneling machine body 20, without the need for additional signal lines. This ensures that the original structure and wiring of the cantilever tunneling machine are not changed, guaranteeing both versatility and reliability.

[0036] Furthermore, the alarm 13 includes a sound alarm, a light alarm, or a combined sound and light alarm, preferably a combined sound and light alarm, which can emit both sound and light alert signals simultaneously, and has a high degree of integration, reducing installation time. The alarm 13 is preferably installed at the free end 102 (tail end) of the cantilever conveyor 10. Multiple alarms 13 can be installed, respectively on the top and sides of the cantilever conveyor 10, so that the user can easily see the light alert signal of the combined sound and light alarm. Of course, in other embodiments, the alarm 13 can also be a screen on the tunneling machine body 20, displaying the distance on the operator's screen when the cantilever conveyor 10 is about to collide with an obstacle.

[0037] Furthermore, the cantilever conveyor 10 includes a control box 11, with a processor 111 housed within it. The control box 11 is mounted on the bottom of the cantilever conveyor 10, and the distance sensor 12 is mounted on the side of the control box 11 furthest from the cantilever conveyor 10. The control box 11 not only provides some protection for the processor 111 but also serves as a mounting bracket for the distance sensor 12, making the distance sensor 12 protrude more towards the bottom of the cantilever conveyor 10. This prevents components at the bottom of the cantilever conveyor 10 from obstructing the distance sensor 12 and interfering with its normal monitoring.

[0038] In this embodiment, the distance sensor 12 includes a lidar sensor, an infrared distance sensor, or an acoustic distance sensor. The distance sensor 12 preferably uses a lidar sensor, thereby forming a laser protective fence parallel to the bottom of the cantilever conveyor 10. When the cantilever conveyor 10 approaches an obstacle, the obstacle will first touch the laser protective fence and be detected by the distance sensor 12.

[0039] In another embodiment, there are multiple distance sensors 12, and the distances between the multiple distance sensors 12 and the bottom wall of the cantilever conveyor 10 are not the same. That is, the multiple distance sensors 12 are installed sequentially in a direction perpendicular to the bottom wall of the cantilever conveyor 10, thereby forming multiple protective fences parallel to the cantilever conveyor 10, so as to realize different alarm prompt signals corresponding to different distances such as passability, early warning, and warning. Preferably, the multiple distance sensors 12 are arranged at equal intervals in a direction perpendicular to the bottom wall of the cantilever conveyor 10, thereby forming multiple protective fences parallel to the cantilever conveyor 10 and at equal intervals. Of course, the multiple distance sensors 12 can also be at different distances from the free end 102 of the cantilever conveyor 10, that is, the multiple distance sensors 12 are installed sequentially in a direction parallel to the bottom wall of the cantilever conveyor 10. Since some cantilever conveyors 10 are too long, the monitoring effect of the distance sensors 12 will decrease with distance. By installing multiple distance sensors 12 sequentially in a direction parallel to the bottom wall of the cantilever conveyor 10, the beam of the laser protective fence can be strengthened. Preferably, multiple distance sensors 12 are arranged at equal intervals in a direction parallel to the bottom wall of the cantilever conveyor 10.

[0040] This application also provides a cantilever tunneling machine, such as Figure 1 As shown, the cantilever tunneling machine includes a tunneling machine body 20, a cutting head 30, a shovel plate section 40, and a cantilever conveyor 10 as described above. The cantilever conveyor 10, cutting head 30, and shovel plate section 40 are all pivotally connected to the tunneling machine body 20. The cutting head 30 and shovel plate section 40 are located at the head of the tunneling machine body 20, and the cantilever conveyor 10 is located at the tail of the tunneling machine body 20. The tunneling machine body 20 is equipped with telescopic hydraulic cylinders that cooperate with the cantilever conveyor 10, cutting head 30, and shovel plate section 40, thereby driving the cantilever conveyor 10, cutting head 30, and shovel plate section 40 to rotate up and down within the tunneling machine body 20. The cantilever tunneling machine includes a first conveyor and a second conveyor. The first conveyor is located inside the tunneling machine body 20, and the second conveyor is the cantilever conveyor 10. During operation, the cutting head 30 at the front cuts off the rock material. The material is then swept by the star wheel of the shovel section 40 below the cutting head 30 into the first conveyor in the center of the tunneling machine body 20. From there, the material is transferred from the tail of the tunneling machine body 20 to the second conveyor (cantilever conveyor 10), and finally transported to the dump truck 50. For a more detailed description of the cantilever tunneling machine, please refer to existing technology; it will not be elaborated upon here.

[0041] This application also provides a control method for a cantilever transport machine, such as... Figure 6 As shown, the control method is used to control the cantilever transport 10 as described above, and the control method includes:

[0042] The distance sensor 12 monitors in real time whether there are obstacles in the monitoring direction;

[0043] When the distance sensor 12 detects an obstacle in the monitoring direction, and the distance between the obstacle and the distance sensor 12 is within a preset distance range;

[0044] An alarm signal is issued.

[0045] Specifically, the distance sensor 12 sends the monitored distance signal to the processor 111. The processor 111 processes the distance signal monitored by the distance sensor 12 and compares the distance signal with a preset distance. When the distance between the obstacle and the distance sensor 12 is within the preset distance range, the processor 111 controls the alarm 13 to issue an alarm signal. The preset distance range can be set according to actual conditions, such as the boom length L1 of the cantilever transport machine 10, the distance L2 between the distance sensor 12 and the free end 102 of the cantilever transport machine 10, etc.

[0046] like Figure 1 and Figure 2 As shown, the preset distance range is 0 to N1. That is, when the distance between the obstacle and the distance sensor 12 is less than N1, the processor 111 controls the alarm 13 to issue an alarm signal.

[0047] Where N1=L2+a*cosθ, d1=a*sinθ, where: θ is the tilt angle of the cantilever conveyor 10, a is the set safety distance, d1 is the distance between the distance sensor 12 and the bottom surface of the cantilever conveyor 10, and L2 is the distance between the distance sensor 12 and the free end 102 of the cantilever conveyor 10. Because, in most cases, the tunnel roof 60 ( Figure 4 The value of N1 is relatively high, and the cantilever conveyor 10 will basically not collide with the tunnel top wall 60. Therefore, it is only necessary to prevent the dump truck 50 from colliding. The value of N1 is related to d1, L2 and θ.

[0048] like Figure 2As shown, after the dump truck 50 begins loading materials, the cantilever conveyor 10 is first adjusted to a suitable angle using the telescopic cylinder on the tunneling machine body 20. At this time, the entire anti-collision system is activated, including the control box 11, distance sensor 12 (laser radar sensor), and alarm 13 (audio-visual integrated alarm). The laser radar sensor emits a laser beam to monitor whether the dump truck 50 is operating and feeds the signal back to the processor 111 in the control box 11. The dump truck 50 begins to reverse. If the dump truck 50 touches the laser fence (i.e., a laser beam parallel to the bottom of the cantilever conveyor 10 at a distance d1), meaning the laser radar sensor detects that the distance M between the dump truck 50 and the laser radar sensor is less than N1, the processor 111 will control the audio-visual integrated alarm to issue an audio-visual alarm signal to warn the driver. The audio-visual integrated alarm is installed at the rear of the cantilever conveyor 10 for easy observation by the driver. At this time, the dump truck 50 is at a pre-designed anti-collision space distance a from the point of impact. Upon seeing or hearing the audible and visual alarm, the driver should immediately slow down, slowly reverse, and slightly adjust the horizontal distance between the dump truck 50 and the cantilever conveyor 10 to prevent collision with the cantilever conveyor 10, while also reducing the workload of the dump truck driver.

[0049] Of course, in other embodiments, such as Figure 4 As shown, some tunnel ceilings 60 are relatively low, and the cantilever transport machine 10 may collide with the tunnel ceiling 60. Therefore, the preset distance range needs to be set to be larger.

[0050] The preset distance range is 0 to N2. That is, when the distance between the detected obstacle and the distance sensor 12 is less than N2, the processor 111 controls the alarm 13 to issue an alarm signal. The height of the dump truck 50 is lower than the height of the tunnel ceiling 60; therefore, setting the preset distance range to 0 to N2 can also prevent collisions with the dump truck 50.

[0051] Where N2*sinθ=h, h=b+(d1+d2)*cosθ+L2*sinθ, θ is the tilt angle of the cantilever transport 10, h is the height difference between the distance sensor 12 and the obstacle (top wall 60), b is the set safety distance, d1 is the distance between the distance sensor 12 and the bottom surface of the cantilever transport 10, d2 is the thickness of the cantilever transport 10 (i.e., the distance between the top and bottom surfaces of the cantilever transport 10), and L2 is the distance between the distance sensor 12 and the free end 102 of the cantilever transport 10. Therefore, the magnitude of N2 is related to d1, d2, L2, and θ.

[0052] like Figure 4As shown, after the material loading and unloading process begins with the dump truck 50, the entire anti-collision system is activated first, including the control box 11, distance sensor 12 (laser radar sensor), and alarm 13 (audio-visual integrated alarm). The cantilever conveyor 10 is adjusted to a suitable angle using the telescopic cylinder on the tunnel boring machine body 20. Sometimes, the driver may not notice the tunnel ceiling 60 and rotate the cantilever conveyor 10 too far. The laser radar sensor emits a laser beam to monitor the distance between the tunnel ceiling 60 and the laser radar sensor, and feeds the signal back to the processor 111 in the control box 11. If the distance between the tunnel ceiling 60 and the laser radar sensor is less than N2, the processor 111 will control the audio-visual integrated alarm to issue an audio-visual alarm signal to warn the driver, thereby preventing the driver from rotating the cantilever conveyor 10 too far and causing it to collide with the tunnel ceiling 60.

[0053] In this document, the directional terms such as up, down, left, right, front, and back are defined according to the position of the structures in the accompanying drawings and the relative positions of the structures, and are only used for clarity and convenience in expressing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed in this application. It should also be understood that the terms "first" and "second," etc., used herein are only used for distinction in name and are not used to limit the number or order.

[0054] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content without departing from the scope of the technical solution of the present invention, which are equivalent embodiments with equivalent changes. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the technical solution of the present invention shall still fall within the protection scope of the technical solution of the present invention.

Claims

1. A cantilever transport machine with anti-collision function, characterized in that, The system includes a distance sensor (12), which is installed at the bottom of the cantilever transport (10) and protrudes from the bottom wall of the cantilever transport (10). The monitoring direction of the distance sensor (12) is parallel to the cantilever transport (10) and faces the free end (102) of the cantilever transport (10), so that the distance sensor (12) forms a protective fence parallel to the cantilever transport (10) at the bottom of the cantilever transport (10). There are multiple distance sensors (12), and the distances of the multiple distance sensors (12) to the bottom wall of the cantilever transport (10) are different. When the distance sensor (12) detects an obstacle in the monitoring direction and the distance between the obstacle and the distance sensor (12) is within a preset distance range, an alarm signal is issued. The preset distance range is 0 to N1, where N1 = L2 + a * cosθ, d1 = a * sinθ, where: θ is the tilt angle of the cantilever conveyor (10), a is the set safety distance, d1 is the distance between the distance sensor (12) and the bottom surface of the cantilever conveyor (10), and L2 is the distance between the distance sensor (12) and the free end (102) of the cantilever conveyor (10); or, the preset distance range is 0 to N2, where N2 * sinθ nθ=h, h=b+(d1+d2)*cosθ+L2*sinθ, where: θ is the tilt angle of the cantilever transport machine (10), h is the height difference between the distance sensor (12) and the obstacle, b is the set safety distance, d1 is the distance between the distance sensor (12) and the bottom surface of the cantilever transport machine (10), d2 is the thickness of the cantilever transport machine (10), and L2 is the distance between the distance sensor (12) and the free end (102) of the cantilever transport machine (10).

2. The cantilever conveyor with anti-collision function according to claim 1, characterized in that, The cantilever transport machine (10) includes a processor (111) and an alarm (13). The distance sensor (12) and the alarm (13) are both electrically connected to the processor (111). The processor (111) controls the alarm (13) to issue an alarm signal based on the distance signal monitored by the distance sensor (12).

3. The cantilever conveyor with anti-collision function according to claim 2, characterized in that, The cantilever transport (10) includes a control box (11), the processor (111) is located inside the control box (11), the control box (11) is installed at the bottom of the cantilever transport (10), and the distance sensor (12) is installed on the side of the control box (11) away from the cantilever transport (10).

4. The cantilever conveyor with anti-collision function according to claim 2, characterized in that, The alarm (13) includes a sound alarm, a light alarm, or a sound and light integrated alarm.

5. The cantilever transport with anti-collision function according to any one of claims 1-4, characterized in that, The distance sensor (12) includes a lidar sensor, an infrared distance sensor, or an acoustic distance sensor.

6. The cantilever transport with anti-collision function according to any one of claims 1-4, characterized in that, The distances of the multiple distance sensors (12) to the free end (102) of the cantilever transport (10) are not the same.

7. A cantilever tunneling machine, characterized in that, The device includes a tunneling machine body (20), a cutting head (30), a shovel plate (40), and a cantilever conveyor (10) as described in any one of claims 1-6. The cantilever conveyor (10), the cutting head (30), and the shovel plate (40) are all pivotally connected to the tunneling machine body (20). The cutting head (30) and the shovel plate (40) are located at the head of the tunneling machine body (20), and the cantilever conveyor (10) is located at the tail of the tunneling machine body (20).

8. A control method for a cantilever conveyor, characterized in that, The control method is used to control the cantilever transporter (10) as described in any one of claims 1-6, and the control method includes: The distance sensor (12) monitors in real time whether there are obstacles in the monitoring direction; When the distance sensor (12) detects an obstacle in the monitoring direction, and the distance between the obstacle and the distance sensor (12) is within a preset distance range; Issue an alarm signal; The preset distance range is 0 to N1, where N1 = L2 + a * cosθ, d1 = a * sinθ, where: θ is the tilt angle of the cantilever conveyor (10), a is the set safety distance, d1 is the distance between the distance sensor (12) and the bottom surface of the cantilever conveyor (10), and L2 is the distance between the distance sensor (12) and the free end (102) of the cantilever conveyor (10); or, the preset distance range is 0 to N2, where N2 * sinθ nθ=h, h=b+(d1+d2)*cosθ+L2*sinθ, where: θ is the tilt angle of the cantilever transport machine (10), h is the height difference between the distance sensor (12) and the obstacle, b is the set safety distance, d1 is the distance between the distance sensor (12) and the bottom surface of the cantilever transport machine (10), d2 is the thickness of the cantilever transport machine (10), and L2 is the distance between the distance sensor (12) and the free end (102) of the cantilever transport machine (10).

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