A control system and control method for advancing and cutting of a roadheader

Abstract

The application discloses a kind of tunneling machine advancing and cutting control system and control method, it is related to mechanical automation technical field, four first ultrasonic distance sensors are respectively arranged on the two sides of tunneling machine body, and the heading angle of tunneling machine is judged according to the data measured by four first ultrasonic distance sensors, odometer and double-axis inclination sensor are arranged on the upper end of tunneling machine body, multi-source laser transmitter and camera are respectively arranged on the top of tunneling machine body, and then the pose detection and positioning work of tunneling machine body, the pose detection and cutting head cutting trajectory planning work of cutting head can be automatically completed, the problems that overbreak, underbreak and personal safety of staff cannot be guaranteed often occur in traditional pointing laser and the problems that existing pose detection and positioning technical means need to be constantly manually adjusted related equipment or are easily affected by environment are solved.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation technology, and in particular to a control system and control method for the travel and cutting of a tunneling machine. Background Technology

[0002] With the development of the machinery automation industry, the application of automation technology is becoming increasingly widespread. To meet the demands of increasing coal production and reducing the number of workers in recent years, automation technology is being increasingly applied to coal mining machinery. The lack of permanent support at the tunneling face poses a serious threat to the lives of workers. As the main tunneling equipment underground, automating the tunneling machine can improve tunneling efficiency, reduce the number of workers, and is of great significance for ensuring construction safety.

[0003] Currently, directional lasers are mainly used to guide the tunneling machine during tunneling operations, and the quality of tunneling is entirely determined by the site environment and the operator's skill level. Moreover, the position of the directional laser needs to be constantly adjusted manually during the tunneling process, resulting in low work efficiency. Some proposed technologies, such as cross lasers and image recognition, also fail to achieve ideal results due to the need for constant repositioning of the device or environmental influences. Summary of the Invention

[0004] This invention provides a control system and control method for the travel and cutting of a tunneling machine, which aims to automatically complete the position detection and positioning of the tunneling machine, and automatically control the cutting head to continuously complete the cutting work of the rock wall.

[0005] The specific technical solution provided by this invention is as follows:

[0006] In a first aspect, the present invention provides a control system for the travel and cutting of a tunneling machine, comprising a first ultrasonic distance sensor, an odometer, a multi-source laser emitter, a dual-axis tilt sensor, a processor, a camera, a second ultrasonic distance sensor, and hydraulic pressure for driving the cutting head. The four first ultrasonic distance sensors are respectively installed on both sides of the tunneling machine body, and the heading angle of the tunneling machine is determined based on the data measured by the four first ultrasonic distance sensors. The odometer and the dual-axis tilt sensor are installed on the upper part of the tunneling machine body, and the multi-source laser emitter and the camera are respectively installed on the top of the tunneling machine body.

[0007] Optionally, a magnetostrictive distance sensor is installed on the hydraulic drive of the cutting head, and an angle sensor is installed on the rotating shaft of the cutting arm. The magnetostrictive distance sensor and the angle sensor work together to realize the position detection and positioning of the cutting head.

[0008] Optionally, the first ultrasonic distance sensor, the odometer, the second ultrasonic distance sensor, and the dual-axis tilt sensor work together to achieve the position detection and positioning of the tunneling machine.

[0009] Optionally, two second ultrasonic distance sensors are installed on the left and right sides of the equipment box of the tunneling machine. The second ultrasonic distance sensors are installed facing the rock wall to be cut. The second ultrasonic distance sensors are used to measure the distance and angle between the tunneling machine and the rock wall to be excavated.

[0010] Optionally, four first ultrasonic distance sensors are installed at the front and rear ends of both sides of the tunnel boring machine body, and the measurement parameters of the four first ultrasonic distance sensors are used to calculate the heading angle of the tunnel boring machine.

[0011] Optionally, a dual-axis tilt sensor is used for the pitch and roll angles of the tunneling machine, and a first tilt sensor and a second tilt sensor are provided on the multi-source laser emitter.

[0012] Secondly, the present invention also provides a control method for the travel and cutting of a tunneling machine, the control method employing the control system for the travel and cutting of the tunneling machine as described in the first aspect of the claim, the control method comprising:

[0013] When the cutting head is excavating the rock wall, six magnetostrictive sensors installed in the hydraulic cylinder driving the cutting head of the tunneling machine and an angle sensor installed on the rotation axis of the cutting arm acquire the position and posture information of the cutting head in real time, so as to monitor the cutting process.

[0014] After the cutting head has traveled through all the planned trajectories, the tunneling machine changes position and continues to measure the distance and angle between the tunneling machine and the rock wall using two second ultrasonic ranging sensors. Combined with the position and posture information of the tunneling machine, the cutting head continues to plan its trajectory.

[0015] After the cutting head has completed the entire planned trajectory, the camera identifies whether the rock wall is clear and clean. If it is not clear, the remaining part will be cleared after the planned trajectory is completed.

[0016] After the current cutting work is completed, the tunneling machine continues to move, and the cutting head trajectory is planned again according to its position, the distance from the machine body to the wall and the laser landing point, and the cutting work is repeated;

[0017] With the assistance of tilt sensors, multi-source lasers automatically compensate for changes in the pitch and roll angles of the tunnel boring machine, ensuring that the laser is emitted at the original angle, and thus the tunnel boring machine automatically tunnels through curves according to instructions.

[0018] Optionally, after the current cutting operation is completed, the tunneling machine continues to move, and the cutting head trajectory is further planned based on its position, the distance from the machine body to the wall, and the laser landing point, specifically including:

[0019] After the current cutting work is completed, the tunneling machine continues to move, and adjusts the pitch and roll angles of the laser emitter according to the tunneling posture parameters, so that the emitter posture adapts to the tunneling machine posture;

[0020] When horizontal tunneling is required, the pitch angle of the tunneling machine is compensated at a ratio of 1:1; when a slope is required, the compensation coefficient is changed.

[0021] The laser emitter only changes the pitch and roll angles. When the tunnel boring machine changes its heading angle, the laser moves along with it, illuminating the rock wall at different angles with the same shape.

[0022] Based on the distance between the tunneling machine and the rock wall, the angle between the tunneling machine and the rock wall, and the specific location of the laser landing point obtained using image recognition technology, the trajectory of the cutting head is further planned.

[0023] This invention provides a control system and method for the travel and cutting of a tunneling machine. Four first ultrasonic distance sensors are respectively installed on both sides of the tunneling machine body, and the heading angle of the tunneling machine is determined based on the data measured by the four first ultrasonic distance sensors. An odometer and a dual-axis tilt sensor are installed on the upper part of the tunneling machine body. A multi-source laser emitter and a camera are respectively installed on the upper part of the tunneling machine body. Thus, the machine body's pose detection and positioning work, the cutting head's pose detection and cutting head's cutting trajectory planning work can be automatically completed. This solves the problems of over-digging and under-digging that often occur with traditional directional lasers and the inability to guarantee the personal safety of workers, as well as the problems of existing pose detection and positioning technologies requiring constant manual adjustment of related equipment or being easily affected by the environment. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the structure of a control system for the travel and cutting of a tunneling machine according to an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram showing the installation position of a control system for the travel and cutting of a tunneling machine according to an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of the laser landing point of a multi-source laser emitter according to an embodiment of the present invention;

[0028] Figure 4 This is a schematic diagram of the structure of a multi-source laser emitter according to an embodiment of the present invention;

[0029] Figure 5 This is a flowchart illustrating a control method for the travel and cutting of a tunneling machine according to an embodiment of the present invention;

[0030] Figure 6 This is a schematic diagram of the structure of a control system for the travel and cutting of a tunneling machine according to an embodiment of the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0032] The following will combine Figures 1-6 A detailed description is provided of a control system and control method for the travel and cutting of a tunneling machine according to an embodiment of the present invention.

[0033] To address the problems of over-digging and under-digging that often occur with traditional directional laser cutting, and the inability to guarantee the personal safety of workers, as well as the issues that some existing technologies require constant manual adjustment of related equipment or are susceptible to environmental influences, this invention proposes a control system and method for the movement and cutting of a tunneling machine. This system is mainly used to automatically complete the position detection and positioning of the tunneling machine body, the position detection of the cutting head, and the cutting trajectory planning of the cutting head.

[0034] refer to Figures 1-6 As shown, the control system for the travel and cutting of a tunneling machine provided in this embodiment of the invention includes a first ultrasonic distance sensor 1, an odometer 2, a multi-source laser emitter 3, a dual-axis tilt sensor 4, a processor 5, a camera 6, a second ultrasonic distance sensor 8, and a cutting head drive hydraulic system 9. The four first ultrasonic distance sensors 1 are respectively installed on both sides of the tunneling machine body, and the heading angle of the tunneling machine is determined based on the data measured by the four first ultrasonic distance sensors 1. The odometer 2 and the dual-axis tilt sensor 4 are installed on the upper part of the tunneling machine body, and the multi-source laser emitter 3 and the camera 6 are respectively installed on the top of the tunneling machine body.

[0035] refer to Figures 1-6 As shown, the first ultrasonic distance sensor 101, the second ultrasonic distance sensor 102, the third ultrasonic distance sensor 103, and the fourth ultrasonic distance sensor 104 are respectively installed at the four corners on both sides of the tunneling machine body. The heading angle of the tunneling machine is calculated by combining the distance measured by the four first ultrasonic distance sensors 1 with the parameters of the tunneling machine body. Based on the measured heading angle data, the hydraulic valve is controlled to control the tracks to correct the heading angle of the tunneling machine.

[0036] refer to Figures 1-6As shown, considering that the rocks in the tunnel are not flat, in order to complete the three tasks of tunneling machine body detection and positioning, cutting head pose detection and trajectory planning, and multi-source laser adaptive tunneling machine pose, the tunneling machine travel and cutting control system of this embodiment uses six ultrasonic distance sensors, one dual-axis tilt sensor, one odometer, one angle sensor, two tilt sensors and six magnetostrictive sensors.

[0037] refer to Figures 1-6 As shown, a magnetostrictive distance sensor is installed on the cutting head drive hydraulic system 9, and an angle sensor 7 is installed on the cutting arm shaft. The magnetostrictive distance sensor and the angle sensor 7 work together to achieve the position detection and positioning of the cutting head. A first ultrasonic distance sensor 1, an odometer 2, a second ultrasonic distance sensor 8, and a dual-axis tilt sensor 4 work together to achieve the position detection and positioning of the tunneling machine. The first second ultrasonic distance sensor 801 and the second second ultrasonic distance sensor 802 are respectively installed on the left and right sides of the tunneling machine's equipment box. The second ultrasonic distance sensor 8 is installed facing the rock wall to be cut and is used to measure the distance and angle between the tunneling machine and the rock wall to be excavated. The two second ultrasonic distance sensors 8 are located on the left and right sides of the tunneling machine's equipment box, with the measuring part facing the rock wall to be cut, and are used to measure the distance and angle between the tunneling machine and the rock wall to be excavated. Based on the distance from the tunneling machine to the rock wall, the angle between the tunneling machine and the rock wall, and the specific location of the laser impact point obtained by image recognition technology, the trajectory planning of the cutting head can be performed.

[0038] refer to Figures 1-6 As shown, the dual-axis tilt sensor 4 is used to measure the pitch and roll angles of the tunneling machine. Two tilt sensors 7 are installed on the multi-source laser emitter, designated as the first and second tilt sensors. The pitch and roll angles of the tunneling machine are measured using the dual-axis tilt sensor 4, and combined with the heading angles obtained from the four first ultrasonic distance sensors, to perform attitude detection and heading angle correction for the tunneling machine. By establishing a tunnel coordinate system and knowing the tunneling machine's attitude at various times, the distance traveled by the tunneling machine in each attitude is measured using the odometer 2, thus completing the positioning of the tunneling machine.

[0039] refer to Figure 2 As shown, the heading angle of the tunneling machine is determined based on the data measured by the four first ultrasonic distance sensors. Based on the required heading angle at that time, the processor controls the solenoid valve and then the hydraulic valve to correct the heading angle. The odometer 2 and the dual-axis tilt sensor 4 are installed on the upper part of the tunneling machine to obtain the distance traveled by the tunneling machine, the pitch angle and the roll angle of the tunneling machine, respectively. Based on the position and posture of the tunneling machine at different times and the distance traveled in this position and posture, the positioning of the tunneling machine is completed.

[0040] During tunneling operations, six magnetostrictive sensors installed in the hydraulic cylinder driving the tunneling machine's cutting head and an angle sensor installed on the cutting arm's rotation axis acquire the cutting head's position and posture information in real time, enabling monitoring of the cutting process. After the cutting head completes its planned trajectory, a camera identifies whether the rock wall is clear. If not, the remaining portion is cleared after replanning the trajectory. Once the rock wall is cleared, the tunneling machine changes position, and based on its position, laser landing point, and the distance and angle between the tunneling machine and the rock wall to be tunneled, the cutting head's trajectory is planned, and the tunneling work is repeated.

[0041] Furthermore, after the rock strata are cleared and leveled, the tunneling machine moves forward. Based on the tunneling machine's position after movement, the distance between the machine body and the wall, and the laser's landing point, the cutting head trajectory is planned again, and the cutting work is repeated. Since the multi-source laser 3 does not change its own position due to the tunneling machine's heading angle, when the tunnel turns, the multi-source laser 3, with the assistance of the first tilt sensor 301 and the second tilt sensor 302, compensates for changes in the tunneling machine's pitch and roll angles, ensuring that the laser still emits at the original angle. Therefore, the tunneling machine can automatically tunnel through curves according to instructions. If it is necessary to tunnel on a slope, only the pitch angle compensation coefficient of the multi-source laser 3 needs to be modified.

[0042] In this embodiment of the invention, various sensors are separated by signal isolation barriers, and data is sent to processor 5 for processing via a data bus. The tunneling machine interacts with the control room through the communication module in processor 5, continuously providing feedback with photos of the tunneling site. Based on the tunneling machine's operation and the formation of the tunnel, the operators promptly adjust the next steps of the operation.

[0043] The multi-source laser emitter 3 and camera 6 are respectively mounted on top of the tunneling machine. The emission angle of the multi-source laser emitter 3 is adjusted according to the required tunnel shape, thereby adjusting the landing point on the rock wall, achieving the desired effect. Figure 3 As shown, camera 6 captures the laser's landing point, and combined with the distance and angle parameters between the tunneling machine and the rock wall measured by two second ultrasonic distance sensors 8, the specific coordinates of the laser's landing point are obtained through image recognition technology, and then the trajectory of the cutting head is planned.

[0044] refer to Figure 5 and Figure 6 As shown, based on the same inventive concept, this invention also provides a control method for the travel and cutting of a tunneling machine, which is applicable to... Figures 1-4 The control system for the tunnel boring machine's travel and cutting operations, as shown, includes the following control methods:

[0045] When the cutting head is excavating the rock wall, six magnetostrictive sensors installed in the hydraulic cylinder driving the cutting head of the tunneling machine and an angle sensor installed on the rotation axis of the cutting arm acquire the position and posture information of the cutting head in real time, so as to monitor the cutting process.

[0046] After the cutting head has traveled through all the planned trajectories, the tunneling machine changes position and continues to measure the distance and angle between the tunneling machine and the rock wall using two second ultrasonic ranging sensors. Combined with the position and posture information of the tunneling machine, the cutting head continues to plan its trajectory.

[0047] After the cutting head has completed the entire planned trajectory, the camera identifies whether the rock wall is clear and clean. If it is not clear, the remaining part will be cleared after the planned trajectory is completed.

[0048] After the current cutting work is completed, the tunneling machine continues to move, and the cutting head trajectory is planned again according to its position, the distance from the machine body to the wall and the laser landing point, and the cutting work is repeated;

[0049] With the assistance of tilt sensors, multi-source lasers automatically compensate for changes in the pitch and roll angles of the tunnel boring machine, ensuring that the laser is emitted at the original angle, and thus the tunnel boring machine automatically tunnels through curves according to instructions.

[0050] Furthermore, after the current cutting work is completed, the tunneling machine continues to move, and the cutting head trajectory is further planned based on its position, the distance from the machine body to the wall, and the laser landing point. Specifically, this includes:

[0051] After the current cutting work is completed, the tunneling machine continues to move, and adjusts the pitch and roll angles of the laser emitter according to the tunneling posture parameters, so that the emitter posture adapts to the tunneling machine posture;

[0052] When horizontal tunneling is required, the pitch angle of the tunneling machine is compensated at a ratio of 1:1; when a slope is required, the compensation coefficient is changed.

[0053] The laser emitter only changes the pitch and roll angles. When the tunnel boring machine changes its heading angle, the laser moves along with it, illuminating the rock wall at different angles with the same shape.

[0054] Based on the distance between the tunneling machine and the rock wall, the angle between the tunneling machine and the rock wall, and the specific location of the laser landing point obtained using image recognition technology, the trajectory of the cutting head is further planned.

[0055] This invention provides a control system and method for the travel and cutting of a tunneling machine. Four first ultrasonic distance sensors are respectively installed on both sides of the tunneling machine body, and the heading angle of the tunneling machine is determined based on the data measured by the four first ultrasonic distance sensors. An odometer and a dual-axis tilt sensor are installed on the upper part of the tunneling machine body. A multi-source laser emitter and a camera are respectively installed on the upper part of the tunneling machine body. Thus, the machine body's pose detection and positioning work, the cutting head's pose detection and cutting head's cutting trajectory planning work can be automatically completed. This solves the problems of over-digging and under-digging that often occur with traditional directional lasers and the inability to guarantee the personal safety of workers, as well as the problems of existing pose detection and positioning technologies requiring constant manual adjustment of related equipment or being easily affected by the environment.

[0056] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

[0057] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the embodiments of the present invention. Thus, if these modifications and variations to the embodiments of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A method for controlling the travel and cutting of a roadheader, characterized in that, The control method adopts a control system for advancing and cutting of the heading machine, and the control system comprises a first ultrasonic distance sensor, an odometer, a multi-source laser emitter, a double-axis tilt sensor, a processor, a camera, a second ultrasonic distance sensor and a cutting head driving hydraulic cylinder; wherein the four first ultrasonic distance sensors are respectively arranged on the two sides of the body of the heading machine, and the heading direction angle of the heading machine is determined according to the data measured by the four first ultrasonic distance sensors; the two second ultrasonic distance sensors are installed on the left and right sides of the equipment box of the body of the heading machine, and the second ultrasonic distance sensors are installed to face the rock wall to be cut; the second ultrasonic distance sensors are used to measure the distance and angle between the heading machine and the rock wall to be cut; the odometer and the double-axis tilt sensor are arranged on the upper end of the body of the heading machine, and are respectively used to obtain the distance traveled by the heading machine, the pitch angle and the roll angle of the heading machine; the multi-source laser emitter and the camera are respectively arranged above the body of the heading machine; the exit angle of the multi-source laser emitter is adjusted according to the required shape of the roadway, so as to adjust the landing position on the rock wall. The control method comprises: When the cutting head is performing the heading operation on the rock wall, the pose information of the cutting head of the heading machine is obtained in real time by the six magnetostrictive sensors arranged in the cutting head driving hydraulic cylinder of the heading machine and the angle sensor arranged on the rotating shaft of the cutting arm, so as to realize the monitoring of the cutting process; After the cutting head passes through all the trajectories planned this time, the heading machine changes the position, and the distance and angle between the heading machine and the rock wall are continuously measured by the two second ultrasonic distance sensors, and the trajectory planning of the cutting head is continuously performed in combination with the pose information of the heading machine; When the cutting head passes through all the trajectories planned, whether the rock wall is completely cleaned is identified by the camera, and if not, the remaining part is continuously cleaned after the trajectory planning; After the current cutting work is completed, the heading machine continues to move, the pitch angle and the roll angle of the laser emitter are adjusted according to the pose parameters of the heading, so that the pose of the emitter is self-adapted to the pose of the heading machine; When horizontal heading of the roadway is required, the pitch angle of the heading machine is compensated by 1:1, and when a slope is required to be headed, the compensation coefficient is changed; The laser emitter only changes the pitch angle and the roll angle, and when the heading direction angle of the heading machine is controlled to be changed, the laser moves together, so as to be irradiated on the rock wall at different angles in the same shape; The trajectory of the cutting head is continuously planned according to the distance from the heading machine to the rock wall, the included angle between the heading machine and the rock wall and the specific position of the laser landing point obtained by image recognition, and the cutting work is repeatedly performed; The multi-source laser emitter automatically compensates the changes of the pitch angle and the roll angle of the heading machine under the assistance of the tilt sensor, so that the laser still exits at the original angle, and then the heading machine automatically heads the curve according to the instruction.

2. The control method of the advancing and cutting of the tunneling machine according to claim 1, characterized by, The magnetostrictive sensors are installed on the cutting head driving hydraulic cylinder, and the angle sensor is arranged on the rotating shaft of the cutting arm, and the magnetostrictive sensors and the angle sensor cooperate with each other to realize the pose detection and positioning of the cutting head.

3. The control method of the advancing and cutting of the tunneling machine according to claim 1, characterized by, The first ultrasonic distance sensor, the odometer, the second ultrasonic distance sensor and the double-axis tilt sensor cooperate with each other to realize the pose detection and positioning of the heading machine.

4. The control method of the advancing and cutting of the tunneling machine according to claim 1, characterized by, Four first ultrasonic distance sensors are respectively installed at the front and rear ends of the two sides of the machine body of the tunneling machine, and the measurement parameters of the four first ultrasonic distance sensors are used to calculate the heading angle of the tunneling machine.

5. The control method of the advancing and cutting of the tunneling machine according to claim 1, characterized by, A dual-axis inclination sensor is used to measure the pitch angle and roll angle of the tunneling machine, and the first inclination sensor and the second inclination sensor are arranged on the multi-source laser emitter.

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