A method, device and equipment for accurately calculating the thrust of multiple cylinders in a roadheader

Abstract

The present invention discloses a method, device, and apparatus for accurately calculating the thrust of multiple groups of cylinders in a roadheader. The method comprises: obtaining the current posture information of the roadheader, which includes lateral posture information in the X-axis direction and longitudinal posture information in the Y-axis direction; converting the lateral posture information and longitudinal posture information into quantitative indicators to obtain a lateral quantitative indicator corresponding to the lateral posture information and a longitudinal quantitative indicator corresponding to the longitudinal posture information; calculating the initial group thrust corresponding to each group of propulsion cylinders based on the lateral quantitative indicator, the longitudinal quantitative indicator, and the total thrust of the roadheader's cylinders; and determining the target thrust of the partition in which each group of propulsion cylinders resides based on the lateral quantitative indicator, the longitudinal quantitative indicator, the initial group thrust corresponding to each group of propulsion cylinders, and the distance of each group of propulsion cylinders from the cutterhead center on a horizontal projection plane. This method can accurately calculate the thrust of the roadheader's cylinders and improve the consistency of the roadheader's excavation speed.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a method, device and equipment for accurately calculating the thrust of multiple groups of oil cylinders in a roadheader. Background Art

[0002] Tunnel excavation is often encountered during the construction of roads, railways, etc. In the process of excavating longer tunnels, a vertical full-section hard rock tunnel boring machine (Tunnel Boring Machine, referred to as vertical TBM) is required to meet the construction needs of deep and large vertical shafts.

[0003] Due to the differences in rock and soil hardness, different groups of propulsion cylinders may require different thrusts during the excavation of a vertical full-section hard rock tunnel boring machine. Therefore, it is necessary to accurately calculate the thrust required by each group of propulsion cylinders for the vertical full-section hard rock tunnel boring machine, so as to meet the attitude control requirements of the vertical full-section hard rock tunnel boring machine during the excavation process. Summary of the Invention

[0004] In response to the technical problem in the prior art that the required thrust of different groups of propulsion cylinders in a tunnel boring machine cannot be accurately calculated, the present invention provides a method, device and equipment for accurately calculating the thrust of multiple groups of cylinders in a tunnel boring machine.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0006] A first aspect of an embodiment of the present invention provides a method for accurately calculating the thrust of multiple groups of cylinders in a roadheader, wherein the roadheader includes multiple groups of propulsion cylinders. The method includes:

[0007] Acquire current posture information of the roadheader, wherein the posture information includes lateral posture information in the X-axis direction and longitudinal posture information in the Y-axis direction;

[0008] Performing quantitative index conversion on the horizontal posture information and the vertical posture information respectively to obtain a horizontal quantitative index corresponding to the horizontal posture information and a vertical quantitative index corresponding to the vertical posture information;

[0009] Calculating the initial group thrust corresponding to each group of propulsion cylinders according to the transverse quantitative index, the longitudinal quantitative index, and the total thrust of the cylinders of the roadheader;

[0010] The target thrust of the partition where each group of propulsion cylinders is located is determined based on the horizontal quantitative index, the longitudinal quantitative index, the initial group thrust corresponding to each group of propulsion cylinders, and the distance between each group of propulsion cylinders and the center of the cutter head on the horizontal projection plane.

[0011] In one embodiment, the lateral quantitative index includes a lateral offset and a lateral lever arm vector corresponding to each group of propulsion cylinders, and the longitudinal quantitative index includes a longitudinal offset and a longitudinal lever arm vector corresponding to each group of propulsion cylinders.

[0012] In one embodiment, when there are 6 groups of propulsion cylinders, the initial group thrust corresponding to each group of propulsion cylinders is calculated using the following analytical formula:

[0013]

[0014] Among them, l x1 to l x6 are the lateral force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the X-axis direction, l y1 to l y6 are the longitudinal force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the Y-axis direction, F 合 is the total thrust of the oil cylinder of the roadheader, F1 to F6 are the initial group thrusts corresponding to each group of propulsion cylinders, is the lateral offset, is the longitudinal offset.

[0015] In one embodiment, the target thrust of each group of propulsion cylinders in the partition is calculated using the following analytical formula:

[0016]

[0017]

[0018] Among them, r1 to r6 are the distances between each group of propulsion cylinders and the center of the cutter head on the horizontal projection plane.

[0019] A second aspect of an embodiment of the present invention provides a device for accurately calculating the thrust of multiple cylinders in a roadheader, the device comprising:

[0020] an acquisition module configured to acquire current posture information of the roadheader, wherein the posture information includes lateral posture information in the X-axis direction and longitudinal posture information in the Y-axis direction, and the roadheader includes multiple sets of propulsion cylinders;

[0021] a conversion module configured to perform quantitative index conversion on the horizontal posture information and the vertical posture information respectively to obtain a horizontal quantitative index corresponding to the horizontal posture information and a vertical quantitative index corresponding to the vertical posture information;

[0022] a calculation module configured to calculate the initial group thrust corresponding to each group of propulsion cylinders based on the transverse quantitative index, the longitudinal quantitative index, and the total thrust of the cylinders of the roadheader;

[0023] The determination module is configured to determine the target thrust of the partition where each group of propulsion cylinders is located based on the horizontal quantitative index, the longitudinal quantitative index, the initial group thrust corresponding to each group of propulsion cylinders, and the distance between each group of propulsion cylinders and the center of the cutter disc on the horizontal projection plane.

[0024] In one embodiment, the lateral quantitative index includes a lateral offset and a lateral lever arm vector corresponding to each group of propulsion cylinders, and the longitudinal quantitative index includes a longitudinal offset and a longitudinal lever arm vector corresponding to each group of propulsion cylinders.

[0025] In one embodiment, when there are 6 groups of propulsion cylinders, the initial group thrust corresponding to each group of propulsion cylinders is calculated using the following analytical formula:

[0026]

[0027] Among them, l x1 to l x6 are the lateral force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the X-axis direction, l y1 to l y6 are the longitudinal force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the Y-axis direction, F 合 is the total thrust of the oil cylinder of the roadheader, F1 to F6 are the initial group thrusts corresponding to each group of propulsion cylinders, is the lateral offset, is the longitudinal offset.

[0028] In one embodiment, the target thrust of each group of propulsion cylinders in the partition is calculated using the following analytical formula:

[0029]

[0030]

[0031] Among them, r1 to r6 are the distances between each group of propulsion cylinders and the center of the cutter head on the horizontal projection plane.

[0032] According to a third aspect of an embodiment of the present invention, there is provided an electronic device, wherein the roadheader comprises:

[0033] processor;

[0034] a memory for storing processor-executable instructions;

[0035] Wherein, the processor is configured to execute the executable instructions to implement the steps of the method for accurately calculating the thrust of multiple groups of cylinders in a tunnel boring machine as described in any one of the first aspects.

[0036] Beneficial effects

[0037] The present invention provides a method for accurately calculating the thrust of multiple cylinders in a roadheader. Compared with the prior art, it has the following advantages:

[0038] The system obtains the current posture information of the roadheader, which includes lateral posture information in the X-axis direction and longitudinal posture information in the Y-axis direction. The system converts the lateral and longitudinal posture information into quantitative indicators, obtaining the corresponding lateral quantitative indicators for the lateral posture information and the corresponding longitudinal quantitative indicators for the longitudinal posture information. The initial group thrust for each propulsion cylinder group is calculated based on the lateral and longitudinal quantitative indicators, as well as the total cylinder thrust of the roadheader. The target thrust for each propulsion cylinder group is determined based on the lateral and longitudinal quantitative indicators, the initial group thrust for each propulsion cylinder group, and the distance between each propulsion cylinder group and the cutterhead center on the horizontal projection plane. This allows for accurate calculation of the cylinder thrust of the roadheader, improving the consistency of the roadheader's excavation speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 The present invention provides a flow chart of a method for accurately calculating the thrust of multiple groups of oil cylinders in a roadheader.

[0040] Figure 2 The figure is a schematic diagram of a device for accurately calculating the thrust of multiple groups of oil cylinders in a roadheader according to the present invention. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0042] See also Figure 1 The present invention provides a technical solution: a method for accurately calculating the thrust of multiple groups of cylinders in a roadheader, wherein the roadheader includes multiple groups of propulsion cylinders, and the method includes the following steps:

[0043] In step S11, the current posture information of the roadheader is obtained, wherein the posture information includes the lateral posture information in the X-axis direction and the longitudinal posture information in the Y-axis direction;

[0044] In step S12, the horizontal posture information and the vertical posture information are converted into quantitative indicators respectively to obtain a horizontal quantitative indicator corresponding to the horizontal posture information and a vertical quantitative indicator corresponding to the vertical posture information;

[0045] The lateral posture information may include the tail X-axis deviation, X-axis pitch angle and X-axis tilt angle, and the longitudinal posture information may include the tail Y-axis deviation, Y-axis pitch angle and Y-axis tilt angle.

[0046] Preferably, the posture state of the vertical TBM is divided into the X-axis and Y-axis on the horizontal plane, and the posture state is converted into quantitative indicators of tilt angle and offset, as well as tail X-axis deviation, tail Y-axis deviation, X-axis pitch angle and Y-axis pitch angle in each axis.

[0047] On the horizontal projection plane, the extension direction of the gripper is the positive direction of the X-axis, and the positive direction of the X-axis is rotated 90° counterclockwise to the positive direction of the Y-axis. The posture conditions in the X-axis and Y-axis directions are analyzed independently.

[0048] In this step, the quantization index conversion is performed on the horizontal posture information and the vertical posture information respectively to obtain the horizontal quantization index corresponding to the horizontal posture information and the vertical quantization index corresponding to the vertical posture information, including:

[0049] For multiple watersheds, the watershed characteristic values corresponding to multiple indicators related to watershed similarity are extracted as sample observation values;

[0050] Performing normalization transformation on the tail X-axis deviation, X-axis pitch angle, X-axis tilt angle, tail Y-axis deviation, Y-axis pitch angle and Y-axis tilt angle to obtain a posture matrix composed of normalized posture eigenvalues;

[0051] According to the relative position relationship between the vertical axis of the shaft and the vertical tunnel boring machine, a coordinate axis coefficient matrix between the X-axis and the Y-axis is established, an orthogonal transformation is performed on the coordinate axis coefficient matrix, and the eigenvalues of the coordinate axis coefficient matrix after the orthogonal transformation are obtained based on the posture eigenvalues;

[0052] Based on the eigenvalues of the coordinate axis coefficient matrix after orthogonal transformation, the cumulative variance contribution rate is calculated according to the number of propulsion cylinders and the selection threshold of the cumulative variance contribution rate;

[0053] The thrust of each partition is evenly distributed on the cutterhead, requiring all thrusts to be on the same vector plane, and assigning conversion weight coefficients corresponding to different propulsion cylinders;

[0054] According to the conversion weight coefficients corresponding to each group of propulsion cylinders and the posture matrix composed of posture eigenvalues, quantitative index conversion is performed to obtain the lateral quantitative index corresponding to the lateral posture information and the longitudinal quantitative index corresponding to the longitudinal posture information.

[0055] In step S13, the initial group thrust corresponding to each group of propulsion cylinders is calculated based on the transverse quantitative index, the longitudinal quantitative index, and the total thrust of the cylinders of the roadheader;

[0056] In step S14, the target thrust of the partition where each group of propulsion cylinders is located is determined based on the horizontal quantitative index, the longitudinal quantitative index, the initial group thrust corresponding to each group of propulsion cylinders, and the distance between each group of propulsion cylinders and the center of the cutter disc on the horizontal projection plane.

[0057] The above technical solution obtains the current posture information of the roadheader, including lateral posture information in the X-axis direction and longitudinal posture information in the Y-axis direction. It converts the lateral and longitudinal posture information into quantitative indicators, respectively, to obtain a lateral quantitative indicator corresponding to the lateral posture information and a longitudinal quantitative indicator corresponding to the longitudinal posture information. Based on the lateral and longitudinal quantitative indicators and the total cylinder thrust of the roadheader, it calculates the initial group thrust corresponding to each propulsion cylinder group. Based on the lateral and longitudinal quantitative indicators, the initial group thrust corresponding to each propulsion cylinder group, and the distance of each propulsion cylinder group from the cutterhead center on the horizontal projection plane, it determines the target thrust for each propulsion cylinder group. This allows for accurate calculation of the roadheader cylinder thrust, improving the consistency of the roadheader's excavation speed.

[0058] In one embodiment, the lateral quantitative index includes a lateral offset and a lateral lever arm vector corresponding to each group of propulsion cylinders, and the longitudinal quantitative index includes a longitudinal offset and a longitudinal lever arm vector corresponding to each group of propulsion cylinders.

[0059] In one embodiment, when there are 6 groups of propulsion cylinders, the initial group thrust corresponding to each group of propulsion cylinders is calculated using the following analytical formula:

[0060]

[0061] Among them, l x1 to l x6 are the lateral force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the X-axis direction, l y1 to l y6 are the longitudinal force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the Y-axis direction, F 合 is the total thrust of the oil cylinder of the roadheader, F1 to F6 are the initial group thrusts corresponding to each group of propulsion cylinders, is the lateral offset, is the longitudinal offset.

[0062] In one embodiment, the target thrust of each group of propulsion cylinders in the partition is calculated using the following analytical formula:

[0063]

[0064]

[0065] Among them, r1 to r6 are the distances between each group of propulsion cylinders and the center of the cutter head on the horizontal projection plane.

[0066] Based on the same inventive concept, the present disclosure also provides a device for accurately calculating the thrust of multiple groups of cylinders in a tunnel boring machine, which is used to execute part or all of the steps of the method for accurately calculating the thrust of multiple groups of cylinders in a tunnel boring machine provided in the above method embodiment. The device 200 can implement the method for accurately calculating the thrust of multiple groups of cylinders in a tunnel boring machine in the form of software, hardware, or a combination of both. Figure 2 This is a block diagram of a device for accurately calculating the thrust of multiple cylinders in a roadheader according to an exemplary embodiment. Figure 2 As shown, the apparatus 200 includes: an acquisition module 210 , a conversion module 220 , a calculation module 230 and a determination module 240 .

[0067] The acquisition module 210 is configured to acquire current posture information of the roadheader, wherein the posture information includes lateral posture information in the X-axis direction and longitudinal posture information in the Y-axis direction, and the roadheader includes multiple sets of propulsion cylinders;

[0068] The conversion module 220 is configured to perform quantitative index conversion on the horizontal posture information and the vertical posture information respectively to obtain a horizontal quantitative index corresponding to the horizontal posture information and a vertical quantitative index corresponding to the vertical posture information;

[0069] The calculation module 230 is configured to calculate the initial group thrust corresponding to each group of propulsion cylinders based on the transverse quantitative index, the longitudinal quantitative index and the total thrust of the cylinders of the roadheader;

[0070] The determination module 240 is configured to determine the target thrust of the partition where each group of propulsion cylinders is located based on the horizontal quantitative index, the longitudinal quantitative index, the initial group thrust corresponding to each group of propulsion cylinders, and the distance between each group of propulsion cylinders and the center of the cutter disc on the horizontal projection plane.

[0071] In one embodiment, the lateral quantitative index includes a lateral offset and a lateral lever arm vector corresponding to each group of propulsion cylinders, and the longitudinal quantitative index includes a longitudinal offset and a longitudinal lever arm vector corresponding to each group of propulsion cylinders.

[0072] In one embodiment, when there are 6 groups of propulsion cylinders, the initial group thrust corresponding to each group of propulsion cylinders is calculated using the following analytical formula:

[0073]

[0074] Among them, l x1 to l x6are the lateral force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the X-axis direction, l y1 to l y6 are the longitudinal force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the Y-axis direction, F 合 is the total thrust of the oil cylinder of the roadheader, F1 to F6 are the initial group thrusts corresponding to each group of propulsion cylinders, is the lateral offset, is the longitudinal offset.

[0075] In one embodiment, the target thrust of each group of propulsion cylinders in the partition is calculated using the following analytical formula:

[0076]

[0077]

[0078] Among them, r1 to r6 are the distances between each group of propulsion cylinders and the center of the cutter head on the horizontal projection plane.

[0079] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0080] In addition, it is worth noting that for the convenience and simplicity of description, the embodiments described in the specification are all preferred embodiments, and the parts involved are not necessarily necessary for the present invention. For example, the calculation module 230 and the determination module 240 can be independent devices or the same device in specific implementation, and this disclosure does not limit this.

[0081] An embodiment of the present invention further provides an electronic device, wherein the roadheader comprises:

[0082] processor;

[0083] a memory for storing processor-executable instructions;

[0084] The processor is configured to execute the executable instructions to implement the steps of the method for accurately calculating the thrust of multiple groups of cylinders in a tunnel boring machine as described in any one of the aforementioned embodiments.

[0085] Based on the above-mentioned ideal embodiments of this application, and in accordance with the above description, relevant personnel can make various changes and modifications without departing from the scope of the technical concept of this application. The technical scope of this application is not limited to the contents of the specification, but must be determined according to the scope of the claims.

[0086] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A method for accurately calculating the thrust of multiple cylinders in a roadheader, characterized in that: The roadheader includes multiple sets of propulsion cylinders, and the method includes: Acquire current posture information of the roadheader, wherein the posture information includes lateral posture information in the X-axis direction and longitudinal posture information in the Y-axis direction; Performing quantitative index conversion on the horizontal posture information and the vertical posture information respectively to obtain a horizontal quantitative index corresponding to the horizontal posture information and a vertical quantitative index corresponding to the vertical posture information; Calculating the initial group thrust corresponding to each group of propulsion cylinders according to the transverse quantitative index, the longitudinal quantitative index, and the total thrust of the cylinders of the roadheader; Determine the target thrust of the partition where each group of propulsion cylinders is located based on the horizontal quantitative index, the longitudinal quantitative index, the initial group thrust corresponding to each group of propulsion cylinders, and the distance between each group of propulsion cylinders and the center of the cutterhead on the horizontal projection plane; The lateral quantitative index includes the lateral offset and the lateral force arm vector corresponding to each group of propulsion cylinders, and the longitudinal quantitative index includes the longitudinal offset and the longitudinal force arm vector corresponding to each group of propulsion cylinders; When there are 6 groups of propulsion cylinders, the initial group thrust corresponding to each group of propulsion cylinders is calculated using the following analytical formula: ； Among them, l x1 to l x6 are the lateral force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the X-axis direction, l y1 to l y6 are the longitudinal force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the Y-axis direction, F 合 is the total thrust of the oil cylinder of the roadheader, F1 to F6 are the initial group thrusts corresponding to each group of propulsion cylinders, is the lateral offset, is the longitudinal offset; The target thrust of each group of propulsion cylinders in the partition is calculated using the following analytical formula: ； ； Among them, r1 to r6 are the distances between each group of propulsion cylinders and the center of the cutter head on the horizontal projection plane.

2. A device for accurately calculating the thrust of multiple cylinders in a roadheader, characterized in that: The device comprises: an acquisition module configured to acquire current posture information of the roadheader, the posture information including lateral posture information in the X-axis direction and longitudinal posture information in the Y-axis direction, the roadheader including a plurality of propulsion cylinders; a conversion module configured to perform quantitative index conversion on the horizontal posture information and the vertical posture information respectively to obtain a horizontal quantitative index corresponding to the horizontal posture information and a vertical quantitative index corresponding to the vertical posture information; a calculation module configured to calculate the initial group thrust corresponding to each group of propulsion cylinders based on the transverse quantitative index, the longitudinal quantitative index, and the total thrust of the cylinders of the roadheader; a determination module configured to determine a target thrust for a zone in which each group of propulsion cylinders is located based on the transverse quantitative index, the longitudinal quantitative index, an initial group thrust corresponding to each group of propulsion cylinders, and a distance between each group of propulsion cylinders and the center of the cutterhead on a horizontal projection plane; The lateral quantitative index includes the lateral offset and the lateral force arm vector corresponding to each group of propulsion cylinders, and the longitudinal quantitative index includes the longitudinal offset and the longitudinal force arm vector corresponding to each group of propulsion cylinders; When there are 6 groups of propulsion cylinders, the initial group thrust corresponding to each group of propulsion cylinders is calculated using the following analytical formula: ； Among them, l x1 to l x6 are the lateral force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the X-axis direction, l y1 to l y6 are the longitudinal force arm vectors of each group of propulsion cylinders relative to the center of the cutter head in the Y-axis direction, F 合 is the total thrust of the oil cylinder of the roadheader, F1 to F6 are the initial group thrusts corresponding to each group of propulsion cylinders, is the lateral offset, is the longitudinal offset; The target thrust of each group of propulsion cylinders in the partition is calculated using the following analytical formula: ； ； Among them, r1 to r6 are the distances between each group of propulsion cylinders and the center of the cutter head on the horizontal projection plane.

3. An electronic device, characterized in that: The roadheader comprises: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to execute the executable instructions to implement the steps of the method for accurately calculating the thrust of multiple groups of cylinders in a tunnel boring machine as described in claim 1.

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