A tunneling machine intelligent cutting trajectory planning method, system, device and medium

Abstract

The application provides a tunneling machine intelligent cutting trajectory planning method, system, device and medium, and relates to the field of trajectory planning; the method comprises the following steps: constructing a three-dimensional coordinate system of a target tunneling machine and a three-dimensional coordinate system of a target roadway; acquiring the coordinates of each key point on the cutting section of the target roadway in the three-dimensional coordinate system of the target roadway, to obtain a plurality of key point coordinates; converting the plurality of key point coordinates to the base coordinate system of the target tunneling machine to obtain a plurality of converted coordinates; adopting a joint-link combination method to establish a total conversion matrix; calculating the rotation joint amount of a cutting arm rotation joint, the lifting joint amount of a cutting arm lifting joint and the extension joint amount of a cutting arm extension joint according to the plurality of converted coordinates and the total conversion matrix; determining the swing trajectory of the cutting arm of the target tunneling machine in the target roadway according to the rotation joint amount, the lifting joint amount and the extension joint amount, and cutting the target roadway according to the swing trajectory by the cutting head; and the application can improve the tunneling efficiency.

Description

Technical Field

[0001] This invention relates to the field of trajectory planning, and in particular to a method, system, equipment and medium for intelligent cutting trajectory planning of tunneling machines. Background Technology

[0002] Underground tunneling in coal mines is mostly accomplished using cantilever roadheaders and their auxiliary equipment. In recent years, with the deep integration of information technology and coal mining-related professions, advanced production concepts such as reduced manpower, unmanned operation, robotics, and intelligentization have been rapidly promoted in the coal industry, leading to increasingly higher levels of automation for cantilever roadheaders. Among these, automatic cutting trajectory planning and tracking control of the roadheader is a crucial part of intelligent tunneling. Cantilever roadheader cutting trajectory planning can be broadly categorized into two types: one is global path planning based on complete prior environmental information, also known as static or offline planning; the other is local path planning based on real-time sensor information, also known as dynamic or online path planning.

[0003] Currently, most automatic cutting trajectory planning for cantilever tunneling machines only plans for the lifting and slewing joints. They do not consider the impact of actual tunnel excavation on the quality of tunnel forming due to factors such as the quality of the tunnel floor, high cutting resistance causing machine slippage and lateral deviation, or changes in the position of the tunneling machine during control. Furthermore, the cut tunnel cross-section is not a regular and flat cross-section, which greatly affects the support work and requires manual re-adjustment, seriously affecting the tunneling efficiency. Summary of the Invention

[0004] The purpose of this invention is to provide a method, system, equipment, and medium for intelligent cutting trajectory planning of tunneling machines to improve tunneling efficiency.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] A method for intelligent cutting trajectory planning of a tunneling machine, the method comprising:

[0007] Construct a three-dimensional coordinate system for the target tunnel boring machine and a three-dimensional coordinate system for the cutting section of the target tunnel. The three-dimensional coordinate system of the target tunnel boring machine includes: the base coordinate system of the target tunnel boring machine, the coordinate system of the rotary table, the coordinate system of the cutting arm lifting joint, the coordinate system of the cutting arm telescopic joint, and the coordinate system of the cutting head. The coordinate system of the rotary table is the coordinate system of the cutting arm rotary joint.

[0008] Obtain the coordinates of each key point on the cut section in the three-dimensional coordinate system of the cut section to obtain the coordinates of multiple key points;

[0009] The coordinates of multiple key points are transformed to the target tunneling machine base coordinate system to obtain multiple transformed coordinates;

[0010] A joint-link combination method is used to establish a total transformation matrix; the total transformation matrix includes: a first transformation matrix, a second transformation matrix, a third transformation matrix, and a fourth transformation matrix; the first transformation matrix is ​​the transformation matrix between the target tunneling machine base coordinate system and the rotary table coordinate system; the second transformation matrix is ​​the transformation matrix between the rotary table coordinate system and the cutting arm lifting joint coordinate system; the third transformation matrix is ​​the transformation matrix between the cutting arm lifting joint coordinate system and the cutting arm telescopic joint coordinate system; the fourth transformation matrix is ​​the transformation matrix between the cutting arm telescopic joint coordinate system and the cutting head coordinate system.

[0011] Based on the multiple transformation coordinates and the total transformation matrix, calculate the rotational joint amount of the cutting arm rotary joint, the lifting joint amount of the cutting arm lifting joint, and the telescopic joint amount of the cutting arm telescopic joint.

[0012] The swing trajectory of the cutting arm of the target tunneling machine in the target roadway is determined based on the rotation joint amount, the lifting joint amount, and the telescopic joint amount; the cutting head cuts the target roadway according to the swing trajectory.

[0013] Optionally, the step of transforming the coordinates of the multiple key points to the target tunneling machine base coordinate system to obtain multiple transformed coordinates specifically includes:

[0014] Multiple coordinate vectors are determined based on the coordinates of the multiple key points;

[0015] Multiple transformed coordinates are determined based on multiple coordinate vectors and transformation matrices; the transformation matrix represents the transformation relationship between the coordinates of multiple key points and the base coordinate system of the target tunneling machine.

[0016] Optionally, the formula for calculating the transformation matrix is:

[0017] ;

[0018] in, This is the transformation matrix; This represents the rotation about the z-axis of the target tunneling machine's base coordinate system. Spend; This represents the rotation about the y-axis of the target tunneling machine's base coordinate system. Spend; This represents the rotation about the x-axis of the target tunneling machine's base coordinate system. Spend; This indicates the distances to be translated along the x, y, and z axes of the target tunneling machine's base coordinate system, respectively. This is the symbol for rotation transformation; This is the symbol for translation transformation.

[0019] Optionally, the formula for calculating the transformed coordinates is:

[0020] ;

[0021] ;

[0022] in, For coordinate transformation; This is the transformation matrix; Let be the keypoint coordinate vector of the j-th keypoint; The keypoint coordinates of the j-th keypoint x The vector corresponding to the axis; The keypoint coordinates of the j-th keypoint y The vector corresponding to the axis; The keypoint coordinates of the j-th keypoint z The vector corresponding to the axis; j The key point number is indicated by the superscript T, which represents the transpose transformation.

[0023] Optionally, the formula for calculating the total transformation matrix is:

[0024]

[0025] in, The transformation matrix between the target tunneling machine's base coordinate system and the rotary table's coordinate system; This is the transformation matrix between the rotary table coordinate system and the cutting arm lifting joint coordinate system; This is the transformation matrix between the lifting joint coordinate system and the telescopic joint coordinate system of the cutting arm; This is the transformation matrix between the coordinate system of the telescopic joint of the cutting arm and the coordinate system of the cutting head.

[0026] A tunneling machine intelligent cutting trajectory planning system, the system comprising:

[0027] A three-dimensional coordinate system construction module is used to construct the three-dimensional coordinate system of the target tunneling machine and the three-dimensional coordinate system of the cutting section of the target roadway; the three-dimensional coordinate system of the target tunneling machine includes: the base coordinate system of the target tunneling machine, the coordinate system of the rotary table, the coordinate system of the cutting arm lifting joint, the coordinate system of the cutting arm telescopic joint, and the coordinate system of the cutting head; the coordinate system of the rotary table is the coordinate system of the cutting arm rotary joint;

[0028] The key point coordinate acquisition module is used to acquire the coordinates of each key point on the cut section in the three-dimensional coordinate system of the cut section, thereby obtaining multiple key point coordinates.

[0029] The transformation coordinate determination module is used to transform the coordinates of multiple key points to the target tunneling machine base coordinate system to obtain multiple transformed coordinates;

[0030] The overall transformation matrix determination module is used to establish an overall transformation matrix using a joint-link combination method. The overall transformation matrix includes: a first transformation matrix, a second transformation matrix, a third transformation matrix, and a fourth transformation matrix. The first transformation matrix is ​​the transformation matrix between the target tunneling machine base coordinate system and the rotary table coordinate system. The second transformation matrix is ​​the transformation matrix between the rotary table coordinate system and the cutting arm lifting joint coordinate system. The third transformation matrix is ​​the transformation matrix between the cutting arm lifting joint coordinate system and the cutting arm telescopic joint coordinate system. The fourth transformation matrix is ​​the transformation matrix between the cutting arm telescopic joint coordinate system and the cutting head coordinate system.

[0031] The joint quantity determination module is used to calculate the rotational joint quantity of the cutting arm rotary joint, the lifting joint quantity of the cutting arm lifting joint, and the telescopic joint quantity of the cutting arm telescopic joint based on multiple transformation coordinates and the total transformation matrix.

[0032] The cutting trajectory determination module is used to determine the swing trajectory of the cutting arm of the target tunneling machine in the target roadway based on the rotation joint amount, the lifting joint amount, and the telescopic joint amount; the cutting head cuts the target roadway according to the swing trajectory.

[0033] An electronic device includes a memory and a processor, wherein the memory stores a computer program, and the processor runs the computer program to enable the electronic device to perform the intelligent cutting trajectory planning method for tunneling machines as described above.

[0034] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the intelligent cutting trajectory planning method for tunneling machines as described above.

[0035] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0036] This invention provides a method, system, device, and medium for intelligent cutting trajectory planning of a tunneling machine. The method transforms the coordinates of multiple key points to the target tunneling machine's base coordinate system, obtaining multiple transformed coordinates. Then, using a joint-link combination method, a total transformation matrix is ​​established representing the relationship between the target tunneling machine's base coordinate system, the rotary table's coordinate system, the cutting arm lifting joint's coordinate system, the cutting arm telescopic joint's coordinate system, and the cutting head's coordinate system. Based on the multiple transformed coordinates and the total transformation matrix, the rotational joint amount of the cutting arm's rotary joint, the lifting joint amount of the cutting arm's lifting joint, and the telescopic joint amount of the cutting arm's telescopic joint are calculated, thereby determining the cutting trajectory of the cutting arm driving the cutting head on the target roadway cross-section, achieving the cutting of the target roadway. This invention transforms the coordinates of each key point on the cutting section and uses a joint-link combination method to convert the three-dimensional coordinate system of each component of the tunneling machine into the base coordinate system of the target tunneling machine. This allows for comprehensive control over the spatial trajectory planning of the tunneling machine and the driving of the cutting arm, resulting in a more complete cutting section that does not require manual repair and improves tunneling efficiency. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the 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.

[0038] Figure 1 A flowchart of the intelligent cutting trajectory planning method for tunneling machines provided in an embodiment of the present invention;

[0039] Figure 2 This is a structural diagram of the intelligent cutting trajectory planning system for tunneling machines provided in an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of the three-dimensional coordinate system of the target tunneling machine provided in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of the cross-sectional trajectory of the target tunnel provided in an embodiment of the present invention.

[0042] Symbol explanation:

[0043] 3D coordinate system construction module-1, key point coordinate acquisition module-2, transformation coordinate determination module-3, total transformation matrix determination module-4, joint quantity determination module-5, tunneling trajectory determination module-6. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] The purpose of this invention is to provide a method, system, equipment, and medium for intelligent cutting trajectory planning of tunneling machines to improve tunneling efficiency.

[0046] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] Example 1

[0048] like Figure 1 As shown, this embodiment of the invention provides an intelligent cutting trajectory planning method for a tunneling machine, the method comprising:

[0049] Step 100: Construct the three-dimensional coordinate system of the target tunneling machine and the three-dimensional coordinate system of the cutting section of the target tunnel. The three-dimensional coordinate system of the target tunneling machine includes: the base coordinate system of the target tunneling machine, the coordinate system of the rotary table, the coordinate system of the cutting arm lifting joint, the coordinate system of the cutting arm telescopic joint, and the coordinate system of the cutting head. The coordinate system of the rotary table is the coordinate system of the cutting arm rotary joint.

[0050] A schematic diagram of the three-dimensional coordinate system of the target tunneling machine, as shown below. Figure 3 As shown. The target tunneling machine's frame coordinate system, i.e., its base coordinate system, is... ,origin At the center of the rotary table, The axis is perpendicular to the roof of the target tunnel and points upwards. The axis is along the direction of the target tunnel excavation. The axis is horizontal; for calculation purposes, the coordinate system of the rotary table is set to... Base coordinate system with the target tunneling machine Coincident; coordinate system The coordinate system for the lifting joint of the cutting arm. The shaft points to the right along the lifting axis. The axis is vertically upward. The axis is horizontal and forward; coordinate system Let's define the coordinate system for the telescopic joint of the cutter arm. shaft and The axes coincide and move forward. The axis is horizontal and upward. The axis points horizontally to the right; coordinate system Let the coordinate system of the cutting head be centered at the end of the cutting head. , shaft and The axes coincide and move forward. The axis is vertically upward. The axis points horizontally to the right; the coordinate system of the cut section of the target tunnel. The midpoint of the bottom line of the cross section With the origin as the point, The axis points from the bottom of the cross-section to the right side of the target tunnel. The axis coincides with the centerline of the target tunnel and faces the direction of tunnel excavation. The shaft extends vertically upwards along the centerline of the cross-section.

[0051] Step 200: Obtain the coordinates of each key point on the cut section in the three-dimensional coordinate system of the cut section, and obtain the coordinates of multiple key points.

[0052] Step 300: Transform the coordinates of multiple key points to the target tunneling machine base coordinate system to obtain multiple transformed coordinates.

[0053] Step 400: Establish the overall transformation matrix using the joint-link combination method; the overall transformation matrix includes: a first transformation matrix, a second transformation matrix, a third transformation matrix, and a fourth transformation matrix; the first transformation matrix is ​​the transformation matrix between the target tunneling machine base coordinate system and the rotary table coordinate system; the second transformation matrix is ​​the transformation matrix between the rotary table coordinate system and the cutting arm lifting joint coordinate system; the third transformation matrix is ​​the transformation matrix between the cutting arm lifting joint coordinate system and the cutting arm telescopic joint coordinate system; the fourth transformation matrix is ​​the transformation matrix between the cutting arm telescopic joint coordinate system and the cutting head coordinate system.

[0054] Step 500: Based on multiple transformation coordinates and the total transformation matrix, calculate the rotational joint amount of the cutting arm rotary joint, the lifting joint amount of the cutting arm lifting joint, and the telescopic joint amount of the cutting arm telescopic joint.

[0055] Step 600: Determine the swing trajectory of the cutting arm of the target tunneling machine in the target roadway based on the slewing joint amount, lifting joint amount, and telescopic joint amount; the cutting head cuts the target roadway according to the swing trajectory.

[0056] This involves transforming the coordinates of multiple key points to the target tunneling machine's base coordinate system, resulting in multiple transformed coordinates, specifically including:

[0057] Multiple coordinate vectors are determined based on the coordinates of multiple key points.

[0058] Multiple transformed coordinates are determined based on multiple coordinate vectors and a transformation matrix; the transformation matrix represents the transformation relationship between the coordinates of multiple key points and the base coordinate system of the target tunneling machine.

[0059] To illustrate the idea behind this trajectory planning method, this embodiment uses a rectangular tunnel cross-section as an example. The methods for cutting cross-sections of other shapes, such as semi-circular arches, circular arches, and trapezoids, are similar. Figure 4 This is a schematic diagram of the cutting cross-sectional trajectory of the target tunnel. Let the width of the rectangular tunnel be W, the height be H, the radius of the cutting head be R, the boundary threshold be T1, and the cutting depth be... d The origin of the cross-sectional coordinate system is at the center of the bottom of the roadway. Therefore, the coordinates of the key point labeled 1 on the left side and the key point labeled 5 on the right side of the cross-sectional coordinate system can be represented as follows: , , j This represents the number of key points; specifically, it can be represented as:

[0060] .

[0061] To ensure a smooth final cross-sectional trajectory, key points can be considered. and Inserting some key points between them can be represented as .like Figure 4 Key points numbered 2, 3, and 4. n The number of points to be inserted.

[0062] Then, the coordinates of all key points are transformed to the target tunneling machine base coordinate system, resulting in multiple transformed coordinates.

[0063] Specifically, the formula for calculating the transformation matrix is:

[0064] .

[0065] in, This is the transformation matrix; This represents the rotation about the z-axis of the target tunneling machine's base coordinate system. Spend; This represents the rotation about the y-axis of the target tunneling machine's base coordinate system. Spend; This represents the rotation about the x-axis of the target tunneling machine's base coordinate system. Spend; This indicates the distances to be translated along the x, y, and z axes of the target tunneling machine's base coordinate system, respectively. This is the symbol for rotation transformation; This is the symbol for translation transformation.

[0066] The parameters mentioned above, such as translation distance and rotation angle, can be obtained by measuring the position and orientation of the target tunneling machine.

[0067] Furthermore, the formula for calculating the transformed coordinates is:

[0068] .

[0069] .

[0070] in, For coordinate transformation; This is the transformation matrix; Let be the keypoint coordinate vector of the j-th keypoint; The keypoint coordinates of the j-th keypoint x The vector corresponding to the axis; The keypoint coordinates of the j-th keypoint y The vector corresponding to the axis; The keypoint coordinates of the j-th keypoint z The vector corresponding to the axis; j The key point number is indicated by the superscript T, which represents the transpose transformation.

[0071] The formula for calculating the total transformation matrix is:

[0072] .

[0073] in, The transformation matrix between the target tunneling machine's base coordinate system and the rotary table's coordinate system; This is the transformation matrix between the rotary table coordinate system and the cutting arm lifting joint coordinate system; This is the transformation matrix between the lifting joint coordinate system and the telescopic joint coordinate system of the cutting arm; This is the transformation matrix between the coordinate system of the telescopic joint of the cutting arm and the coordinate system of the cutting head.

[0074] Therefore, by performing a formal transformation on the total transformation matrix, we can obtain:

[0075] (1)

[0076] (2)

[0077] in: , , , , , , , , These are spatial rotation operators; , , These are spatial translation operators; , , , and These are all linkage parameters of the target tunneling machine; , and For the joint variables of the cutting arm of the tunneling machine.

[0078] Then, to solve the problem, first multiply both sides of the above formula by... get:

[0079] (3)

[0080] Simplifying the obtained formula, we get:

[0081] (4)

[0082] (5)

[0083] Then multiply equation (3) on the left. get:

[0084] (6)

[0085] Simplifying equation (6) yields:

[0086] (7)

[0087] When the cutting arm is in the zero position (the cutting arm is horizontally centered), the coordinate system of the cutting arm lifting joint revolves around... The rotation angle is That is, when When equal to 0, and The included angle between them is Therefore, the simplified expression (7) is:

[0088] (8)

[0089] Three custom variable parameters: k 1. k 2 and k 3.

[0090] Assumption:

[0091] .

[0092] Combine equation (8) with Perform a simultaneous equation, that is:

[0093] (9)

[0094] Simplify equation (9):

[0095] (10)

[0096] because , The tunnel boring machine's lifting angle is Between, that is:

[0097] (11)

[0098] The expansion / contraction amount can then be calculated as follows:

[0099] (12)

[0100] The transformed coordinates corresponding to the key point coordinates obtained in the target tunneling machine base coordinate system Substituting these values ​​into equations (5), (11), and (12), the joint quantities corresponding to each key point can be calculated.

[0101] Furthermore, to ensure a continuous and smooth cutting trajectory, the trajectory of each joint of the tunnel boring machine's cutting arm is planned using a multi-segment cubic polynomial by matching the velocity and acceleration of the moving segment positions. The cubic polynomial is defined as follows:

[0102] .

[0103] in, There are four unknown parameters; For time; A cubic polynomial for trajectory planning.

[0104] When the cutting arm is swinging vertically (e.g.) Figure 4 Points 5 and 6 in the diagram are not key points because the lifting distance is small. It is assumed that the cutting arm is at the key point during horizontal swing. and By inserting three key points, the time can be divided into four evenly spaced periods. Therefore, the trajectory of a multi-segment cubic polynomial motion and its derivative can be expressed as:

[0105] .

[0106] In the formula These represent angle, angular velocity, and angular acceleration, respectively. Indicates the time of each motion segment; This represents an unknown coefficient.

[0107] Rewrite the above equation in matrix form:

[0108] .

[0109] It can be represented as:

[0110] .

[0111] or:

[0112] .

[0113] The coordinates of the key points are obtained using equations (4), (10), and (11), along with the given time for each motion segment. Substitute into the above formula to calculate All unknown coefficients can be obtained. Therefore, the movement position of each joint at any time can be obtained, and then the hydraulic cylinder is driven by the controller to perform the cross-section cutting work.

[0114] Example 2

[0115] like Figure 2 As shown, this embodiment of the invention provides an intelligent cutting trajectory planning system for a tunneling machine. The system includes: a three-dimensional coordinate system construction module 1, a key point coordinate acquisition module 2, a transformation coordinate determination module 3, a total transformation matrix determination module 4, a joint quantity determination module 5, and a tunneling trajectory determination module 6.

[0116] Module 1, the 3D coordinate system construction module, is used to construct the 3D coordinate system of the target tunneling machine and the 3D coordinate system of the cutting section of the target tunnel. The 3D coordinate system of the target tunneling machine includes: the base coordinate system of the target tunneling machine, the coordinate system of the rotary table, the coordinate system of the cutting arm lifting joint, the coordinate system of the cutting arm telescopic joint, and the coordinate system of the cutting head. The coordinate system of the rotary table is the coordinate system of the cutting arm rotary joint.

[0117] Key point coordinate acquisition module 2 is used to acquire the coordinates of each key point on the cut section in the three-dimensional coordinate system of the cut section, thus obtaining multiple key point coordinates.

[0118] The transformation coordinate determination module 3 is used to transform the coordinates of multiple key points to the target tunneling machine base coordinate system to obtain multiple transformed coordinates.

[0119] The overall transformation matrix determination module 4 is used to establish the overall transformation matrix using a joint-link combination method. The overall transformation matrix includes: a first transformation matrix, a second transformation matrix, a third transformation matrix, and a fourth transformation matrix. The first transformation matrix is ​​the transformation matrix between the target tunneling machine base coordinate system and the rotary table coordinate system. The second transformation matrix is ​​the transformation matrix between the rotary table coordinate system and the cutting arm lifting joint coordinate system. The third transformation matrix is ​​the transformation matrix between the cutting arm lifting joint coordinate system and the cutting arm telescopic joint coordinate system. The fourth transformation matrix is ​​the transformation matrix between the cutting arm telescopic joint coordinate system and the cutting head coordinate system.

[0120] The joint quantity determination module 5 is used to calculate the rotational joint quantity of the cutting arm rotary joint, the lifting joint quantity of the cutting arm lifting joint, and the telescopic joint quantity of the cutting arm telescopic joint based on multiple transformation coordinates and the total transformation matrix.

[0121] The cutting trajectory determination module 6 is used to determine the swing trajectory of the cutting arm of the target tunneling machine in the target roadway based on the rotation joint amount, lifting joint amount and telescopic joint amount; the cutting head cuts the target roadway according to the swing trajectory.

[0122] Example 3

[0123] This embodiment provides an electronic device, including a memory and a processor. The memory is used to store computer programs, and the processor runs the computer programs to enable the electronic device to execute the intelligent cutting trajectory planning method for tunneling machines in Embodiment 1.

[0124] Alternatively, the aforementioned electronic device may be a server.

[0125] In addition, this embodiment of the invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the intelligent cutting trajectory planning method for tunneling machines of embodiment 1.

[0126] The beneficial effects of this invention are:

[0127] 1. The trajectory planning simultaneously considered the three joints of the tunneling machine's cutting arm and performed spatial trajectory planning for these three joints, achieving synchronous drive of the three joints. The three joints are the rotary joint, the telescopic joint, and the lifting joint.

[0128] 2. The cross-sectional shape obtained from the planning is a flat rectangular cross-section, which is beneficial to the roadway support work.

[0129] 3. It solves the problem of incomplete tunnel cross-section formation caused by the extension and retraction of the cutting head during automatic cutting of tunneling machines, and reduces the workload of workers and improves the efficiency of tunneling machines.

[0130] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple; relevant parts can be referred to the method section.

[0131] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for intelligent cutting trajectory planning of a tunneling machine, characterized in that, The method includes: Construct a three-dimensional coordinate system for the target tunnel boring machine and a three-dimensional coordinate system for the cutting section of the target tunnel. The three-dimensional coordinate system of the target tunnel boring machine includes: the base coordinate system of the target tunnel boring machine, the coordinate system of the rotary table, the coordinate system of the cutting arm lifting joint, the coordinate system of the cutting arm telescopic joint, and the coordinate system of the cutting head. The coordinate system of the rotary table is the coordinate system of the cutting arm rotary joint. Obtain the coordinates of each key point on the cut section in the three-dimensional coordinate system of the cut section to obtain the coordinates of multiple key points; The coordinates of multiple key points are transformed to the target tunneling machine base coordinate system to obtain multiple transformed coordinates; A joint-link combination method is used to establish a total transformation matrix; the total transformation matrix includes: a first transformation matrix, a second transformation matrix, a third transformation matrix, and a fourth transformation matrix; the first transformation matrix is ​​the transformation matrix between the target tunneling machine base coordinate system and the rotary table coordinate system; the second transformation matrix is ​​the transformation matrix between the rotary table coordinate system and the cutting arm lifting joint coordinate system; the third transformation matrix is ​​the transformation matrix between the cutting arm lifting joint coordinate system and the cutting arm telescopic joint coordinate system; the fourth transformation matrix is ​​the transformation matrix between the cutting arm telescopic joint coordinate system and the cutting head coordinate system. Based on the multiple transformation coordinates and the total transformation matrix, calculate the rotational joint amount of the cutting arm rotary joint, the lifting joint amount of the cutting arm lifting joint, and the telescopic joint amount of the cutting arm telescopic joint. The swing trajectory of the cutting arm of the target tunneling machine in the target roadway is determined based on the rotation joint amount, the lifting joint amount, and the telescopic joint amount; the cutting head cuts the target roadway according to the swing trajectory.

2. The intelligent cutting trajectory planning method for tunneling machines according to claim 1, characterized in that, The process of transforming the coordinates of multiple key points to the target tunneling machine base coordinate system to obtain multiple transformed coordinates specifically includes: Multiple coordinate vectors are determined based on the coordinates of the multiple key points; Multiple transformed coordinates are determined based on multiple coordinate vectors and transformation matrices; the transformation matrix represents the transformation relationship between the coordinates of multiple key points and the base coordinate system of the target tunneling machine.

3. The intelligent cutting trajectory planning method for tunneling machines according to claim 2, characterized in that, The formula for calculating the transformation matrix is: ； in, This is the transformation matrix; This represents the rotation about the z-axis of the target tunneling machine's base coordinate system. Spend; This represents the rotation about the y-axis of the target tunneling machine's base coordinate system. Spend; This represents the rotation about the x-axis of the target tunneling machine's base coordinate system. Spend; This indicates the distances to be translated along the x, y, and z axes of the target tunneling machine's base coordinate system, respectively. This is the symbol for rotation transformation; This is the symbol for translation transformation.

4. The intelligent cutting trajectory planning method for tunneling machines according to claim 2, characterized in that, The formula for calculating the transformed coordinates is: ； ； in, For coordinate transformation; This is the transformation matrix; Let be the keypoint coordinate vector of the j-th keypoint; The keypoint coordinates of the j-th keypoint x The vector corresponding to the axis; The keypoint coordinates of the j-th keypoint y The vector corresponding to the axis; The keypoint coordinates of the j-th keypoint z The vector corresponding to the axis; j The key point number is indicated by the superscript T, which represents the transpose transformation.

5. The intelligent cutting trajectory planning method for tunneling machines according to claim 1, characterized in that, The formula for calculating the total transformation matrix is ​​as follows: ； in, The transformation matrix between the target tunneling machine's base coordinate system and the rotary table's coordinate system; This is the transformation matrix between the rotary table coordinate system and the cutting arm lifting joint coordinate system; This is the transformation matrix between the lifting joint coordinate system and the telescopic joint coordinate system of the cutting arm; This is the transformation matrix between the coordinate system of the telescopic joint of the cutting arm and the coordinate system of the cutting head.

6. A tunneling machine intelligent cutting trajectory planning system, characterized in that, The system includes: A three-dimensional coordinate system construction module is used to construct the three-dimensional coordinate system of the target tunneling machine and the three-dimensional coordinate system of the cutting section of the target roadway; the three-dimensional coordinate system of the target tunneling machine includes: the base coordinate system of the target tunneling machine, the coordinate system of the rotary table, the coordinate system of the cutting arm lifting joint, the coordinate system of the cutting arm telescopic joint, and the coordinate system of the cutting head; the coordinate system of the rotary table is the coordinate system of the cutting arm rotary joint; The key point coordinate acquisition module is used to acquire the coordinates of each key point on the cut section in the three-dimensional coordinate system of the cut section, thereby obtaining multiple key point coordinates. The transformation coordinate determination module is used to transform the coordinates of multiple key points to the target tunneling machine base coordinate system to obtain multiple transformed coordinates; The overall transformation matrix determination module is used to establish an overall transformation matrix using a joint-link combination method. The overall transformation matrix includes: a first transformation matrix, a second transformation matrix, a third transformation matrix, and a fourth transformation matrix. The first transformation matrix is ​​the transformation matrix between the target tunneling machine base coordinate system and the rotary table coordinate system. The second transformation matrix is ​​the transformation matrix between the rotary table coordinate system and the cutting arm lifting joint coordinate system. The third transformation matrix is ​​the transformation matrix between the cutting arm lifting joint coordinate system and the cutting arm telescopic joint coordinate system. The fourth transformation matrix is ​​the transformation matrix between the cutting arm telescopic joint coordinate system and the cutting head coordinate system. The joint quantity determination module is used to calculate the rotational joint quantity of the cutting arm rotary joint, the lifting joint quantity of the cutting arm lifting joint, and the telescopic joint quantity of the cutting arm telescopic joint based on multiple transformation coordinates and the total transformation matrix. The cutting trajectory determination module is used to determine the swing trajectory of the cutting arm of the target tunneling machine in the target roadway based on the rotation joint amount, the lifting joint amount, and the telescopic joint amount; the cutting head cuts the target roadway according to the swing trajectory.

7. An electronic device, characterized in that, The device includes a memory and a processor, the memory being used to store a computer program, and the processor running the computer program to enable the electronic device to perform the intelligent cutting trajectory planning method for tunneling machines as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, It stores a computer program that, when executed by a processor, implements the intelligent cutting trajectory planning method for tunneling machines as described in any one of claims 1 to 5.

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