Electromagnetic gun automatic rock breaking system and rock breaking method

Abstract

The application relates to the technical field of geotechnical engineering, and provides an electromagnetic gun automatic rock breaking system and a rock breaking method, which comprise a rock breaking device and a system processor; the rock breaking device comprises a walking vehicle frame, a positioning device, an adjusting mechanical arm, an electromagnetic gun and a scanning device; the scanning device is used for scanning a rock mass to collect image information and spatial position information of the rock mass; the system processor comprises a excavation contour lofting module, a hard rock breaking point analysis and positioning module and an electromagnetic gun control and launching module; the excavation contour lofting module is used for obtaining excavation face contour information; the hard rock breaking point analysis and positioning module is used for determining a to-be-broken area on the excavation face and a to-be-breaking point position. The application can realize automatic identification of hard rock cracks, analysis of a to-be-broken area, automatic positioning of the electromagnetic gun for rock breaking, avoids a slow process of manual analysis and rock breaking, effectively improves the processing efficiency of the hard rock, improves the excavation efficiency of the hard rock, is intelligent and efficient, can reduce the wear of excavation equipment, and reduces the cost.

Description

Technical Field

[0001] This invention belongs to the field of geotechnical engineering technology, specifically relating to an electromagnetic railgun automatic rock-breaking identification system and rock-breaking method. Background Technology

[0002] With the development of society and the economy, the construction of highways, tunnels, and urban underground spaces has also developed rapidly. However, encountering hard rock masses during these constructions directly leads to a sharp decline in construction efficiency and a dramatic increase in construction costs, hindering project implementation. In traditional geotechnical construction, tunnel boring machines (TBMs) can be used to excavate hard rock masses. However, in practical applications, when encountering high-strength, high-constancy rock masses such as granite, the wear and tear on the cutterhead is high, resulting in low excavation efficiency and poor performance. In highway engineering and underground space construction, manual labor combined with machinery is often used, but this is very inefficient. Blasting may be used, but this requires high technical skills, is subject to environmental limitations, and carries high safety risks.

[0003] Research into the challenges of excavating hard rock masses has led to the application of high-speed electromagnetic launchers, i.e., electromagnetic guns (existing technology), to rock breaking. The principle is to use the electromagnetic force generated instantaneously by energizing a coil to propel a metal projectile rapidly towards the gun barrel, effectively breaking hard rock. However, in actual construction, electromagnetic guns require manual movement and aiming, making operation complex and inefficient. Determining the breaking point relies on manual methods and requires marking on the excavation surface for aiming, a cumbersome process lacking automation and intelligence, resulting in low construction efficiency. Summary of the Invention

[0004] To address the problems in the existing technology, this invention proposes an automatic identification and rock-breaking system and method for electromagnetic guns. This system can automatically identify cracks in hard rock, analyze the area to be broken, and automatically determine the location of the breaking point in the rock mass. Simultaneously, it adjusts the angle of the electromagnetic gun based on the breaking point location information. This effectively solves the slow process of manually analyzing and operating the electromagnetic gun for rock breaking, significantly improving the processing efficiency of hard rock and increasing the efficiency of hard rock excavation. It is intelligent and efficient, reducing wear and tear on excavation equipment and lowering costs.

[0005] In a first aspect, the present invention proposes an electromagnetic gun automatic identification rock-breaking system, comprising a rock-breaking device and a system processor connected by phase electrical signals; the system processor includes an excavation contour setting-out module, a hard rock breaking point analysis and positioning module, and an electromagnetic gun control and firing module; The rock-breaking equipment includes a traveling frame and a positioning device and an adjusting robotic arm mounted on the traveling frame; the rock-breaking equipment also includes an electromagnetic gun and a scanning device mounted on the adjusting robotic arm; the electromagnetic gun includes a high-speed electromagnetic launcher and a laser positioning device; the scanning device is used to scan the rock mass to collect image information and spatial location information of the rock mass; the positioning device is used to obtain the location information of the rock-breaking equipment; The excavation contour layout module is used to map the tunnel design information to a spatial coordinate system formed by associating the position information of the rock breaking equipment and the spatial position information collected by the scanning device, and to obtain the excavation face contour information according to the position of the excavation face. The hard rock fracture point analysis and positioning module is used to identify cracks based on the image information collected by the scanning device, determine the fractured area on the excavation surface according to the first preset condition, determine the location information of the fractured area in combination with the spatial coordinate system, and determine the area to be fractured and the location of the fracture point on the excavation surface according to the second preset condition. The electromagnetic gun control and launch module is used to send adjustment commands to the adjustment robotic arm according to the determined location of the target point to adjust the position and launch angle of the electromagnetic gun so that the electromagnetic gun aims at the target point, and send a launch command to the high-speed electromagnetic launcher so that the high-speed electromagnetic launcher launches the projectile to break the rock.

[0006] Furthermore, the adjusting robotic arm includes a rotating device disposed at its front end and a hydraulic support disposed on the rotating device; the hydraulic support is connected to the electromagnetic gun.

[0007] Furthermore, the system processor also includes a security approval module, which has a built-in identity verification unit for confirming the launch command; the security approval module is also electrically connected to the electromagnetic gun control and launch module.

[0008] Furthermore, the adjusting robotic arm is also equipped with a lighting device.

[0009] Secondly, the present invention also proposes an automatic rock-breaking identification method for electromagnetic railguns, which employs the aforementioned automatic rock-breaking identification system for electromagnetic railguns and includes the following steps: The location information of the rock-breaking equipment is obtained by using the positioning device of the rock-breaking equipment; the scanning device of the rock-breaking equipment is used to scan the rock mass to collect image information and spatial location information of the rock mass; Using the excavation contour layout module of the system processor, the tunnel design information is mapped to a spatial coordinate system formed by associating the position information of the rock breaking equipment and the spatial position information collected by the scanning device, and the excavation face contour information is obtained according to the position of the excavation face. Using the hard rock break point analysis and positioning module of the system processor, cracks are identified based on the image information collected by the scanning device. According to the first preset condition, the broken area on the excavation surface is determined. Combined with the spatial coordinate system, the location information of the broken area is determined. And according to the second preset condition, the area to be broken and the location of the break point on the excavation surface are determined. The electromagnetic gun control and firing module of the system processor sends adjustment commands to the adjustment robotic arm according to the determined location of the target point to adjust the position and firing angle of the electromagnetic gun so that the electromagnetic gun aims at the target point and sends a firing command to the high-speed electromagnetic launcher to launch the projectile to break the rock.

[0010] Furthermore, the step of identifying cracks and determining the fractured area on the excavation surface based on a first preset condition includes: The influence distance D of the crack is preset. Based on the identified crack, the area of ​​the crack and its surrounding distance D on the excavation surface is determined as the broken area on the excavation surface.

[0011] Furthermore, the step of determining the area to be broken and the location of the breaking point on the excavation surface according to the second preset condition includes: Based on the determined excavation face outline and the fractured area, multiple inscribed circles are drawn from the outside to the center within the excavation face outline, and the radius of the inscribed circle is greater than or equal to a preset radius R0. The area covered by the inscribed circle is set as the area to be fractured. Based on the size of the area to be fractured, one or more fracture points are delineated within the area to be fractured, and the corresponding fracture point positions and their coordinate information are generated in conjunction with the spatial coordinate system.

[0012] Furthermore, the step of determining the area to be broken and the location of the breaking point on the excavation surface according to the second preset condition includes: Based on the determined excavation face outline and the fractured area, multiple inscribed circles are drawn from the center to the periphery within the excavation face outline, and the radius of the inscribed circle is a preset radius R0. The area covered by the inscribed circle is set as the area to be fractured, and the center of the area to be fractured is set as the point to be fractured. Combined with the spatial coordinate system, the corresponding position of the point to be fractured and its coordinate information are generated.

[0013] Furthermore, the step of determining the area to be broken and the location of the breaking point on the excavation surface according to the second preset condition includes: A square grid with a preset side length of B is used to mesh the determined excavation face outline. If there is no broken area in the grid, or the area of ​​the broken area in the grid is less than 1 / 8 of the area of ​​the grid, then the grid is set as the area to be broken. The center of the grid is set as the point to be broken, and the corresponding point to be broken and its coordinate information are generated in combination with the spatial coordinate system.

[0014] Furthermore, the step of determining the area to be broken and the location of the breaking point on the excavation surface according to the second preset condition includes: Based on the tunnel design information and the excavation face outline, a CAD drawing containing the locations of the points to be broken is drawn. The CAD drawing is then imported into the system processor, and combined with the spatial coordinate system, the corresponding locations of the points to be broken and their coordinate information are generated.

[0015] The beneficial effects of this invention include: obtaining the excavation face contour information based on the location of the excavation face through the excavation contour layout module; analyzing image information through the hard rock breaking point analysis and positioning module to identify cracks and determine the breaking area of ​​the excavation face, thereby determining the area to be broken and the breaking point; and using an electromagnetic gun to aim at the location of the breaking point. In rock and soil excavation, when encountering difficulties in excavating hard rock, this system and method can automatically identify hard rock cracks, analyze the area to be broken, and automatically position the electromagnetic gun for rock breaking, avoiding the slow process of manual analysis and rock breaking, effectively improving the processing efficiency of hard rock, increasing the efficiency of hard rock excavation, and reducing wear and tear on excavation equipment, thus lowering costs. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the rock-breaking equipment in the electromagnetic gun automatic identification rock-breaking system of the present invention.

[0017] Figure 2 This is a schematic diagram of the system processor of the rock-breaking system of the present invention.

[0018] Figure 3 for Figure 1 A partially enlarged schematic diagram of a medium-sized rock-breaking device.

[0019] Figure 4 This is a schematic diagram of the excavation surface outline and crack structure of the present invention.

[0020] Figure 5 for Figure 4 A schematic diagram of the fractured region determined by the crack.

[0021] Figure 6 for Figure 5 A schematic diagram of one method for determining the area to be crushed on the excavation surface.

[0022] Figure 7 for Figure 6A schematic diagram showing the location of the breakable point in the breakable area.

[0023] Figure 8 for Figure 7 A schematic diagram showing the locations of the crushing points in crushing zones of different radii.

[0024] Figure 9 for Figure 5 A schematic diagram of another method for determining the area to be crushed on the excavation surface.

[0025] Figure 10 for Figure 5 A schematic diagram of another method for determining the area to be crushed on the excavation surface.

[0026] Figure 11 This is a schematic diagram illustrating the adjustment of the firing position of the electromagnetic railgun of the present invention.

[0027] Figure 12 This is a schematic diagram of adjusting the firing angle of the electromagnetic gun of the present invention.

[0028] Figure 13 This is a schematic diagram of the data processing flow of the system processor of the present invention.

[0029] Figure 14 This is a logical schematic diagram of a method for determining the area to be broken on the excavation surface according to the present invention.

[0030] In the diagram: 1-Electromagnetic gun; 101-High-speed electromagnetic launcher; 102-Electromagnetic gun barrel; 103-Laser locator; 104-Hydraulic support; 105-Rotating device; 2-Traveling frame; 201-Positioning device; 3-Adjusting robotic arm; 4-Scanning device; 5-Lighting device; 6-System processor; 601-Visual interface; 7-Excavation face outline; 8-Joints and some cracks; 801-Layering cracks; 9-Fracturing area; 10-Area to be fractured; 11-Electromagnetic gun firing point position; 12-Point to be broken. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1 To be continued Figure 14 The present invention will be further described in detail with reference to specific embodiments.

[0032] like Figure 1 , 2 As shown in Figure 3, the present invention proposes an automatic rock-breaking identification system for electromagnetic guns, which includes a rock-breaking device and a system processor 6 connected by phase electrical signals.

[0033] This embodiment takes tunnel rock mass excavation as an example, but it is not limited to this form. It can also be used for hard rock mass excavation in other fields, such as highway engineering and foundation pit engineering.

[0034] The rock-breaking equipment includes a traveling frame 2 and a positioning device 201 and an adjusting mechanical arm 3 mounted on the traveling frame 2; the rock-breaking equipment also includes an electromagnetic gun 1 and a scanning device 4 mounted on the adjusting mechanical arm 3; the electromagnetic gun 1 includes a high-speed electromagnetic transmitter 101 and a laser locator 103, and the scanning device 4 is used to scan the rock mass to collect image information and spatial location information of the rock mass.

[0035] The positioning device 201 is used to acquire the location information of the rock-breaking equipment. A 4G signal is installed inside the tunnel. The initial reference point set outside the tunnel is used to establish a positional relationship with the positioning device 201, so as to determine the position of the rock-breaking equipment in the tunnel in real time. The scanned spatial position information is correlated through the positioning device 201 to form an overall spatial coordinate system.

[0036] The traveling frame 2 serves as the carrier for the movement of the electromagnetic gun 1. Using the positioning device 201 and an initial reference point outside the tunnel, the positions of the traveling frame 2 and the electromagnetic gun 1 within the tunnel can be automatically determined. The adjusting robotic arm 3 not only enables the installation of the electromagnetic gun 1 on the traveling frame 2 but also allows for omnidirectional movement and adjustment of the electromagnetic gun 1's position.

[0037] Electromagnetic Railgun 1 uses electromagnetic acceleration to launch high-speed projectiles to break up hard rock masses.

[0038] The adjusting robotic arm 3 is also equipped with a lighting device 5, which can also be called a supplementary lighting device. The lighting device 5, the electromagnetic gun 1, and the scanning device 4 are all located at the front end of the adjusting robotic arm 3, facing the excavation face of the rock mass. The lighting device 5 can provide supplementary lighting to the front excavation face to ensure the image acquisition effect.

[0039] Combined with appendix Figure 13 As shown, the system processor 6 includes an excavation contour layout module, a hard rock fracture point analysis and positioning module, and an electromagnetic gun 1 control and firing module. In some embodiments, the system processor 6 also includes a crack scanning and identification module; in fact, the processor built into the scanning device 4 can be regarded as the crack scanning and identification module. The scanning device 4 in this embodiment uses a binocular high-precision camera. Of course, the scanning device 4 can be installed not only on the adjusting robotic arm 3, but also on other mechanical equipment used for tunnel excavation.

[0040] The excavation contour layout module maps tunnel design information to a spatial coordinate system formed by associating the location information of the rock-breaking equipment and the spatial location information collected by the scanning device 4, and obtains the excavation face contour 7 information based on the location of the excavation face. The excavation face contour 7 information includes the tunnel's excavation face contour 7 and the corresponding coordinate information. The excavation contour layout module is also used to perform layout and marking on the excavation face using the laser positioning instrument 103.

[0041] In this example, as Figure 4As shown, the tunnel excavation face is used as the XOZ coordinate system and the tunnel excavation direction is used as the Y-axis to form a spatial coordinate system. The tunnel excavation face contour 7 is composed of multiple curves to form coordinate positions. The curves of the excavation face contour 7 are marked on the rock surface by laser points and manually marked to determine the on-site excavation face contour 7.

[0042] The hard rock fracture point analysis and positioning module is used to identify cracks based on the image information collected by the scanning device 4, determine the fractured area 9 on the excavation surface according to the first preset condition, determine the location information of the fractured area 9 in combination with the spatial coordinate system, and determine the area to be fractured 10 and the location of the fracture point 12 on the excavation surface according to the second preset condition.

[0043] Among them, cracks such as Figure 4 As shown, the cracks include bedding cracks 801, joint fissures, and partial cracks 8. The hard rock fracture point analysis and positioning module identifies the mixing ratio of the three visible light spectrums in each pixel of the image based on the collected rock layer image information (i.e., the image information collected by the scanning device 4), performs image preprocessing, and automatically analyzes and detects the bedding cracks 801, joint fissures, and partial cracks 8 of the rock mass.

[0044] like Figure 5 As shown, the hard rock fracture point analysis and positioning module, based on the determined excavation face outline 7 and the location information of the fracture, determines that the area around the fracture at a distance D is the fractured area 9 in the determined XOZ coordinate system.

[0045] In this example, the perimeter distance D is set to 200mm. The location of the crack is determined, and the curve equation is generated: F i (x, z)=0, i=1, 2, 3...n; x∈ψ In the formula, i is the index of the crack curve, and ψ is the range of the curve.

[0046] Regarding the location of the fracture point, the hard rock fracture point analysis and location module provides three methods: automatic analysis and location, manual selection, and importing the fracture point location. The automatic analysis and location method will be described in detail in the subsequent section of this invention.

[0047] The manual selection and confirmation of breakpoint locations is mainly used when encountering isolated boulders, excavated rock surfaces with significant protrusions, or when additional breaking is needed in specific areas. It allows for quick manual determination of breakpoint locations to facilitate rock breaking. (See attached document.) Figure 3 As shown, the system processor 6 has a visual interface 601 and corresponding operation buttons. The visual interface 601 can display the excavation face outline 7, and the operation buttons can be used to select the breaking point location within the excavation face outline 7 area to achieve manual selection and confirmation of the breaking point location.

[0048] The import of breakpoint locations is mainly used for tunnels with minimal geological changes, enabling rapid hard rock fracturing in a standardized manner. Based on the tunnel design information and the excavation face outline 7, a CAD drawing containing the breakpoint locations 12 is created. This CAD drawing is then imported into the system processor 6, and combined with the spatial coordinate system, the corresponding breakpoint locations 12 and their coordinate information are generated.

[0049] The system processor 6 also includes a security approval module, which has a built-in identity verification unit for confirming the launch command; the security approval module is also electrically connected to the electromagnetic gun 1 control launch module.

[0050] After determining the rock-breaking point location, on-site personnel submit a rock-breaking request. Simultaneously, the rock-breaking information (including the location to be broken, point 12, and its coordinates) is transmitted to the mobile apps of the safety director and project manager. These apps are wirelessly connected to the safety approval module. After dual approval by the safety director and project manager, on-site operators and management personnel use dual fingerprint authentication to unlock the device. This involves using an identity verification unit to verify the identity of relevant personnel and confirm the launch command. Once identity verification is successful, the confirmed launch command is sent to the electromagnetic railgun 1 control launch module, which then executes the rock-breaking operation.

[0051] The electromagnetic gun 1 control and launch module is used to send adjustment commands to the adjustment robotic arm 3 according to the determined target location 12 and the received launch command to adjust the position and launch angle of the electromagnetic gun 1 so that the electromagnetic gun 1 aims at the target location 12, and send a launch command to the electromagnetic launcher so that the electromagnetic launcher launches the projectile to break the rock.

[0052] The adjusting robotic arm 3 includes a rotating device 105 disposed at its front end and a hydraulic support 104 disposed on the rotating device 105; the hydraulic support 104 is connected to the electromagnetic gun 1.

[0053] In this embodiment, the electromagnetic gun 1 control and launching module is mainly a high-speed electromagnetic launching device, which can launch ultra-high-speed projectiles at the rock mass via high-speed electromagnetic propulsion to achieve the fracturing of hard rock. A laser positioning device 103 is installed at the front end of the electromagnetic gun 1, which can automatically determine the inclination angle of the electromagnetic gun 1 and the distance to the rock surface; combined with the attached... Figure 7 As shown, the laser positioning device 103 can leave red light spots (x0, z0) on the rock surface, indicating the current aiming position of the electromagnetic gun 1, that is, the electromagnetic gun firing point position 11.

[0054] Based on its own position and the coordinate information of the point to be breached 12 of the hard rock, the electromagnetic gun 1 automatically determines the point to be breached 12 (x) closest to the aiming position of the electromagnetic gun 1 (i.e., the electromagnetic gun firing point position 11). min , z min ).

[0055] j=1,2,3…n

[0056] In the formula, S min This is the distance to the nearest point to be breached from the aiming part of the electromagnetic gun 1.

[0057] The electromagnetic gun 1 is mounted on the adjusting robotic arm 3 of the mechanical equipment via a hydraulic support 104 and a rotating device 105, allowing for omnidirectional adjustment in height, left and right, and angle. Based on the nearest target location 12, a hydraulic drive signal is generated. The position is first adjusted via the adjusting robotic arm 3, then fine-tuned by the electromagnetic gun 1. After aiming at the target location 12, the projectile is launched to break the hard rock. In this example, as... Figure 11-12 As shown, C is the location of the electromagnetic gun 1. Based on the information of the location 12 of the point to be breached, the equipment adjustment drive signal is generated. First, the position is adjusted by the adjustment mechanical arm 3 installed on the electromagnetic gun 1, so that the firing point B1 is moved to the point to be breached A1. Then, the hydraulic support 104 and the rotating device 105 make fine angle adjustments so that the electromagnetic gun 1 automatically aims at the point to be breached.

[0058] When aiming at the target point 12, the electromagnetic gun barrel 102 is perpendicular to the rock surface at the target point 12, with the angle controlled at 85°~95° to avoid projectile ejection.

[0059] Based on the same inventive concept, this invention also proposes an automatic rock-breaking identification method for an electromagnetic gun 1, which is implemented using an automatic rock-breaking identification system for the electromagnetic gun 1, and includes the following steps: The location information of the rock-breaking equipment is obtained by the positioning device 201 of the rock-breaking equipment; the scanning device 4 of the rock-breaking equipment is used to scan the rock mass to collect image information and spatial location information of the rock mass. Using the excavation contour layout module of the system processor 6, the tunnel design information is mapped to a spatial coordinate system formed by associating the position information of the rock breaking equipment and the spatial position information collected by the scanning device 4, and the excavation face contour 7 information is obtained according to the position of the excavation face. Using the hard rock breaking point analysis and positioning module of the system processor 6, the crack is identified based on the image information collected by the scanning device 4. According to the first preset condition, the broken area 9 on the excavation surface is determined. Combined with the spatial coordinate system, the location information of the broken area 9 is determined. According to the second preset condition, the area to be broken 10 and the location 12 of the breaking point on the excavation surface are determined. Using the electromagnetic gun 1 control firing module of the system processor 6, according to the determined target location 12, the adjustment command is sent to the adjustment robotic arm 3 to adjust the position and firing angle of the electromagnetic gun 1 so that the electromagnetic gun 1 aims at the target location 12, and a firing command is sent to the electromagnetic launcher so that the electromagnetic launcher fires the projectile to break the rock.

[0060] The steps of identifying cracks and determining the fractured area 9 on the excavation surface according to the first preset conditions include: The influence distance D of the crack is preset. Based on the identified crack, the area of ​​the crack and its surrounding distance D on the excavation surface is determined as the broken area 9 on the excavation surface.

[0061] In this example, the perimeter distance D is set to 200mm. The location of the crack is determined, and the curve equation is generated: F i (x, z)=0, i=1, 2, 3...n; x∈ψ In the formula, i is the index of the crack curve, and ψ is the range of the curve. The determined fracture region 9 is as follows: Figure 5 As shown.

[0062] The steps of determining the area to be broken 10 and the location of the breaking point 12 on the excavation surface according to the second preset condition can be carried out in at least three ways: Method 1, such as Figure 6-8 As shown in Figure 14, based on the determined excavation face contour 7 and the fractured area 9, multiple inscribed circles are drawn from the outside to the center within the excavation face contour 7, which are internally tangent to the excavation face contour 7 and the fractured area 9. The radius of the inscribed circle is greater than or equal to a preset radius R0. The area covered by the inscribed circle is set as the fractured area 10. According to the size of the fractured area 10, one or more fracture points are delineated within the fractured area 10, and the corresponding fracture point positions 12 and their coordinate information are generated using the spatial coordinate system. Since the fractured area 9 within the excavation face contour 7 is not a regular shape, the radii of the inscribed circles that are internally tangent to the fractured area 9 and the excavation face contour 7 are not completely consistent. In this method, the inscribed circle is internally tangent to the fractured area 9 and the excavation face contour 7, or internally tangent to two or more fractured areas 9.

[0063] In this method, the preset radius R0 is 200mm.

[0064] C j (x, z) = (x - aj) 2 +(z-bj) 2 =R j 2 j=1,2,3…n; In the formula, j is the index of the inscribed circle of the region to be broken 10; (aj, bj) are the coordinates of the center of the circle.

[0065] The hard rock breakage point location analysis module automatically generates the location 12 of the hard rock breakage point and its coordinate information (x, y, y) based on the radius and planar position of the area to be broken 10. j , z j ).

[0066] Combination Figure 7 , Figure 8 When R0≤R j When <2R0, then one point to be broken is required with coordinates (aj, bj); When 2R0≤R j When <3R0, then two points need to be broken, with coordinates (aj, bj+R0) and (aj, bj-R0). When 3R0≤R j When <4R0, then the coordinates of the five points to be broken are (aj, bj), (aj+2R0, bj), (aj-2R0, bj), (aj, bj+2R0), (aj, bj-2R0); ··· By following this method, all the locations of the points to be broken (12) and their coordinate information can be determined.

[0067] Method 2, such as Figure 9 As shown, based on the determined excavation face contour 7 and the crushing area 9, multiple inscribed circles are drawn from the center to the periphery within the excavation face contour 7, which are internally tangent to the excavation face contour 7 and the crushing area 9. The radius of the inscribed circle is a preset radius R0. The area covered by the inscribed circle is set as the crushing area 10, and the center of the crushing area 10 is set as the crushing point. Combined with the spatial coordinate system, the corresponding crushing point position 12 and its coordinate information are generated.

[0068] The difference between Method 2 and Method 1 is that the radii of the inscribed circles are both fixed values, and adjacent inscribed circles are tangent.

[0069] Method 3 Figure 10 As shown, a square grid with a preset side length of B is used to mesh the determined excavation face outline 7. If there is no broken area 9 in the grid, or if the area of ​​the broken area 9 in the grid is less than 1 / 8 of the area of ​​the grid, then the grid is set as the area to be broken 10. The center of the grid is set as the point to be broken, and the corresponding point to be broken position 12 and its coordinate information are generated in combination with the spatial coordinate system.

[0070] Based on the same inventive concept, this invention also proposes a tunnel rock-breaking construction method, comprising the following steps: Step S10: When the excavation efficiency decreases during the tunnel rock excavation process, stop the excavation; and use high-pressure air or high-pressure water to clean the broken rock on the excavation surface.

[0071] Step S20: The rock breaking system is in place and automatically acquires the equipment positioning; the tunnel excavation face is scanned to acquire the image and position information of the excavation face, and spatial three-dimensional coordinate position information is established within the system.

[0072] Step S30: If the hard rock mass at the excavation face ahead is an isolated boulder, or if the excavation face is uneven with local protrusions, you can choose to manually determine the location of the breaking point and carry out rock breaking treatment.

[0073] In step S40, the equipment rescans and identifies the excavation face, updating the image and location information of the excavation face. The system maps the designed excavation information to the spatial three-dimensional coordinate location information within the system through the location information, forming the outline location information curve of the current excavation face; the laser positioning instrument 103 at the front end lays out the outline 7 of the excavation face, and marks the outline 7 information of the excavation face on the excavation face.

[0074] Step S50: Based on the contour points of the excavation face, perform water-jet core drilling or pre-splitting blasting to avoid the electromagnetic gun 1 affecting the surrounding rock mass when breaking the rock.

[0075] In step S60, the system automatically identifies bedding, joints and cracks based on the identified image and location information, according to the set crack width and the influence range of the crack, and determines the fractured area 9, generating the area planar location information; based on the excavation face outline 7 and the fractured area 9, it automatically analyzes and forms the location 12 of the breakable point of the area to be broken 10. Step S70: After the location of the breaking point is determined, an application must be submitted by the on-site personnel. Automatic rock breaking will be executed after the safety summary and project manager have both approved it.

[0076] Step S80: Based on the position of electromagnetic gun 1 and the breaking point, automatically adjust the position and firing angle of electromagnetic gun 1, aim at the breaking point 12, and launch the projectile to break the rock.

[0077] In step S90, after the hard rock mass has been broken to the required extent, tunnel excavation continues.

[0078] In summary, when encountering difficulties in excavating hard rock masses during soil and rock excavation, this method can automatically identify hard rock cracks, analyze the area to be broken, and automatically locate and break the rock using the electromagnetic gun 1, avoiding the slow process of manual analysis and rock breaking. Simultaneously, the electromagnetic gun 1's aiming signal is automatically adjusted to avoid human interference, resulting in more precise and safer aiming. Safety approval controls ensure the equipment remains within safe limits, guaranteeing construction safety. This effectively improves the efficiency of hard rock processing and excavation, enhancing intelligence and efficiency while reducing wear and tear on excavation equipment and lowering costs.

[0079] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principle of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. An automatic rock-breaking identification system for an electromagnetic railgun, characterized in that, The system includes rock-breaking equipment and a system processor connected by electrical signals; the system processor includes an excavation outline layout module, a hard rock breaking point analysis and positioning module, and an electromagnetic gun control and firing module. The rock-breaking equipment includes a traveling frame and a positioning device and an adjusting robotic arm mounted on the traveling frame; the rock-breaking equipment also includes an electromagnetic gun and a scanning device mounted on the adjusting robotic arm; the electromagnetic gun includes a high-speed electromagnetic launcher and a laser positioning device; the scanning device is used to scan the rock mass to collect image information and spatial location information of the rock mass; the positioning device is used to obtain the location information of the rock-breaking equipment; The excavation contour layout module is used to map the tunnel design information to a spatial coordinate system formed by associating the position information of the rock breaking equipment and the spatial position information collected by the scanning device, and to obtain the excavation face contour information according to the position of the excavation face. The hard rock fracture point analysis and positioning module is used to identify cracks based on the image information collected by the scanning device, determine the fractured area on the excavation surface according to the first preset condition, determine the location information of the fractured area in combination with the spatial coordinate system, and determine the area to be fractured and the location of the fracture point on the excavation surface according to the second preset condition. The electromagnetic gun control and launch module is used to send adjustment commands to the adjustment robotic arm according to the determined location of the target point to adjust the position and launch angle of the electromagnetic gun so that the electromagnetic gun aims at the target point, and send a launch command to the high-speed electromagnetic launcher so that the high-speed electromagnetic launcher launches the projectile to break the rock.

2. The electromagnetic railgun automatic rock-breaking identification system according to claim 1, characterized in that, The adjusting robotic arm includes a rotating device disposed at its front end and a hydraulic support disposed on the rotating device; the hydraulic support is connected to the electromagnetic gun.

3. The electromagnetic railgun automatic rock-breaking identification system according to claim 1, characterized in that, The system processor also includes a security approval module, which has a built-in identity verification unit for confirming the launch command; the security approval module is also electrically connected to the electromagnetic gun control and launch module.

4. The electromagnetic railgun automatic rock-breaking identification system according to claim 1, characterized in that, The adjustment robotic arm is also equipped with a lighting device.

5. A method for automatic rock-breaking identification by an electromagnetic railgun, employing the automatic rock-breaking identification system for an electromagnetic railgun as described in claim 1, characterized in that, Includes the following steps: The location information of the rock-breaking equipment is obtained by using the positioning device of the rock-breaking equipment; the scanning device of the rock-breaking equipment is used to scan the rock mass to collect image information and spatial location information of the rock mass; Using the excavation contour layout module of the system processor, the tunnel design information is mapped to a spatial coordinate system formed by associating the position information of the rock breaking equipment and the spatial position information collected by the scanning device, and the excavation face contour information is obtained according to the position of the excavation face. Using the hard rock break point analysis and positioning module of the system processor, cracks are identified based on the image information collected by the scanning device. According to the first preset condition, the broken area on the excavation surface is determined. Combined with the spatial coordinate system, the location information of the broken area is determined. And according to the second preset condition, the area to be broken and the location of the break point on the excavation surface are determined. The electromagnetic gun control and firing module of the system processor sends adjustment commands to the adjustment robotic arm according to the determined location of the target point to adjust the position and firing angle of the electromagnetic gun so that the electromagnetic gun aims at the target point and sends a firing command to the high-speed electromagnetic launcher to launch the projectile to break the rock.

6. The method for automatic rock-breaking identification by an electromagnetic railgun according to claim 5, characterized in that, The step of identifying cracks and determining the fractured area on the excavation surface based on a first preset condition includes: The influence distance D of the crack is preset. Based on the identified crack, the area of ​​the crack and its surrounding distance D on the excavation surface is determined as the broken area on the excavation surface.

7. The method for automatic rock-breaking identification by an electromagnetic railgun according to claim 5, characterized in that, The step of determining the area to be broken and the location of the breaking point on the excavation surface according to the second preset condition includes: Based on the determined excavation face outline and the fractured area, multiple inscribed circles are drawn from the outside to the center within the excavation face outline, and the radius of the inscribed circle is greater than or equal to a preset radius R0. The area covered by the inscribed circle is set as the area to be fractured. Based on the size of the area to be fractured, one or more fracture points are delineated within the area to be fractured, and the corresponding fracture point positions and their coordinate information are generated in conjunction with the spatial coordinate system.

8. The method for automatic rock-breaking identification by an electromagnetic railgun according to claim 5, characterized in that, The step of determining the area to be broken and the location of the breaking point on the excavation surface according to the second preset condition includes: Based on the determined excavation face outline and the fractured area, multiple inscribed circles are drawn from the center to the periphery within the excavation face outline, and the radius of the inscribed circle is a preset radius R0. The area covered by the inscribed circle is set as the area to be fractured, and the center of the area to be fractured is set as the point to be fractured. Combined with the spatial coordinate system, the corresponding position of the point to be fractured and its coordinate information are generated.

9. The method for automatic rock-breaking identification by an electromagnetic railgun according to claim 5, characterized in that, The step of determining the area to be broken and the location of the breaking point on the excavation surface according to the second preset condition includes: A square grid with a preset side length of B is used to mesh the determined excavation face outline. If there is no broken area in the grid, or the area of ​​the broken area in the grid is less than 1 / 8 of the area of ​​the grid, then the grid is set as the area to be broken. The center of the grid is set as the point to be broken, and the corresponding point to be broken and its coordinate information are generated in combination with the spatial coordinate system.

10. The method for automatic rock-breaking identification by an electromagnetic railgun according to claim 5, characterized in that, The step of determining the area to be broken and the location of the breaking point on the excavation surface according to the second preset condition includes: Based on the tunnel design information and the excavation face outline, a CAD drawing containing the locations of the points to be broken is drawn. The CAD drawing is then imported into the system processor, and combined with the spatial coordinate system, the corresponding locations of the points to be broken and their coordinate information are generated.

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