A tunneling machine cutting control method, device, system and storage medium

Abstract

The application discloses a kind of heading machine cutting control method, device, system and storage medium.Method includes: receiving the parameter of the tunnel to be cut issued by host computer;If judging parameter is valid, generate cutting path trajectory;Real-time calculation and comparison the difference between the coordinate position of current cutting head and the i-th coordinate point in cutting path trajectory;According to whether the difference is greater than preset threshold, different control signals are sent to heading machine controller, so that heading machine controller controls cutting head to move to the i-th coordinate point in cutting path trajectory at different speeds;During the movement of cutting head, when the difference is less than preset allowable error threshold, i is assigned to i+1;Constantly repeat until cutting head moves to the last coordinate point in cutting path trajectory.The application can realize the parameter of the tunnel to be cut by host computer remotely and flexibly set, and also provides a complete solution for remotely controlling heading machine and making heading machine complete cutting according to planned route.

Description

Technical Field

[0001] This application relates to the field of tunneling machine technology, and in particular to a tunneling machine cutting control method, device, system and storage medium. Background Technology

[0002] A tunneling machine (TBM) is a machine used to excavate straight underground tunnels. TBMs are divided into open-face TBMs and shield tunneling machines. They mainly consist of a traveling mechanism, a working mechanism, a loading mechanism, and a transfer mechanism. Following the travel mechanism forward, the cutting head in the working mechanism continuously breaks up the rock and removes the broken rock. TBMs have advantages such as safety, high efficiency, and good tunnel quality.

[0003] In the coal mining industry, coal cutting is often carried out manually by tunneling machine operators in the cab, who control the cutting head to raise, lower, rotate, and extend / retract to cut the coal seam. This environment generates a lot of coal dust, which seriously endangers the health of operators and poses a risk of mine collapse or flooding, jeopardizing personnel lives.

[0004] Therefore, in the process of intelligent coal mining, increasing safety investment, reducing the workload of workers, improving the working environment, and realizing automatic cutting of tunneling machines are inevitable trends. To this end, there are already solutions on the market to assist tunneling machines in automatic cutting. For example, Chinese patent document 201811401420.5 discloses a tunneling machine cutting path planning method. This method specifically includes: establishing a three-dimensional model of the tunneling face in a geodetic coordinate system; acquiring the spatial position information, azimuth, pose information, and displacement information of each cylinder of the tunneling machine, and calculating the coordinates of the tunneling machine cutting head in the geodetic coordinate system; combining the coordinates of the tunneling machine cutting head with the three-dimensional model of the tunneling face, and determining the cutting method, the movement path, and the speed of the cutting head based on the size and shape of the roadway cross-section and the distribution and properties of coal and rock; adjusting the movement path of the cutting head according to the changes in the spatial position of the tunneling machine, judging the cutting effect of the tunneling machine cutting head, and correcting the speed of the cutting head.

[0005] However, the inventors recognized that the method provided in the aforementioned patent documents can only plan the cutting path based on the predefined size and shape of the tunnel cross-section, and cannot remotely set the tunnel conditions to generate different cutting paths according to different tunnel conditions, and automatically cut the tunnel according to the generated cutting path; in addition, the method only solves the problem of tunneling machine cutting path planning, and does not provide a complete solution for remotely controlling the tunneling machine to complete the cutting according to the planned route. Summary of the Invention

[0006] Based on this, and in response to the aforementioned technical problems, a method, device, system, and storage medium for cutting control of a tunneling machine are provided to solve the technical problems that existing tunneling machine cutting path planning methods cannot remotely set the roadway, and that lack a complete solution for remotely controlling the tunneling machine to complete cutting according to the planned route.

[0007] To achieve the above objectives, this application provides the following technical solution:

[0008] Firstly, a method for controlling the cutting of a tunneling machine includes:

[0009] S1 receives the parameters of the roadway to be cut from the host computer;

[0010] S2, determine whether the received parameters of the roadway to be cut are valid;

[0011] S3, if the received parameters of the roadway to be cut are determined to be valid, a cutting path trajectory is generated based on the received parameters of the roadway to be cut. The cutting path trajectory can traverse the roadway to be cut. The cutting path trajectory includes multiple coordinate points distributed in a coordinate system established with the lower left corner of the roadway to be cut as the origin.

[0012] S4, real-time data on the rotation, lifting and extension of the cutting arm are obtained through the tunneling machine controller, as well as the distance L0 from the tunneling machine body to the left tunnel wall of the tunnel to be cut is obtained;

[0013] S5, calculate the coordinate position of the current cutting head in the coordinate system in real time, and compare the difference between the coordinate position of the current cutting head in the coordinate system and the i-th coordinate point in the cutting path trajectory;

[0014] S6, when the difference is greater than a preset threshold, a corresponding control signal is sent to the tunneling machine controller, causing the tunneling machine controller to control the cutting head to move towards the i-th coordinate point in the cutting path trajectory at a first speed; when the difference is less than or equal to the preset threshold, a corresponding control signal is sent to the tunneling machine controller, causing the tunneling machine controller to control the cutting head to move towards the i-th coordinate point in the cutting path trajectory at a second speed;

[0015] S7, during the movement of the cutting head, when the difference is less than the preset allowable error threshold, i is assigned the value i+1;

[0016] S8. Repeat steps S5-S7 continuously until the cutting head moves to the last coordinate point in the cutting path trajectory.

[0017] Optionally, the parameters of the roadway to be cut include the outline shape, height, and width of the roadway to be cut.

[0018] Optionally, the data on the rotation, lifting, and extension of the cutting head are obtained by means of a rotation angle sensor, a displacement sensor, and a extension cylinder stroke sensor installed on the body of the tunneling machine; the distance from the body of the tunneling machine to the left wall of the roadway to be cut is obtained by means of a laser scanner installed on the body of the tunneling machine.

[0019] Optionally, step S3 further includes:

[0020] If the received parameters of the roadway to be cut are determined to be invalid, a parameter abnormality prompt command is sent to the host computer.

[0021] Optionally, calculating the coordinate position of the current cutting head in the coordinate system includes:

[0022] The angle between the cutting arm and the centerline of the tunneling machine body after the cutting arm rotates is defined as ∠A. ∠A is positive when the cutting arm rotates to the left and negative when the cutting arm rotates to the right.

[0023] The angle between the cutting arm and the rotary table plane after the cutting arm is raised or lowered is defined as ∠B. ∠B is positive when the cutting arm is raised and negative when the cutting arm is lowered.

[0024] Define the current cutting arm length as L2, where L2 = initial cutting arm length L1 + current cutting arm cylinder extension / retraction stroke;

[0025] The vertical distance from the rotary table plane to the ground is defined as H;

[0026] Calculate the current cutting head's coordinate position (X, Y) in the coordinate system, where

[0027] Optionally, step S6 further includes:

[0028] Based on the moving speed of the cutting head and the distance between the current coordinate position of the cutting head in the coordinate system and the i-th coordinate point in the cutting path trajectory, calculate the time required for the cutting head to move to the i-th coordinate point in the cutting path trajectory.

[0029] Determine whether the difference is greater than a preset allowable error threshold after the specified time period.

[0030] If the difference is determined to be greater than the preset allowable error threshold, a fault prompt command is sent to the host computer.

[0031] Optionally, the preset threshold is 400mm; the preset allowable error threshold is 30mm.

[0032] Secondly, a tunneling machine cutting control device includes:

[0033] The parameter receiving module is used to receive the parameters of the roadway to be cut from the host computer;

[0034] The parameter judgment module is used to determine whether the received parameters of the roadway to be cut are valid;

[0035] The cutting path trajectory generation module is used to generate a cutting path trajectory based on the received parameters of the roadway to be cut if the parameters of the roadway to be cut are determined to be valid. The cutting path trajectory can traverse the roadway to be cut. The cutting path trajectory includes multiple coordinate points distributed in a coordinate system established with the lower left corner of the roadway to be cut as the origin.

[0036] The cutting arm data acquisition module acquires the rotation, lifting and extension data of the cutting arm in real time through the tunneling machine controller, as well as the distance L0 from the tunneling machine body to the left tunnel wall of the tunnel to be cut.

[0037] The coordinate position calculation module is used to calculate the coordinate position of the current cutting head in the coordinate system in real time, and compare the difference between the coordinate position of the current cutting head in the coordinate system and the i-th coordinate point in the cutting path trajectory;

[0038] The movement control module is used to send a corresponding control signal to the tunneling machine controller when the difference is greater than a preset threshold, so that the tunneling machine controller controls the cutting head to move towards the i-th coordinate point in the cutting path trajectory at a first speed; and to send a corresponding control signal to the tunneling machine controller when the difference is less than or equal to the preset threshold, so that the tunneling machine controller controls the cutting head to move towards the i-th coordinate point in the cutting path trajectory at a second speed.

[0039] The assignment module is used to assign the value i+1 when the difference is less than the preset allowable error threshold during the movement of the cutting head;

[0040] The traversal module is used to make the coordinate position calculation module, movement control module and assignment module work repeatedly until the cutting head moves to the last coordinate point in the cutting path trajectory.

[0041] Thirdly, a tunneling machine cutting control system includes...

[0042] Host computer;

[0043] Tunneling machine controller;

[0044] The automatic cutting processor has bidirectional communication connections with both the host computer and the tunneling machine controller;

[0045] A memory storing a computer program; the automatic slicing processor, when executing the computer program, implements the steps of the method described in any one of the first aspects.

[0046] Fourthly, a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method described in any one of the first aspects.

[0047] The present invention has at least the following beneficial effects:

[0048] In a tunneling machine cutting control method provided by this invention, parameters of the roadway to be cut are received from a host computer. If the received parameters of the roadway to be cut are deemed valid, a cutting path trajectory capable of traversing the roadway is generated based on the received parameters. The coordinate position of the current cutting head in the coordinate system is calculated in real time, and the difference between the current coordinate position of the cutting head in the coordinate system and the i-th coordinate point in the cutting path trajectory is compared. Depending on whether the difference is greater than a preset threshold, different control signals are sent to the tunneling machine controller, causing the tunneling machine controller to control the cutting head at different speeds. The cutting head moves to the i-th coordinate point in the cutting path trajectory; during the movement of the cutting head, if the difference is less than the preset allowable error threshold, i is assigned the value i+1; this process is repeated until the cutting head moves to the last coordinate point in the cutting path trajectory; this method enables remote and flexible setting of parameters of the roadway to be cut via a host computer, so that the corresponding cutting trajectory can be automatically generated based on the parameters, and then the cutting head can be remotely controlled by the host computer to automatically cut the shape according to the cutting trajectory; at the same time, this method provides a complete solution for remotely controlling the tunneling machine to complete the cutting according to the planned route. Attached Figure Description

[0049] Figure 1 This is a schematic diagram illustrating the application environment of a tunneling machine cutting control method according to an embodiment of the present invention;

[0050] Figure 2 A schematic flowchart of a tunneling machine cutting control method provided in one embodiment of the present invention;

[0051] Figure 3 This is a schematic diagram of the cutting trajectory in one embodiment of the present invention;

[0052] Figure 4 This is another schematic flowchart of a tunneling machine cutting control method provided in one embodiment of the present invention;

[0053] Figure 5 A block diagram of the module architecture of a tunneling machine cutting control device provided in one embodiment of the present invention;

[0054] Figure 6 This is an internal structural diagram of a computer device provided in one embodiment of the present invention. Detailed Implementation

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0056] This application provides a cutting control method for tunneling machines, which can be applied to, for example... Figure 1 In the application environment shown, the automatic cutting processor 103 communicates with the host computer 101 via Ethernet and with the tunneling machine controller 102 via a CAN interface.

[0057] In one embodiment, such as Figure 1 As shown, a cutting control method for a tunneling machine is provided, which is applied to... Figure 1 The following steps are used as an example of the automatic cropping processor 103:

[0058] S1 receives the parameters of the roadway to be cut from the host computer.

[0059] The parameters of the roadway to be cut include its outline shape, height, and width.

[0060] S2, determine whether the received parameters of the roadway to be cut are valid.

[0061] S3, if the received parameters of the roadway to be cut are deemed valid, a cutting path trajectory is generated based on these parameters. This cutting path trajectory traverses the roadway to be cut. The cutting path trajectory includes multiple coordinate points distributed in a coordinate system established with the lower left corner of the roadway to be cut as the origin. The generated cutting path trajectory can be found in [reference needed]. Figure 3 The actual coordinate system is established with the lower left corner of the figure as the origin.

[0062] In addition, step S3 also includes:

[0063] If the received parameters of the roadway to be cut are determined to be invalid, a parameter error message is sent to the host computer.

[0064] S4, through the tunneling machine controller, obtains in real time the rotation, lifting and extension data of the cutting arm, as well as the distance L0 from the tunneling machine body to the left tunnel wall of the roadway to be cut.

[0065] Specifically, the rotation, lifting, and extension data of the cutting head are obtained through rotation angle sensors, displacement sensors, and extension cylinder stroke sensors installed on the body of the tunneling machine; the distance from the body of the tunneling machine to the left tunnel wall of the roadway to be cut is obtained through a laser scanner installed on the body of the tunneling machine.

[0066] S5 calculates the current position of the cutting head in the coordinate system in real time, and compares the difference between the current position of the cutting head in the coordinate system and the i-th coordinate point in the cutting path trajectory.

[0067] At the initial moment, the value of i is 1, indicating that the cutting starts from the first coordinate point.

[0068] Specifically, calculating the current cutting head's coordinate position in the coordinate system includes:

[0069] The angle between the cutting arm and the centerline of the tunneling machine body after the cutting arm rotates is defined as ∠A. ∠A is positive when the cutting arm rotates to the left and negative when the cutting arm rotates to the right.

[0070] The angle between the cutting arm and the rotary table plane after the cutting arm is raised or lowered is defined as ∠B. ∠B is positive when the cutting arm is raised and negative when the cutting arm is lowered.

[0071] Define the current cutting arm length as L2, where L2 = initial cutting arm length L1 + current cutting arm cylinder extension / retraction stroke;

[0072] The vertical distance from the rotary table plane to the ground is defined as H;

[0073] Calculate the current cutting head's coordinate position (X, Y) in the coordinate system, where

[0074] S6. When the difference is greater than the preset threshold, a corresponding control signal is sent to the tunneling machine controller, so that the tunneling machine controller controls the cutting head to move to the i-th coordinate point in the cutting path trajectory at the first speed; when the difference is less than or equal to the preset threshold, a corresponding control signal is sent to the tunneling machine controller, so that the tunneling machine controller controls the cutting head to move to the i-th coordinate point in the cutting path trajectory at the second speed.

[0075] The comparison between the current cutting head coordinates and the target coordinates can be achieved by comparing the x-coordinates and y-coordinates of the two coordinates separately. If the absolute difference between either coordinate is greater than a preset threshold, then the difference between the current cutting head coordinates and the target coordinates is determined to be greater than the preset threshold. The preset threshold can be, but is not limited to, 400mm.

[0076] Furthermore, step S6 also includes:

[0077] Based on the cutting head's moving speed and the distance between the current cutting head's coordinate position in the coordinate system and the i-th coordinate point in the cutting path trajectory, calculate the time required for the cutting head to move to the i-th coordinate point in the cutting path trajectory.

[0078] Determine whether the difference exceeds a preset allowable error threshold after a certain period of time.

[0079] If the difference is greater than the preset allowable error threshold, a fault prompt command is sent to the host computer.

[0080] The preset allowable error threshold can be, but is not limited to, set to 30mm.

[0081] S7. During the movement of the cutting head, when the difference is less than the preset allowable error threshold, i is assigned the value i+1.

[0082] S8. Repeat steps S5-S7 until the cutting head moves to the last coordinate point in the cutting path trajectory.

[0083] In other words, the process of the above method is as follows:

[0084] (1) The truncation process is an independent thread at the software level, which is triggered repeatedly at regular intervals in the automatic truncation processor.

[0085] (2) After entering the process entry point, the CPU obtains information such as the shape to be cut, tunnel height, and width set by the user from the host computer.

[0086] (3) Determine the correctness of the user-set data. If the setting does not exist, or the set parameters are incomplete or not within the set range, the process will not be executed and the host computer will be notified that the input data is abnormal and needs to be reset.

[0087] (4) If the user settings are compliant, the CPU obtains real-time data from the cutting left and right, lifting, and telescopic cylinder stroke sensors from the tunneling machine's body controller, and also obtains the distance from the machine body to the left tunnel wall (defined as L0) from the laser scanner. Then, combining the above sensor information, the coordinates of the cutting head relative to the tunnel are calculated using the following method (with the lower left corner of the tunnel as the origin, rightward as the positive X direction, upward as the positive Y direction, and the cutting head extension / retraction as the Z direction):

[0088] ① When the cutting arm is at the center of rotation, it coincides with the centerline of the vehicle body, and the angle between the two straight lines is 0. The angle between the cutting arm and the centerline of the vehicle body after the cutting arm turns left or right is defined as ∠A, with left turn being positive and right turn being negative.

[0089] ② When the cutting arm and the rotation center are on the same horizontal plane, and the cutting arm and the rotary table plane coincide in the vertical direction, the angle between the two straight lines is 0. The angle between the cutting arm and the rotary table plane is defined as ∠B when the cutting arm rises or falls, with rising being positive and falling being negative.

[0090] ③ Define the current cutting arm length L2 = initial cutting arm length L1 + current telescopic cylinder stroke value;

[0091] ④ Define the vertical distance from the rotary table plane to the ground as H;

[0092] Based on the above data, the current coordinates of the cutting head are obtained:

[0093]

[0094]

[0095] (5) Compare the current cutting head coordinates with the target coordinates. If the difference between the current X1, Y1 and the target X, Y is large (e.g., the absolute difference is greater than 400mm), control the cutting head to move towards the target position at a speed of V1. If the difference is less than 400mm, control the cutting head to move towards the target position at a slightly slower speed of V2. At this time, the time required to reach the target point is predicted based on the current control speed V and the distance S to the target, T = S / V. If the output time exceeds T and the cutting head has not reached the current position, a fault is reported. When the left-right and up-down differences are within the allowable error range (30mm), the target is changed to the next coordinate point in the cutting trajectory, and the control is continuously executed in a loop.

[0096] (6) If the cutting head moves to the last point in the cutting trajectory, it is considered that the entire trajectory has been completed.

[0097] (7) Stop controlling the movement of the cutting head, report the completion of the process, and the automatic cutting process ends.

[0098] Another flowchart of the above method can be found here. Figure 4 .

[0099] The tunneling machine cutting control method provided in the above embodiments is an automatic cutting algorithm in remote mode, which allows operators to remotely monitor the tunneling machine automatically cutting coal seams from the ground office. It is healthy and comfortable, avoids personnel safety issues, and can greatly improve work efficiency.

[0100] In the aforementioned tunneling machine cutting control method, parameters of the roadway to be cut are received from a host computer. If the received parameters are deemed valid, a cutting path trajectory capable of traversing the roadway is generated based on these parameters. The current coordinate position of the cutting head in the coordinate system is calculated in real time, and the difference between the current coordinate position of the cutting head and the i-th coordinate point in the cutting path trajectory is compared. Depending on whether the difference exceeds a preset threshold, different control signals are sent to the tunneling machine controller, causing the controller to control the cutting head to cut at different speeds. The i-th coordinate point in the cutting path trajectory moves; during the movement of the cutting head, when the difference is less than the preset allowable error threshold, i is assigned the value i+1; this process is repeated until the cutting head moves to the last coordinate point in the cutting path trajectory; this method enables remote and flexible setting of the parameters of the roadway to be cut via a host computer, so that the corresponding cutting trajectory can be automatically generated based on the parameters, and then the cutting head can be remotely controlled by the host computer to automatically cut the shape according to the cutting trajectory; at the same time, this method provides a complete solution for remotely controlling the tunneling machine to complete the cutting according to the planned route.

[0101] It should be understood that, although Figure 2 and Figure 4 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 2 and Figure 4 At least some of the steps in the process may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but may be executed at different times. The execution order of these steps or stages is not necessarily sequential, but may be executed in turn or alternately with other steps or at least some of the steps or stages in other steps.

[0102] In one embodiment, such as Figure 5 As shown, a cutting control device for a tunneling machine is provided, comprising the following program modules:

[0103] The parameter receiving module 501 is used to receive the parameters of the roadway to be cut from the host computer.

[0104] The parameters of the roadway to be cut include its outline shape, height, and width.

[0105] The parameter judgment module 502 is used to determine whether the received parameters of the roadway to be cut are valid.

[0106] The cutting path trajectory generation module 503 is used to generate a cutting path trajectory based on the received parameters of the roadway to be cut, if the parameters of the roadway to be cut are determined to be valid. The cutting path trajectory can traverse the roadway to be cut. The cutting path trajectory includes multiple coordinate points distributed in a coordinate system established with the lower left corner of the roadway to be cut as the origin. The generated cutting path trajectory can be found in [reference needed]. Figure 3 The actual coordinate system is established with the lower left corner of the figure as the origin.

[0107] In addition, the truncation path trajectory generation module 503 is also used for:

[0108] If the received parameters of the roadway to be cut are determined to be invalid, a parameter error message is sent to the host computer.

[0109] The cutting arm data acquisition module 504 acquires the rotation, lifting and extension data of the cutting arm in real time through the tunneling machine controller, as well as the distance L0 from the tunneling machine body to the left tunnel wall of the roadway to be cut.

[0110] Specifically, the rotation, lifting, and extension data of the cutting head are obtained through rotation angle sensors, displacement sensors, and extension cylinder stroke sensors installed on the body of the tunneling machine; the distance from the body of the tunneling machine to the left tunnel wall of the roadway to be cut is obtained through a laser scanner installed on the body of the tunneling machine.

[0111] The coordinate position calculation module 505 is used to calculate the coordinate position of the current cutting head in the coordinate system in real time, and compare the difference between the coordinate position of the current cutting head in the coordinate system and the i-th coordinate point in the cutting path trajectory.

[0112] At the initial moment, the value of i is 1, indicating that the cutting starts from the first coordinate point.

[0113] Specifically, calculating the current cutting head's coordinate position in the coordinate system includes:

[0114] The angle between the cutting arm and the centerline of the tunneling machine body after the cutting arm rotates is defined as ∠A. ∠A is positive when the cutting arm rotates to the left and negative when the cutting arm rotates to the right.

[0115] The angle between the cutting arm and the rotary table plane after the cutting arm is raised or lowered is defined as ∠B. ∠B is positive when the cutting arm is raised and negative when the cutting arm is lowered.

[0116] Define the current cutting arm length as L2, where L2 = initial cutting arm length L1 + current cutting arm cylinder extension / retraction stroke;

[0117] The vertical distance from the rotary table plane to the ground is defined as H;

[0118] Calculate the current cutting head's coordinate position (X, Y) in the coordinate system, where

[0119] The movement control module 506 is used to send a corresponding control signal to the tunneling machine controller when the difference is greater than a preset threshold, so that the tunneling machine controller controls the cutting head to move to the i-th coordinate point in the cutting path trajectory at a first speed; and to send a corresponding control signal to the tunneling machine controller when the difference is less than or equal to the preset threshold, so that the tunneling machine controller controls the cutting head to move to the i-th coordinate point in the cutting path trajectory at a second speed.

[0120] The comparison between the current cutting head coordinates and the target coordinates can be achieved by comparing the x-coordinates and y-coordinates of the two coordinates separately. If the absolute difference between either coordinate is greater than a preset threshold, then the difference between the current cutting head coordinates and the target coordinates is determined to be greater than the preset threshold. The preset threshold can be, but is not limited to, 400mm.

[0121] In addition, the motion control module 506 is also used for:

[0122] Based on the cutting head's moving speed and the distance between the current cutting head's coordinate position in the coordinate system and the i-th coordinate point in the cutting path trajectory, calculate the time required for the cutting head to move to the i-th coordinate point in the cutting path trajectory.

[0123] Determine whether the difference exceeds a preset allowable error threshold after a certain period of time.

[0124] If the difference is greater than the preset allowable error threshold, a fault prompt command is sent to the host computer.

[0125] The preset allowable error threshold can be, but is not limited to, set to 30mm.

[0126] The assignment module 507 is used to assign the value i+1 when the difference is less than the preset allowable error threshold during the movement of the cutting head.

[0127] The traversal module 508 is used to make the coordinate position calculation module 505, the movement control module 506 and the assignment module 507 work repeatedly until the cutting head moves to the last coordinate point in the cutting path trajectory.

[0128] For specific limitations regarding a tunnel boring machine (TBM) cutting control device, please refer to the limitations of a TBM cutting control method described above, which will not be repeated here. Each module in the aforementioned TBM cutting control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device, or stored in the memory of a computer device as software, so that the processor can call and execute the operations corresponding to each module.

[0129] In one embodiment, a tunneling machine cutting control system is provided, such as Figure 1 As shown, it includes:

[0130] Host computer 101;

[0131] Tunneling machine controller 102;

[0132] The automatic cutting processor 103 is bidirectionally connected to the host computer 101 and the tunneling machine controller 102;

[0133] The memory stores a computer program; when the automatic cutting processor 102 executes the computer program, it implements the steps of the tunneling machine cutting control method described in any of the above embodiments.

[0134] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 6 As shown, the computer device includes a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a tunneling machine cutting control method. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0135] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0136] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program relating to all or part of the processes in the methods of the above embodiments.

[0137] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon relating to all or part of the processes in the methods of the above embodiments.

[0138] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, or optical storage, etc. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc.

[0139] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0140] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling the cutting of a tunneling machine, characterized in that, include: S1 receives the parameters of the roadway to be cut from the host computer; S2, determine whether the received parameters of the roadway to be cut are valid; S3, if the received parameters of the roadway to be cut are determined to be valid, a cutting path trajectory is generated based on the received parameters of the roadway to be cut. The cutting path trajectory can traverse the roadway to be cut. The cutting path trajectory includes multiple coordinate points distributed in a coordinate system established with the lower left corner of the roadway to be cut as the origin. S4, real-time data on the rotation, lifting and extension of the cutting arm are obtained through the tunneling machine controller, as well as the distance L0 from the tunneling machine body to the left tunnel wall of the tunnel to be cut is obtained; S5, calculate the coordinate position of the current cutting head in the coordinate system in real time, and compare the difference between the coordinate position of the current cutting head in the coordinate system and the i-th coordinate point in the cutting path trajectory; The calculation of the current cutting head's coordinate position in the coordinate system includes: The angle between the cutting arm and the centerline of the tunneling machine body after the cutting arm rotates is defined as ∠A. ∠A is positive when the cutting arm rotates to the left and negative when the cutting arm rotates to the right. The angle between the cutting arm and the rotary table plane after the cutting arm is raised or lowered is defined as ∠B. ∠B is positive when the cutting arm is raised and negative when the cutting arm is lowered. Define the current cutting arm length as L2, where L2 = initial cutting arm length L1 + current cutting arm cylinder extension / retraction stroke; The vertical distance from the rotary table plane to the ground is defined as H; Calculate the current position (X, Y) of the cutting head in the coordinate system. in S6, when the difference is greater than a preset threshold, a corresponding control signal is sent to the tunneling machine controller, causing the tunneling machine controller to control the cutting head to move towards the i-th coordinate point in the cutting path trajectory at a first speed; when the difference is less than or equal to the preset threshold, a corresponding control signal is sent to the tunneling machine controller, causing the tunneling machine controller to control the cutting head to move towards the i-th coordinate point in the cutting path trajectory at a second speed; S7, during the movement of the cutting head, when the difference is less than the preset allowable error threshold, i is assigned the value i+1; S8. Repeat steps S5-S7 continuously until the cutting head moves to the last coordinate point in the cutting path trajectory.

2. The tunneling machine cutting control method according to claim 1, characterized in that, The parameters of the tunnel to be cut include the outline shape, height, and width of the tunnel.

3. The tunneling machine cutting control method according to claim 1, characterized in that, The rotation, lifting, and extension data of the cutting head are obtained through a rotation angle sensor, a displacement sensor, and a extension cylinder stroke sensor installed on the body of the tunneling machine; the distance from the body of the tunneling machine to the left wall of the roadway to be cut is obtained through a laser scanner installed on the body of the tunneling machine.

4. The tunneling machine cutting control method according to claim 1, characterized in that, Step S3 also includes: If the received parameters of the roadway to be cut are determined to be invalid, a parameter abnormality prompt command is sent to the host computer.

5. The tunneling machine cutting control method according to claim 1, characterized in that, Step S6 also includes: Based on the moving speed of the cutting head and the distance between the current coordinate position of the cutting head in the coordinate system and the i-th coordinate point in the cutting path trajectory, calculate the time required for the cutting head to move to the i-th coordinate point in the cutting path trajectory. Determine whether the difference is greater than a preset allowable error threshold after the specified time period. If the difference is determined to be greater than the preset allowable error threshold, a fault prompt command is sent to the host computer.

6. The tunneling machine cutting control method according to claim 1, characterized in that, The preset threshold is 400mm; the preset allowable error threshold is 30mm.

7. A cutting control device for a tunneling machine, characterized in that, include: The parameter receiving module is used to receive the parameters of the roadway to be cut from the host computer; The parameter judgment module is used to determine whether the received parameters of the roadway to be cut are valid; The cutting path trajectory generation module is used to generate a cutting path trajectory based on the received parameters of the roadway to be cut if the parameters of the roadway to be cut are determined to be valid. The cutting path trajectory can traverse the roadway to be cut. The cutting path trajectory includes multiple coordinate points distributed in a coordinate system established with the lower left corner of the roadway to be cut as the origin. The cutting arm data acquisition module acquires the rotation, lifting and extension data of the cutting arm in real time through the tunneling machine controller, as well as the distance L0 from the tunneling machine body to the left tunnel wall of the tunnel to be cut. The coordinate position calculation module is used to calculate the coordinate position of the current cutting head in the coordinate system in real time, and compare the difference between the coordinate position of the current cutting head in the coordinate system and the i-th coordinate point in the cutting path trajectory; The calculation of the current cutting head's coordinate position in the coordinate system includes: The angle between the cutting arm and the centerline of the tunneling machine body after the cutting arm rotates is defined as ∠A. ∠A is positive when the cutting arm rotates to the left and negative when the cutting arm rotates to the right. The angle between the cutting arm and the rotary table plane after the cutting arm is raised or lowered is defined as ∠B. ∠B is positive when the cutting arm is raised and negative when the cutting arm is lowered. Define the current cutting arm length as L2, where L2 = initial cutting arm length L1 + current cutting arm cylinder extension / retraction stroke; The vertical distance from the rotary table plane to the ground is defined as H; Calculate the current position (X, Y) of the cutting head in the coordinate system. in The movement control module is used to send a corresponding control signal to the tunneling machine controller when the difference is greater than a preset threshold, so that the tunneling machine controller controls the cutting head to move towards the i-th coordinate point in the cutting path trajectory at a first speed; and to send a corresponding control signal to the tunneling machine controller when the difference is less than or equal to the preset threshold, so that the tunneling machine controller controls the cutting head to move towards the i-th coordinate point in the cutting path trajectory at a second speed. The assignment module is used to assign the value i+1 when the difference is less than the preset allowable error threshold during the movement of the cutting head; The traversal module is used to make the coordinate position calculation module, movement control module and assignment module work repeatedly until the cutting head moves to the last coordinate point in the cutting path trajectory.

8. A cutting control system for a tunneling machine, characterized in that, include Host computer; Tunneling machine controller; The automatic cutting processor has bidirectional communication connections with both the host computer and the tunneling machine controller; A memory storing a computer program; the automatic slicing processor, when executing the computer program, implements the steps of the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 6.

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