A method and system for rock breaking based on a combined rock breaking device

Abstract

The application provides a method and system for rock breaking based on a combined rock breaking device, the combined rock breaking device comprising a central rock breaking assembly, a peripheral rock breaking assembly, a control assembly and a monitoring assembly, a working face is divided into a central region and a peripheral region surrounding the central region, the method comprising: obtaining initial image information of the working face by the control assembly; the initial image information being real-time image information of the working face monitored by the monitoring assembly; the control assembly controlling the central rock breaking assembly to break the central region of the working face according to the initial image information; the control assembly controlling the monitoring assembly to obtain intermediate image information of the central region of the working face after being broken, and judging whether the central region of the working face reaches a preset breaking trace according to the intermediate image information; if yes, the control assembly controls the peripheral rock breaking assembly to break the peripheral region of the working face.

Description

Technical Field

[0001] This invention belongs to the field of building technology, and specifically relates to a method and system for rock breaking based on a combined rock breaking device. Background Technology

[0002] Currently, tunnel boring technologies, represented by drill-and-blast and TBM methods, have long been active in various types of underground space engineering construction sites. However, in the face of complex and ever-changing geological environments and the demand for efficient construction, traditional rock breaking technologies are gradually facing new challenges. For example, in the excavation of extremely hard rock, due to the high hardness of the rock mass, if the TBM method is used to excavate the face uniformly, the central part of the face will be difficult to effectively break due to the excessive hardness of the rock mass and the relatively small torque of the central cutter head of the traditional TBM. This results in technical problems such as long excavation time and low excavation efficiency.

[0003] It is evident that how to effectively excavate the central part of the tunnel face in the excavation of extremely hard rock, so as to reduce excavation time and improve excavation efficiency, is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a method for rock breaking based on a combined rock breaking device. The combined rock breaking device includes a central rock breaking component, a peripheral rock breaking component, a control component, and a monitoring component. The working face is divided into a central region and a peripheral region surrounding the central region. The method includes: acquiring initial image information of the working face through the control component; the initial image information is real-time image information of the working face monitored by the monitoring component; determining the central region of the working face based on the initial image information, and controlling the central rock breaking component to break the central region of the working face; the control component controls the monitoring component to acquire intermediate image information of the central region of the working face after it has been broken, and determining whether the central region of the working face has reached a preset breaking mark based on the intermediate image information; if so, the control component controls the peripheral rock breaking component to break the peripheral region of the working face.

[0005] In the first aspect, the central rock-breaking assembly further includes a laser emitter and a first TBM cutterhead. The first TBM cutterhead is equipped with a roller cutter, and a first rotation drive assembly for driving the first TBM cutterhead to rotate. It also includes a first linear drive assembly for driving the first TBM cutterhead closer to or away from the working face. Both the first rotation drive assembly and the first linear drive assembly are electrically connected to the control assembly. Controlling the central rock-breaking assembly to break the central region of the working face includes: the control assembly controlling the laser emitter to deliver a laser jet to the central region of the working face to cut the central region of the working face and form a pre-cut groove; the control assembly controlling the first linear drive assembly to push the first TBM cutterhead to a preset position in the central region of the working face, and then controlling the first rotation drive assembly to drive the first TBM cutterhead to rotate to break the central region.

[0006] In the first aspect, the central rock-breaking assembly includes a hydraulic ejector, and controlling the central rock-breaking assembly to break the central region of the working face further includes: when the control assembly controls the laser ejector to perform a laser jet towards the central region of the working face, the control assembly also controls the hydraulic ejector to perform a hydraulic jet towards the central region of the working face.

[0007] In the first aspect, the combined rock-breaking assembly further includes a three-dimensional coordinate positioning component communicatively connected to the control component. Determining the central region of the working face based on the initial image information includes: the control component determining the fracture region of the working face based on the initial image information, the fracture region including a central fracture region and a peripheral fracture region; the control component controlling the three-dimensional coordinate positioning component to lock the coordinates of the central fracture region; the control component generating a movement path for the first TBM cutterhead to move to the coordinates of the central region based on the coordinates of the central region; and the control component controlling the first drive component to push the first TBM cutterhead along the movement path to the central fracture region.

[0008] In the first aspect, the central fractured region is obtained by the following method: the control component acquires the area of ​​the fractured region to determine the geometric center position of the area; with the geometric center position as the center, a first circular region is delineated according to a preset first radius value, and the first region is the central fractured region.

[0009] In the first aspect, the control component controls the monitoring component to acquire intermediate image information of the central region of the working face after it has been broken, and determines whether the central region of the working face has reached a preset breakage mark based on the intermediate image information, including: the control component compares the intermediate image information with preset target breakage image information, and if the intermediate image information matches the target breakage image information, it determines that the central broken region of the working face has reached the preset breakage mark.

[0010] In the first aspect, the method further includes: before the central rock-breaking component breaks the central area of ​​the working face, the control component calibrates the initial coordinates with the initial advance position of the first linear drive component as the origin; after the central rock-breaking component breaks the central area of ​​the working face, the control component calibrates the final advance position of the first linear drive component as the final coordinates; the difference between the final coordinates and the initial coordinates is calculated, and if the preset target difference is not reached, it is determined that the first linear drive component has not completed the preset stroke.

[0011] In the first aspect, the control component further includes determining the initial position of the working face using the three-dimensional coordinate positioning component: the control component obtains the area of ​​the working face to determine the positioning center; the control component determines a fixed second radius value with the positioning center as the origin, and determines a circular second region with the second radius value, the second region being the outer region.

[0012] In the first aspect, the peripheral rock-breaking assembly includes a second TBM cutterhead, on which a roller cutter is disposed, and a second rotation drive assembly for driving the second TBM cutterhead to rotate, and further includes a second linear drive assembly for driving the second TBM cutterhead to move closer to or away from the working face. Both the second rotation drive assembly and the second linear drive assembly are electrically connected to the control assembly. The control assembly controls the peripheral rock-breaking assembly to break the peripheral area of ​​the working face by: the control assembly controls the second linear drive assembly to push the second TBM cutterhead to a preset position in the peripheral area of ​​the working face, and then controls the second rotation drive assembly to drive the second TBM cutterhead to rotate, so as to break the peripheral area.

[0013] Secondly, the present invention provides a system for rock breaking based on a combined rock breaking device, the system including the method for rock breaking based on the combined rock breaking device described above.

[0014] Beneficial Effects: This invention proposes a method for rock breaking based on a combined rock-breaking device. By first breaking the central region of the tunnel face and monitoring whether the breaking in the central region reaches a preset breaking mark, the thoroughness of the breaking in the central region is ensured. Once the central region of the tunnel face is thoroughly broken, the outer region of the tunnel face is then broken, achieving efficient breaking of the entire tunnel face. Specifically, the initial image information of the tunnel face is first acquired through a control component. Then, based on the initial image information, the central rock-breaking component is controlled to break the central region of the tunnel face. After breaking, the control component controls the monitoring component to acquire intermediate image information of the broken central region of the tunnel face, and determines whether the central region of the tunnel face has reached a preset breaking mark based on the intermediate image information. If so, the control component controls the outer rock-breaking components to break the outer region of the tunnel face. This achieves the technical effect of thoroughly and effectively breaking the entire tunnel face by first completely breaking the central region of the tunnel face and then breaking the outer region. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a flowchart of the method for rock breaking based on a combined rock breaking device in Embodiment 1 of the present invention. Detailed Implementation

[0017] The technical solutions of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0018] Furthermore, in the embodiments of this specification, when a component is referred to as being "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. When a component is considered to be "set on" another component, it can be directly set on the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in the embodiments of this specification are for illustrative purposes only and are not intended to limit the invention.

[0019] Example 1:

[0020] like Figure 1 As shown, this embodiment provides a method for rock breaking based on a combined rock breaking device. The combined rock breaking device includes a central rock breaking component, a peripheral rock breaking component, a control component, and a monitoring component. The working face is divided into a central region and a peripheral region surrounding the central region.

[0021] The method includes: acquiring initial image information of the working face through the control component; the initial image information is real-time image information of the working face monitored by the monitoring component; determining the central region of the working face based on the initial image information, and controlling the central rock-breaking component to break the central region of the working face; the control component controls the monitoring component to acquire intermediate image information of the central region of the working face after it has been broken, and judging whether the central region of the working face has reached a preset breaking mark based on the intermediate image information; if so, the control component controls the peripheral rock-breaking component to break the peripheral region of the working face.

[0022] Specifically, Embodiment 1 of the present invention proposes a method for rock breaking based on a combined rock breaking device. This method first breaks the central region of the working face and monitors whether the breaking in the central region reaches a preset breaking mark, thus ensuring the thoroughness of the breaking in the central region. After the central region of the working face is thoroughly broken, the outer region is then broken to achieve efficient breaking of the entire working face. Specifically, the control component first acquires initial image information of the working face; then, based on the initial image information, the central rock breaking component is controlled to break the central region of the working face; after breaking, the control component controls the monitoring component to acquire intermediate image information of the broken central region of the working face, and determines whether the central region of the working face has reached a preset breaking mark based on the intermediate image information; if so, the control component controls the outer rock breaking component to break the outer region of the working face. This achieves the technical effect of thoroughly breaking the entire working face by first completely breaking the central region of the working face and then breaking the outer region.

[0023] In some possible implementations, the central rock-breaking assembly further includes a laser emitter and a first TBM cutterhead. The first TBM cutterhead is equipped with a roller cutter, and a first rotation drive assembly for driving the first TBM cutterhead to rotate. It also includes a first linear drive assembly for driving the first TBM cutterhead closer to or away from the working face. Both the first rotation drive assembly and the first linear drive assembly are electrically connected to the control assembly. Controlling the central rock-breaking assembly to break the central region of the working face includes: the control assembly controlling the laser emitter to deliver a laser jet to the central region of the working face to cut the central region of the working face and form a pre-cut groove; the control assembly controlling the first linear drive assembly to push the first TBM cutterhead to a preset position in the central region of the working face, and then controlling the first rotation drive assembly to drive the first TBM cutterhead to rotate to break the central region.

[0024] Regarding the step of the rock-breaking component in the control center breaking the central area of ​​the working face, this embodiment proposes an implementation method: first, a laser jet is applied to the central area of ​​the working face through a laser emitter to form a pre-cut groove, thereby destroying the original structure of the central area of ​​the working face. This allows for more thorough breaking when the working face is broken by the first TBM cutter head, thereby improving the breaking efficiency of the central area of ​​the working face.

[0025] In some possible implementations, the central rock-breaking assembly includes a hydraulic launcher and a first TBM cutterhead. The first TBM cutterhead is equipped with roller cutters, and a first rotary drive assembly for driving the first TBM cutterhead to rotate. It also includes a first linear drive assembly for driving the first TBM cutterhead to move closer to or away from the working face. Both the first linear drive assembly and the first linear drive assembly are electrically connected to a control assembly. The step of controlling the central rock-breaking assembly to break the central area of ​​the working face includes: the control assembly controlling the hydraulic launcher to deliver a hydraulic jet to the central area of ​​the working face to cut a pre-cut groove in the central area of ​​the working face; the control assembly controlling the first linear drive assembly to push the first TBM cutterhead to a preset position in the central area of ​​the working face, and then controlling the first rotary drive assembly to drive the first TBM cutterhead to rotate to break the central area.

[0026] Regarding the step of the rock-breaking component in the control center crushing the central area of ​​the working face, this embodiment proposes another implementation method: firstly, a hydraulic jet is applied to the central area of ​​the working face through a hydraulic launcher to form a pre-cut groove, thereby destroying the original structure of the central area of ​​the working face. This allows for more thorough crushing when the working face is crushed by the first TBM cutterhead, thus improving the crushing efficiency of the central area of ​​the working face; the liquid used for the hydraulic jet can be a supercooled liquid.

[0027] Regarding the determination of the location of the central region of the tunnel face, this embodiment also proposes an implementation method: the combined rock-breaking component further includes a three-dimensional coordinate positioning component communicatively connected to the control component. Determining the central region of the tunnel face based on the initial image information includes: the control component determining the fracture area of ​​the tunnel face based on the initial image information, the fracture area including a central fracture area and a peripheral fracture area; the control component controlling the three-dimensional coordinate positioning component to lock the coordinates of the central fracture area; the control component generating a movement path for the first TBM cutterhead to move to the coordinates of the central area based on the coordinates of the central area; and the control component controlling the first drive component to push the first TBM cutterhead along the movement path to the central fracture area.

[0028] Furthermore, the central fractured region is obtained by the following method: the control component acquires the area of ​​the fractured region to determine the geometric center position of the area; with the geometric center position as the center, a first circular region is delineated according to a preset first radius value, and the first region is the central fractured region.

[0029] In some possible implementations, the control component controls the monitoring component to acquire intermediate image information of the central region of the working face after it has been broken, and determines whether the central region of the working face has reached a preset breakage mark based on the intermediate image information. This includes: the control component compares the intermediate image information with preset target breakage image information; if the intermediate image information matches the target breakage image information, it determines that the central broken region of the working face has reached the preset breakage mark.

[0030] To ensure the completeness of the crushing of the central area of ​​the tunnel face, this embodiment uses image comparison for verification. Based on the judgment condition that the intermediate image information is inconsistent with the initial image information in this embodiment, an edge algorithm can also be used to obtain the edge data of the central area of ​​the damaged tunnel face. Then, the comparison of the data can be used to determine whether the central area of ​​the tunnel face has reached the preset excavation depth.

[0031] In some possible implementations, the method further includes: before the central rock-breaking component breaks the central area of ​​the working face, the control component calibrates the initial coordinates with the initial advance position of the first linear drive component as the origin; after the central rock-breaking component breaks the central area of ​​the working face, the control component calibrates the end advance position of the first linear drive component as the end coordinates; the difference between the end coordinates and the initial coordinates is calculated, and if the preset target difference is not reached, it is determined that the first linear drive component has not completed the preset stroke.

[0032] To ensure the thoroughness of the crushing of the central area of ​​the tunnel face, this embodiment also monitors the advancement process of the first linear drive component to determine whether the central part of the tunnel face has been excavated to a preset depth. Specifically, the initial coordinates are marked with the initial advancement position of the first linear drive component as the origin. After the central rock-breaking component crushes the central area of ​​the tunnel face, the control component marks the final advancement position of the first linear drive component as the final coordinate. The difference between the final coordinate and the initial coordinate is calculated. If the preset target difference is not reached, it is determined that the first linear drive component has not completed the preset stroke.

[0033] In some possible implementations, the control component using the three-dimensional coordinate positioning component to determine the initial position of the working face further includes: the control component acquiring the area of ​​the working face to determine the positioning center; the control component determining a fixed second radius value with the positioning center as the origin, and determining a circular second region with the second radius value, the second region being the outer region.

[0034] This is to define the outer region of the working face, and thus distinguish it from the central region of the working face;

[0035] Similarly, the peripheral rock-breaking assembly includes a second TBM cutterhead, on which a roller cutter is provided, and a second rotary drive assembly for driving the second TBM cutterhead to rotate. It also includes a second linear drive assembly for driving the second TBM cutterhead to move closer to or away from the working face. Both the second rotary drive assembly and the second linear drive assembly are electrically connected to the control assembly. When crushing the peripheral area of ​​the working face, the control assembly first controls the peripheral rock-breaking assembly to crush the peripheral area of ​​the working face, including: then the control assembly controls the second linear drive assembly to push the second TBM cutterhead to a preset position in the peripheral area of ​​the working face, and finally the control assembly controls the second rotary drive assembly to drive the second TBM cutterhead to rotate, so as to crush the peripheral area.

[0036] Example 2:

[0037] The present invention provides a system for rock breaking based on a combined rock breaking device, the system including any of the above-mentioned methods for rock breaking based on a combined rock breaking device.

[0038] Since Embodiment 2 and Embodiment 1 are embodiments under the same inventive concept and have some identical structures, the structures in Embodiment 2 that are substantially the same as those in Embodiment 1 will not be described in detail. For the parts not described in detail, please refer to Embodiment 1.

[0039] Finally, it should be noted that the above embodiments are merely specific implementations of the present invention, used to illustrate the technical solutions of the present invention, and not to limit it. The scope of protection of the present invention is not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments within the scope of the technology disclosed in the present invention, or make equivalent substitutions for some of the technical features; and these modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention. All should be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0040] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. A method for rock breaking based on a combined rock breaking device, the combined rock breaking device comprising a central rock breaking component, a peripheral rock breaking component, a control component, and a monitoring component, wherein the working face is divided into a central region and a peripheral region surrounding the central region, characterized in that, The method includes: The control component acquires initial image information of the working face; the initial image information is real-time image information of the working face monitored by the monitoring component. Based on the initial image information, the central region of the working face is determined, and the central rock-breaking component is controlled to break the central region of the working face. The control component controls the monitoring component to acquire intermediate image information of the central region of the working face after it has been broken, and determines whether the central region of the working face has reached a preset breakage mark based on the intermediate image information; the control component compares the intermediate image information with preset target breakage image information, and if the intermediate image information matches the target breakage image information, it determines that the central broken area of ​​the working face has reached the preset breakage mark. If so, the control component controls the peripheral rock-breaking component to break the peripheral area of ​​the working face; The method further includes: Before the central rock-breaking component breaks the central area of ​​the working face, the control component calibrates the initial coordinates with the initial advance position of the first linear drive component as the origin. After the central rock-breaking component breaks the central area of ​​the working face, the control component marks the endpoint advance position of the first linear drive component as the endpoint coordinate. Calculate the difference between the endpoint coordinates and the initial coordinates. If the difference does not reach the preset target value, it is determined that the first linear drive component has not completed the preset stroke.

2. The method for rock breaking based on a combined rock breaking device according to claim 1, wherein the central rock breaking assembly further includes a laser emitter and a first TBM cutterhead, the first TBM cutterhead being provided with a roller cutter, and a first rotation drive assembly for driving the first TBM cutterhead to rotate, and further includes a first linear drive assembly for driving the first TBM cutterhead to move closer to or away from the working face, wherein both the first rotation drive assembly and the first linear drive assembly are electrically connected to the control assembly, characterized in that... The control of the central rock-breaking component to break the central region of the working face includes: The control component controls the laser emitter to jet a laser stream toward the central region of the working face to cut the central region of the working face and form a pre-cut groove. After the control component controls the first linear drive component to push the first TBM cutter head to a preset position in the center region of the working face, it controls the first rotation drive component to drive the first TBM cutter head to rotate so as to crush the center region.

3. The method for rock breaking based on a combined rock-breaking device according to claim 2, wherein the central rock-breaking component includes a hydraulic launcher, characterized in that, The control of the central rock-breaking component to break the central region of the working face also includes: While the control component controls the laser emitter to perform a laser jet towards the central region of the working face, the control component also controls the hydraulic emitter to perform a hydraulic jet towards the central region of the working face.

4. The method for rock breaking based on a combined rock breaking device according to claim 3, wherein the combined rock breaking device further includes a three-dimensional coordinate positioning component communicatively connected to the control component, characterized in that, Determining the central region of the face of the tunnel based on the initial image information includes: The control component determines the fracture area of ​​the working face based on the initial image information, and the fracture area includes a central fracture area and a peripheral fracture area; The control component controls the three-dimensional coordinate positioning component to lock the coordinates of the central area of ​​the central broken region; The control component generates a movement path for the first TBM cutter head to move to the coordinates of the central region based on the coordinates of the central region. The control component controls the first rotation drive component to push the first TBM cutter head along the moving path to the central crushing area.

5. The method for rock breaking based on a combined rock breaking device according to claim 4, characterized in that, The central fractured region was obtained through the following method: The control component acquires the area of ​​the broken region to determine the geometric center of the area; Using the geometric center as the center, a first circular region is defined according to a preset first radius value. This first region is the central broken region.

6. The method for rock breaking based on a combined rock-breaking device according to claim 5, characterized in that, The control component, in determining the initial position of the working face using the three-dimensional coordinate positioning component, further includes: The control component acquires the area of ​​the working face to determine the positioning center; The control component uses the positioning center as the origin to determine a fixed second radius value, and uses the second radius value to determine a circular second region, which is the outer region.

7. The method for rock breaking based on a combined rock breaking device according to claim 1, wherein the peripheral rock breaking assembly includes a second TBM cutterhead, the second TBM cutterhead being provided with roller cutters, and a second rotation drive assembly for driving the second TBM cutterhead to rotate, and further includes a second linear drive assembly for driving the second TBM cutterhead to move closer to or away from the working face, wherein both the second rotation drive assembly and the second linear drive assembly are electrically connected to the control assembly, characterized in that... The control component controls the peripheral rock-breaking component to break up the peripheral area of ​​the working face, including: After the control component controls the second linear drive component to push the second TBM cutter head to a preset position in the outer region of the working face, it controls the second rotation drive component to drive the second TBM cutter head to rotate so as to crush the outer region.

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