Automated vehicle relocation methods, systems, machinery, equipment, media, and chips in downhole systems.

Abstract

The present invention provides an underground automatic vehicle moving method, system, operating machinery, equipment, medium and chip, which relates to the field of underground automatic operation technology, wherein the underground automatic vehicle moving method includes: determining a first distance, a second distance and a first angle; determining a first current maximum rotatable angle according to the first distance, the second distance and the first angle; determining a moving path for the operating machinery to move from a first position to a second position according to the first distance and the first current maximum rotatable angle. In the technical solution of the present invention, when the operating machinery is performing large-section excavation work, it can change its position in the tunnel by moving and rotating, and automatically plan the moving path, which is conducive to realizing automatic vehicle moving underground, without manual intervention in the middle, with a high degree of automation, which is conducive to improving work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of underground automatic operation, and in particular to an underground automatic vehicle moving method, an underground automatic vehicle moving system, an operation machine, an electronic device, a computer-readable storage medium and a chip. Background Art

[0002] When the operating machinery is performing large-section unmanned operations, the excavation working face is a large section. Due to environmental constraints, the operating machinery needs to move horizontally to the other half to continue cutting after cutting half of the section. How to realize automatic vehicle movement underground is a difficult problem in unmanned operations at present.

[0003] In the related technology, when an intelligent tunnel boring machine is performing unmanned operation on a large section, human intervention and lateral movement operation are required in the middle of the process. The degree of automation is not high and affects work efficiency. Summary of the invention

[0004] In order to solve or improve the technical problem of requiring human intervention and operating lateral movement during large-section unmanned operations, an object of the present invention is to provide an automatic vehicle moving method underground.

[0005] Another object of the present invention is to provide an underground automatic vehicle moving system.

[0006] Another object of the present invention is to provide a working machine.

[0007] Another object of the present invention is to provide an electronic device.

[0008] Another object of the present invention is to provide a computer-readable storage medium.

[0009] Another object of the present invention is to provide a chip.

[0010] To achieve the above-mentioned purpose, the first aspect of the present invention provides an automatic underground vehicle moving method for an operating machine, wherein the operating machine has a rotation center and a front end face and a rear end face arranged oppositely, the front end face has a first side edge and a second side edge arranged oppositely, and the tunnel has a first side wall and a second side wall arranged oppositely, and the automatic underground vehicle moving method comprises: when the operating machine moves from a first position to a second position in the tunnel, determining a first distance, a second distance and a first angle, wherein the first distance is the distance between the rotation center and the first side wall, the second distance is the distance between the rotation center and the first side edge, the first angle is the angle between the first plane and the second plane, the first plane is a plane passing through the rotation center and the first side edge, the second plane is a plane symmetrical to the first side edge and the second side edge and the second plane passes through the rotation center; determining a first current maximum rotatable angle according to the first distance, the second distance and the first angle; determining a moving path of the operating machine from the first position to the second position according to the first distance and the first current maximum rotatable angle.

[0011] According to the technical solution of the underground automatic vehicle moving method provided by the present invention, when the operating machinery is performing large-section excavation work, it can change its position in the tunnel by moving and rotating, and automatically plan the moving path, which is conducive to realizing automatic vehicle moving underground. No human intervention is required in the middle, the degree of automation is high, and it is conducive to improving work efficiency.

[0012] The automatic vehicle moving method underground is used for an operating machine. The operating machine has a rotation center and a front face and a rear face that are relatively arranged. Optionally, the operating machine includes a fuselage, a cutting part and a shovel board part. The shovel board part and the cutting part are arranged at the same end of the fuselage, and the cutting part is located above the shovel board part. The cutting part is used to fracture and cut the rock mass, after which the block materials fall, and the shovel board part is used to stack and collect the block materials that fall on the ground or directly fall on the shovel board part. Optionally, the rotation center is the geometric center of the fuselage. The rear face of the operating machine is an end face of the fuselage away from the cutting part and the shovel board part. The front face of the operating machine is an end face of the shovel board part away from the fuselage. Further, the front face has a first side edge and a second side edge that are relatively arranged. Optionally, the first side and the second side are two side edges of the shovel plate away from the body. Since the width of the shovel plate is usually greater than the width of the body, the positions of the two side edges of the shovel plate need to be considered when studying whether the working machine will collide with the side wall of the tunnel during rotation. Further, the tunnel has a first side wall and a second side wall that are arranged oppositely. Of the first side and the second side, the first side is closer to the first side wall, and the second side is closer to the second side wall. Optionally, the working machine is a tunneling machine, and of course it can also be other types of equipment.

[0013] The specific steps of the underground automatic vehicle moving method include:

[0014] In the first step, when the operating machine moves from the first position to the second position in the tunnel, the first distance, the second distance and the first angle are determined, wherein the first distance is the distance between the center of rotation and the first side wall, the second distance is the distance between the center of rotation and the first side edge, the first angle is the angle between the first plane and the second plane, the first plane is the plane passing through the center of rotation and the first side edge, the second plane is the plane symmetrical to the first side edge and the second side edge and the second plane passes through the center of rotation. Optionally, the controller determines the distance (first distance) between the center of rotation and the first side wall through the positioning component. Optionally, the positioning component includes a wire displacement sensor and a gyroscope angle sensor. The second distance and the first angle are design parameters of the operating machine. The plane passing through the center of rotation and the first side edge is the first plane. The first side edge and the second side edge are symmetrical about the second plane, and the center of rotation is on the second plane. The angle between the first plane and the second plane is the first angle. Optionally, when the operating machine is in the first position, it is used to cut one side area (such as the right side area) of the tunnel.

[0015] The second step is to determine the first current maximum rotatable angle according to the first distance, the second distance and the first angle. Optionally, the first distance is X1, the second distance is L1, the first angle is α1, the first current maximum rotatable angle is β1, and β1=arcsin(X1 / L1)-α1.

[0016] The third step is to determine the moving path of the operating machine from the first position to the second position based on the first distance and the first current maximum rotatable angle. In the process of the operating machine moving from the first position to the second position, if the distance (first distance) between the center of rotation and the first side wall changes, the first current maximum rotatable angle will also change continuously, so as to realize automatic planning of the moving path and automatic lateral movement. Optionally, after the movement is completed, the positioning component determines the actual lateral displacement of the movement, and the inertial navigation system calculates the coordinate offset of the cutting part on the working surface, and continues the unmanned operation to cut the other half of the surface, so as to realize the unmanned operation of the complete working surface.

[0017] In the technical solution defined in the present invention, when the operating machinery is performing large-section excavation work, it can change its position in the tunnel by moving and rotating at the same time, and automatically plan the moving path, which is conducive to realizing automatic vehicle moving underground. No human intervention is required in the middle, the degree of automation is high, and it is conducive to improving work efficiency.

[0018] In addition, the above technical solution provided by the present invention may also have the following additional technical features:

[0019] In some technical solutions, optionally, before determining the moving path of the working machine from the first position to the second position based on the first distance and the first current maximum rotatable angle, the underground automatic vehicle moving method also includes: during the rotation of the working machine with the rotation center as the origin, determining the position of the working machine in the tunnel, and determining a first compensation amount to correct the first distance.

[0020] In this technical solution, before determining the moving path of the working machine, the steps of the underground automatic vehicle moving method also include:

[0021] During the process of the operating machinery rotating with the center of rotation as the origin, the position of the operating machinery in the tunnel is determined, and a first compensation amount is determined to correct the first distance. The underground automatic vehicle moving of the operating machinery relies on a combination of an inertial navigation system and a wire-drawing displacement sensor to determine the position change of the operating machinery in the tunnel. Optionally, the wire-drawing displacement sensor is arranged at the center of rotation of the operating machinery to more accurately obtain the distance between the center of rotation and the side wall of the tunnel. The orientation of the wire-drawing displacement sensor will change during the process of the operating machinery rotating with the center of rotation as the origin. The influence of the orientation change of the operating machinery on the wire-drawing displacement sensor can be eliminated by the following formula, , , Optionally, the inertial navigation system is used to obtain the polar coordinates P (r, , ). The first distance is continuously corrected to calculate a more accurate first current maximum rotatable angle.

[0022] In some technical schemes, optionally, after determining the moving path of the working machinery from the first position to the second position based on the first distance and the first current maximum rotatable angle, the underground automatic vehicle moving method also includes: when the working machinery moves from the second position to the third position in the tunnel, determining the third distance, the fourth distance and the second angle, wherein the third distance is the distance between the rotation center and the second side wall, the fourth distance is the distance between the rotation center and the second side edge, the second angle is the angle between the second plane and the third plane, and the third plane is the plane passing through the rotation center and the second side edge; determining the second current maximum rotatable angle based on the third distance, the fourth distance and the second angle; determining the moving path of the working machinery from the second position to the third position based on the third distance and the second current maximum rotatable angle.

[0023] In this technical solution, after determining the moving path of the working machine from the first position to the second position according to the first distance and the first current maximum rotatable angle, the underground automatic vehicle moving method further includes:

[0024] When the operating machine moves from the second position to the third position in the tunnel, the third distance, the fourth distance and the second angle are determined, wherein the third distance is the distance between the rotation center and the second side wall, the fourth distance is the distance between the rotation center and the second side edge, the second angle is the angle between the second plane and the third plane, and the third plane is the plane passing through the rotation center and the second side edge. Optionally, the controller determines the distance (third distance) between the rotation center and the second side wall through the positioning component. Optionally, the positioning component includes a wire displacement sensor and a gyroscope angle sensor. The fourth distance and the second angle are design parameters of the operating machine. Optionally, when the operating machine is in the third position, it is used to cut the other side area of ​​the tunnel (such as the left side area). When the operating machine is performing unmanned operation of a large section, the excavation working face is a large section. After the operating machine has cut half of the section, it moves from the first position to the second position, and moves from the second position to the third position, and then continues to cut the other half of the section. Further, the distance between the rotation center and the second side wall is the third distance. The distance between the center of rotation and the second side is a fourth distance. The plane passing through the center of rotation and the second side is a third plane, and the angle between the third plane and the second plane is a second angle. Optionally, the fourth distance is equal to the second distance. Optionally, the second angle is equal to the first angle.

[0025] The second current maximum rotatable angle is determined according to the third distance, the fourth distance and the second angle. The principle of determining the second current maximum rotatable angle is similar to the principle of determining the first current maximum rotatable angle.

[0026] The moving path of the working machine from the second position to the third position is determined according to the third distance and the second current maximum rotatable angle. In the process of the working machine moving from the second position to the third position, if the distance (third distance) between the rotation center and the second side wall changes, the second current maximum rotatable angle will also change continuously, thereby realizing automatic planning of the moving path and automatic lateral movement.

[0027] In some technical solutions, optionally, before determining the moving path of the working machine from the second position to the third position based on the third distance and the second current maximum rotatable angle, the underground automatic vehicle moving method also includes: during the rotation of the working machine with the rotation center as the origin, determining the position of the working machine in the tunnel, and determining the second compensation amount to correct the third distance.

[0028] In this technical solution, before determining the moving path of the working machine, the steps of the underground automatic vehicle moving method also include:

[0029] During the process of the operating machine rotating with the center of rotation as the origin, the position of the operating machine in the tunnel is determined, and the second compensation amount is determined to correct the third distance. The underground automatic moving of the operating machine relies on the combination of an inertial navigation system and a wire displacement sensor to determine the position change of the operating machine in the tunnel. Optionally, the wire displacement sensor is arranged at the center of rotation of the operating machine to more accurately obtain the distance between the center of rotation and the side wall of the tunnel. By continuously correcting the third distance, a more accurate second current maximum rotatable angle can be calculated.

[0030] In some technical solutions, optionally, the first distance is X1, the second distance is L1, the first angle is α1, the first current maximum rotatable angle is β1, and β1=arcsin(X1 / L1)-α1.

[0031] In this technical solution, by continuously determining the current maximum rotatable angle, the operating machinery can change its position in the tunnel by moving and rotating when performing large-section excavation work, automatically plan the moving path, and facilitate automatic vehicle movement underground.

[0032] In some technical solutions, optionally, the third distance is X2, the fourth distance is L2, the second angle is α2, the second current maximum rotatable angle is β2, and β2=arcsin(X2 / L2)-α2.

[0033] In this technical solution, by continuously determining the current maximum rotatable angle, the operating machinery can change its position in the tunnel by moving and rotating when performing large-section excavation work, automatically plan the moving path, and facilitate automatic vehicle movement underground.

[0034] A second aspect of the present invention provides an underground automatic vehicle moving system, comprising: a controller for executing the steps of the underground automatic vehicle moving method in any of the above technical solutions.

[0035] According to the technical solution of the underground automatic vehicle moving system of the present invention, the underground automatic vehicle moving system includes a controller. The controller is used to execute the steps of the underground automatic vehicle moving method in any of the above technical solutions. Optionally, the underground automatic vehicle moving system also includes an inertial navigation system, a wire displacement sensor and a gyroscope angle sensor. The inertial navigation system, the wire displacement sensor and the gyroscope angle sensor are all connected to the controller. The inertial navigation system is used to obtain position information and angle information. The gyroscope angle sensor is used to obtain angle information. The wire displacement sensor is used to obtain the distance between the rotation center and the side wall of the tunnel.

[0036] In the technical solution defined in the present invention, on the first aspect, the underground automatic vehicle moving system can calculate the position of the operating machinery in the tunnel coordinate system in real time, automatically plan the moving path to prevent collision, and select the optimal driving path under the premise of ensuring safety; on the second aspect, the underground automatic vehicle moving system can automatically compensate for the offset of the measurement result of the wire displacement sensor caused by the rotation of the operating machinery, to ensure the measurement accuracy of the displacement change; on the third aspect, the underground automatic vehicle moving system does not need to change the original mechanical structure and can be applied to various models of operating machinery.

[0037] When the operating machinery is carrying out large-section excavation work, it can change its position in the tunnel by moving and rotating at the same time, and automatically plan the moving path, which is conducive to realizing automatic vehicle moving underground. No human intervention is required in the middle, and the high degree of automation is conducive to improving work efficiency.

[0038] A third aspect of the present invention provides an operating machine, comprising: a machine body; and the underground automatic vehicle moving system in the above technical solution, which is arranged on the machine body.

[0039] According to the technical solution of the working machine of the present invention, the working machine comprises a fuselage and the underground automatic vehicle moving system in the above technical solution. Optionally, the controller, inertial navigation system, wire displacement sensor and gyroscope angle sensor of the underground automatic vehicle moving system are all arranged on the fuselage.

[0040] The fourth aspect of the present invention provides an electronic device, including a processor, a memory, and a program or instruction stored in the memory and executable on the processor, which implements the steps of the underground automatic vehicle moving method in any of the above-mentioned technical solutions when the program or instruction is executed by the processor.

[0041] A fifth aspect of the present invention provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the underground automatic vehicle moving method in any of the above technical solutions are implemented.

[0042] A sixth aspect of the present invention provides a chip, which includes a processor and a communication interface, wherein the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the steps of the underground automatic vehicle moving method in any of the above technical solutions.

[0043] Additional aspects and advantages of the technical solutions of the present invention will become apparent in the following description or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 A first flow chart of an automatic underground vehicle moving method according to an embodiment of the present invention is shown;

[0045] Figure 2A second flow chart of the method for automatically moving a vehicle underground according to an embodiment of the present invention is shown;

[0046] Figure 3 A schematic diagram of an underground automatic vehicle moving system according to an embodiment of the present invention is shown;

[0047] Figure 4 A first schematic diagram of a working machine according to an embodiment of the present invention is shown;

[0048] Figure 5 A second schematic diagram of a working machine according to an embodiment of the present invention is shown;

[0049] Figure 6 A schematic diagram showing a working machine moving from a first position to a second position in a tunnel according to an embodiment of the present invention;

[0050] Figure 7 A schematic diagram showing a working machine according to an embodiment of the present invention moving from a second position to a third position in a lane;

[0051] Figure 8 A schematic diagram of a wire displacement sensor according to an embodiment of the present invention is shown;

[0052] Fig. 9 A third schematic diagram shows a work machine according to an embodiment of the present invention.

[0053] in, Figures 3 to 9 The corresponding relationship between the reference numerals and the component names is as follows:

[0054] 300: underground automatic vehicle moving system; 310: controller; 320: wire displacement sensor; 330: gyroscope angle sensor; 340: inertial navigation system; 400: operating machinery; 410: fuselage; 411: rotation center; 420: cutting part; 430: shovel part; 441: front end face; 4411: first side edge; 4412: second side edge; 442: rear end face; 451: first plane; 452: second plane; 453: third plane; 500: tunnel; 510: first side wall; 520: second side wall. DETAILED DESCRIPTION

[0055] In order to more clearly understand the above-mentioned purposes, features and advantages of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0056] In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the embodiments of the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited to the specific embodiments disclosed below.

[0057] Refer to the following Figures 1 to 9 The following describes an underground automatic vehicle moving method, an underground automatic vehicle moving system 300, an operating machine 400, an electronic device, a computer-readable storage medium, and a chip provided according to some embodiments of the present invention.

[0058] In one embodiment according to the present invention, Figure 6 As shown, the working machine 400 is used to move from a first position to a second position in the tunnel 500. Figure 5 As shown, the operating machine 400 has a rotation center 411 and a front face 441 and a rear face 442 that are arranged opposite to each other. Optionally, the operating machine 400 includes a fuselage 410, a cutting part 420 and a shovel part 430. The shovel part 430 and the cutting part 420 are arranged at the same end of the fuselage 410, and the cutting part 420 is located above the shovel part 430. The cutting part 420 is used for fracturing and cutting the rock mass, after which the block materials fall, and the shovel part 430 is used to stack and collect the block materials that fall on the ground or directly fall on the shovel part 430. Optionally, the rotation center 411 is the geometric center of the fuselage 410. The rear face 442 of the operating machine 400 is an end face of the fuselage 410 away from the cutting part 420 and the shovel part 430. The front face 441 of the operating machine 400 is an end face of the shovel part 430 away from the fuselage 410. Furthermore, the front end face 441 has a first side edge 4411 and a second side edge 4412 that are arranged opposite to each other. Optionally, the first side edge 4411 and the second side edge 4412 are two side edges of the shovel plate portion 430 away from the body 410. Since the width of the shovel plate portion 430 is usually greater than the width of the body 410, when studying whether the working machine 400 will collide with the side wall of the tunnel 500 during rotation, the positions of the two side edges of the shovel plate portion 430 need to be considered. Figure 6 As shown, the lane 500 has a first side wall 510 and a second side wall 520 disposed opposite to each other. Figure 5 and Figure 6As shown, in the first side 4411 and the second side 4412, the first side 4411 is closer to the first side wall 510, and the second side 4412 is closer to the second side wall 520. Further, the distance between the center of rotation 411 and the first side wall 510 is the first distance. The distance between the center of rotation 411 and the first side 4411 is the second distance. The plane passing through the center of rotation 411 and the first side 4411 is the first plane 451. The first side 4411 and the second side 4412 are symmetrical about the second plane 452, and the center of rotation 411 is on the second plane 452. The angle between the first plane 451 and the second plane 452 is the first angle. Optionally, when the operating machine 400 is in the first position, it is used to cut one side area (such as the right side area) of the tunnel 500. Optionally, the operating machine 400 is a tunneling machine, and of course it can also be other types of equipment.

[0059] In some embodiments, optionally, Figure 7 As shown, the working machine 400 is also used to move from the second position to the third position in the tunnel 500. Optionally, when the working machine 400 is in the third position, it is used to cut the other side area (such as the left side area) of the tunnel 500. When the working machine 400 performs large-section unmanned operation, the excavation working face is a large section. After the working machine 400 completes cutting of half of the section, it moves from the first position to the second position, and then moves from the second position to the third position, and then continues to cut the other half of the section.

[0060] The distance between the rotation center 411 and the second side wall 520 is the third distance. The distance between the rotation center 411 and the second side edge 4412 is the fourth distance. Fig. 9 As shown, the plane passing through the rotation center 411 and the second side 4412 is the third plane 453, and the angle between the third plane 453 and the second plane 452 is the second angle.

[0061] According to one embodiment of the present invention, the automatic underground vehicle moving method of an operating machine is used for an operating machine. Figure 1 As shown, the specific steps of the underground automatic vehicle moving method include:

[0062] S102, when the operating machine moves from the first position to the second position in the tunnel, determine the first distance, the second distance and the first angle, wherein the first distance is the distance between the center of rotation and the first side wall, the second distance is the distance between the center of rotation and the first side edge, the first angle is the angle between the first plane and the second plane, the first plane is the plane passing through the center of rotation and the first side edge, the second plane is the plane symmetrical to the first side edge and the second side edge and the second plane passes through the center of rotation. Optionally, the controller determines the distance (first distance) between the center of rotation and the first side wall through the positioning component. Optionally, the positioning component includes a wire displacement sensor and a gyroscope angle sensor. The second distance and the first angle are design parameters of the operating machine. The plane passing through the center of rotation and the first side edge is the first plane. The first side edge and the second side edge are symmetrical about the second plane, and the center of rotation is on the second plane. The angle between the first plane and the second plane is the first angle. Optionally, when the operating machine is in the first position, it is used to cut one side area (such as the right side area) of the tunnel.

[0063] S104, determining a first current maximum rotatable angle according to the first distance, the second distance and the first angle. Optionally, the first distance is X1, the second distance is L1, the first angle is α1, the first current maximum rotatable angle is β1, β1=arcsin(X1 / L1)-α1.

[0064] S106, determining the moving path of the working machine from the first position to the second position according to the first distance and the first current maximum rotatable angle. In the process of the working machine moving from the first position to the second position, if the distance (first distance) between the center of rotation and the first side wall changes, the first current maximum rotatable angle will also change continuously, so as to realize automatic planning of the moving path and automatic lateral movement. Optionally, after the movement is completed, the positioning component determines the actual lateral displacement of the movement, the inertial navigation system calculates the coordinate offset of the cutting part on the working surface, and continues the unmanned operation to cut the other half of the surface, so as to realize the unmanned operation of the complete working surface.

[0065] In the technical solution defined in the present invention, when the operating machinery is performing large-section excavation work, it can change its position in the tunnel by moving and rotating at the same time, and automatically plan the moving path, which is conducive to realizing automatic vehicle moving underground. No human intervention is required in the middle, the degree of automation is high, and it is conducive to improving work efficiency.

[0066] According to one embodiment of the present invention, the automatic underground vehicle moving method of an operating machine is used for an operating machine. Figure 2 As shown, the specific steps of the underground automatic vehicle moving method include:

[0067] S202, when the operating machine moves from the first position to the second position in the tunnel, determine the first distance, the second distance and the first angle, wherein the first distance is the distance between the center of rotation and the first side wall, the second distance is the distance between the center of rotation and the first side edge, the first angle is the angle between the first plane and the second plane, the first plane is the plane passing through the center of rotation and the first side edge, the second plane is the plane symmetrical to the first side edge and the second side edge and the second plane passes through the center of rotation. Optionally, the controller determines the distance (first distance) between the center of rotation and the first side wall through the positioning component. Optionally, the positioning component includes a wire displacement sensor and a gyroscope angle sensor. The second distance and the first angle are design parameters of the operating machine. The plane passing through the center of rotation and the first side edge is the first plane. The first side edge and the second side edge are symmetrical about the second plane, and the center of rotation is on the second plane. The angle between the first plane and the second plane is the first angle. Optionally, when the operating machine is in the first position, it is used to cut one side area (such as the right side area) of the tunnel.

[0068] S204, determining a first current maximum rotatable angle according to the first distance, the second distance and the first angle. Optionally, the first distance is X1, the second distance is L1, the first angle is α1, the first current maximum rotatable angle is β1, β1=arcsin(X1 / L1)-α1.

[0069] S206, during the process of the operating machine rotating with the center of rotation as the origin, determine the position of the operating machine in the tunnel, and determine the first compensation amount to correct the first distance. The underground automatic moving of the operating machine relies on the combination of an inertial navigation system and a wire-drawing displacement sensor to determine the position change of the operating machine in the tunnel. Optionally, the wire-drawing displacement sensor is arranged at the center of rotation of the operating machine to more accurately obtain the distance between the center of rotation and the side wall of the tunnel. The orientation of the wire-drawing displacement sensor will change during the process of the operating machine rotating with the center of rotation as the origin. The influence of the orientation change of the operating machine on the wire-drawing displacement sensor can be eliminated by the following formula, , , Optionally, the inertial navigation system is used to obtain the polar coordinates P (r, , ). The first distance is continuously corrected to calculate a more accurate first current maximum rotatable angle.

[0070] S208, determining the moving path of the working machine from the first position to the second position based on the first distance and the first current maximum rotatable angle. In the process of the working machine moving from the first position to the second position, if the distance (first distance) between the center of rotation and the first side wall changes, the first current maximum rotatable angle will also change continuously, so as to realize automatic planning of the moving path and automatic lateral movement. Optionally, after the movement is completed, the positioning component determines the actual lateral displacement of the movement, the inertial navigation system calculates the coordinate offset of the cutting part on the working surface, and continues the unmanned operation to cut the other half of the surface, so as to realize the unmanned operation of the complete working surface.

[0071] S210, when the operating machine moves from the second position to the third position in the tunnel, determine the third distance, the fourth distance and the second angle, wherein the third distance is the distance between the rotation center and the second side wall, the fourth distance is the distance between the rotation center and the second side edge, the second angle is the angle between the second plane and the third plane, and the third plane is the plane passing through the rotation center and the second side edge. Optionally, the controller determines the distance (third distance) between the rotation center and the second side wall through the positioning component. Optionally, the positioning component includes a wire displacement sensor and a gyroscope angle sensor. The fourth distance and the second angle are design parameters of the operating machine. Optionally, when the operating machine is in the third position, it is used to cut the other side area (such as the left side area) of the tunnel. When the operating machine is performing unmanned operation of a large section, the excavation working face is a large section. After the operating machine has cut half of the section, it moves from the first position to the second position, and then moves from the second position to the third position, and then continues to cut the other half of the section. Further, the distance between the rotation center and the second side wall is the third distance. The distance between the center of rotation and the second side is a fourth distance. The plane passing through the center of rotation and the second side is a third plane, and the angle between the third plane and the second plane is a second angle. Optionally, the fourth distance is equal to the second distance. Optionally, the second angle is equal to the first angle.

[0072] S212, determining a second current maximum rotatable angle according to the third distance, the fourth distance, and the second angle. The principle of determining the second current maximum rotatable angle is similar to the principle of determining the first current maximum rotatable angle. The third distance is X2, the fourth distance is L2, the second angle is α2, and the second current maximum rotatable angle is β2, β2=arcsin(X2 / L2)-α2.

[0073] S214, in the process of the operating machine rotating with the rotation center as the origin, determine the position of the operating machine in the tunnel, and determine the second compensation amount to correct the third distance. The underground automatic moving vehicle of the operating machine relies on the combination of an inertial navigation system and a pull-wire displacement sensor to determine the position change of the operating machine in the tunnel. Optionally, the pull-wire displacement sensor is arranged at the rotation center of the operating machine to more accurately obtain the distance between the rotation center and the side wall of the tunnel. By continuously correcting the third distance, a more accurate second current maximum rotatable angle can be calculated.

[0074] S216, determining a movement path of the working machine from the second position to the third position according to the third distance and the second current maximum rotatable angle. In the process of the working machine moving from the second position to the third position, if the distance (third distance) between the rotation center and the second side wall changes, the second current maximum rotatable angle will also change continuously, thereby realizing automatic movement path planning and automatic lateral movement.

[0075] In some embodiments, optionally, Figure 5 As shown, the first distance is X1, the second distance is L1, the first angle is α1, the first current maximum rotatable angle is β1, and β1=arcsin(X1 / L1)-α1. By continuously determining the current maximum rotatable angle, the operating machine can change its position in the tunnel by moving and rotating when performing large-section excavation work, automatically plan the moving path, and facilitate the realization of automatic vehicle movement underground.

[0076] In some embodiments, optionally, Fig. 9 As shown, the third distance is X2, the fourth distance is L2, the second angle is α2, the second current maximum rotatable angle is β2, and β2=arcsin(X2 / L2)-α2. By continuously determining the current maximum rotatable angle, the operating machine can change its position in the tunnel by moving and rotating when performing large-section excavation work, automatically plan the moving path, and facilitate the realization of automatic vehicle movement underground.

[0077] In one embodiment according to the present invention, Figure 3 As shown, the underground automatic vehicle moving system 300 includes a controller 310. The controller 310 is used to execute the steps of the underground automatic vehicle moving method in any of the above embodiments. Figure 3 and Figure 8As shown, the underground automatic vehicle moving system 300 also includes an inertial navigation system 340, a wire displacement sensor 320 and a gyroscope angle sensor 330. The inertial navigation system 340, the wire displacement sensor 320 and the gyroscope angle sensor 330 are all connected to the controller 310. The inertial navigation system 340 is used to obtain position information and angle information. The gyroscope angle sensor 330 is used to obtain angle information. The wire displacement sensor 320 is used to obtain the distance between the rotation center 411 and the side wall of the tunnel 500.

[0078] In the technical solution defined in the present invention, on the first aspect, the underground automatic vehicle moving system 300 can calculate the position of the working machine 400 in the coordinate system of the tunnel 500 in real time, automatically plan the moving path to prevent collision, and select the optimal driving path under the premise of ensuring safety; on the second aspect, the underground automatic vehicle moving system 300 can automatically compensate for the offset of the measurement result of the wire displacement sensor 320 caused by the rotation of the working machine 400, to ensure the measurement accuracy of the displacement change; on the third aspect, the underground automatic vehicle moving system 300 does not need to change the original mechanical structure and can be applied to various models of working machines 400.

[0079] When performing large-section excavation work, the operating machine 400 can change its position in the tunnel 500 by moving and rotating at the same time, and automatically plan the moving path, which is conducive to realizing automatic vehicle moving underground without the need for human intervention in the middle. It has a high degree of automation and is conducive to improving work efficiency.

[0080] In one embodiment according to the present invention, Figure 4 As shown, the working machine 400 includes a body 410 and the underground automatic vehicle moving system 300 in the above embodiment. Optionally, the controller 310, the inertial navigation system 340, the wire displacement sensor 320 and the gyroscope angle sensor 330 of the underground automatic vehicle moving system 300 are all arranged on the body 410.

[0081] In one embodiment of the present invention, the electronic device includes a processor, a memory, and a program or instruction stored in the memory and executable on the processor. When the program or instruction is executed by the processor, the steps of the underground automatic vehicle moving method in any of the above embodiments are implemented.

[0082] In one embodiment of the present invention, a computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the underground automatic vehicle moving method in any of the above embodiments are implemented.

[0083] In one embodiment of the present invention, the chip includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run programs or instructions to implement the steps of the underground automatic vehicle moving method in any of the above embodiments.

[0084] In the present invention, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance; the term "plurality" refers to two or more, unless otherwise clearly defined. The terms "installed", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0085] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “front” and “back” are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or unit referred to must have a specific direction, be constructed and operated in a specific orientation, and therefore, cannot be understood as a limitation on the present invention.

[0086] In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0087] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic vehicle moving method underground, characterized in that: For an operating machine, the operating machine has a rotation center and a front end face and a rear end face arranged oppositely, the front end face has a first side edge and a second side edge arranged oppositely, and the tunnel has a first side wall and a second side wall arranged oppositely, and the underground automatic vehicle moving method includes: When the operating machine moves from a first position to a second position in the tunnel, a first distance, a second distance and a first angle are determined, wherein the first distance is the distance between the rotation center and the first side wall, the second distance is the distance between the rotation center and the first side edge, the first angle is the angle between a first plane and a second plane, the first plane is a plane passing through the rotation center and the first side edge, and the second plane is a plane symmetrical to the first side edge and the second side edge and the second plane passes through the rotation center; Determine a first current maximum rotatable angle according to the first distance, the second distance and the first angle, the first distance is X1, the second distance is L1, the first angle is α1, the first current maximum rotatable angle is β1, β1=arcsin(X1 / L1)-α1; A moving path of the working machine from the first position to the second position is determined according to the first distance and the first current maximum rotatable angle.

2. The method for automatically moving a vehicle underground according to claim 1, characterized in that: Before determining the moving path of the working machine from the first position to the second position according to the first distance and the first current maximum rotatable angle, the underground automatic vehicle moving method further includes: During the process of the working machine rotating with the rotation center as the origin, the position of the working machine in the tunnel is determined, and a first compensation amount is determined to correct the first distance.

3. The method for automatically moving a vehicle underground according to claim 1, characterized in that: After determining the moving path of the working machine from the first position to the second position according to the first distance and the first current maximum rotatable angle, the underground automatic vehicle moving method further includes: When the operating machine moves from the second position to the third position in the tunnel, a third distance, a fourth distance, and a second angle are determined, wherein the third distance is the distance between the rotation center and the second side wall, the fourth distance is the distance between the rotation center and the second side edge, the second angle is the angle between the second plane and the third plane, and the third plane is a plane passing through the rotation center and the second side edge; Determine a second current maximum rotatable angle according to the third distance, the fourth distance and the second angle; A moving path of the working machine from the second position to the third position is determined according to the third distance and the second current maximum rotatable angle.

4. The method for automatically moving a vehicle underground according to claim 3, characterized in that: Before determining the moving path of the working machine from the second position to the third position according to the third distance and the second current maximum rotatable angle, the underground automatic vehicle moving method further includes: During the process of the working machine rotating with the rotation center as the origin, the position of the working machine in the tunnel is determined, and a second compensation amount is determined to correct the third distance.

5. The automatic underground vehicle moving method according to claim 3 or 4, characterized in that: The third distance is X2, the fourth distance is L2, the second angle is α2, the second current maximum rotatable angle is β2, and β2=arcsin(X2 / L2)-α2.

6. An automatic vehicle moving system underground, characterized in that: include: A controller (310) is used to execute the steps of the underground automatic vehicle moving method as described in any one of claims 1 to 5.

7. A working machine, characterized in that: include: Body (410); The underground automatic vehicle moving system as described in claim 6 is arranged on the machine body (410).

8. An electronic device, characterized in that: The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the underground automatic vehicle moving method as described in any one of claims 1 to 5.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the underground automatic vehicle moving method according to any one of claims 1 to 5 are implemented.

10. A chip, characterized in that: The chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps of the underground automatic vehicle moving method according to any one of claims 1 to 5.

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