A tunnel construction excavation system and method

Abstract

The present invention relates to the technical field of tunnel construction, and specifically to an excavation system and method for tunnel construction, the system comprising: a frame, with walking wheels arranged at its four corners; a hydraulic motor, which is arranged on the walking wheels; a walking track, which is arranged on the outer surfaces of two walking wheels; a rotating seat, which is arranged in the middle of the upper surface of the frame; an equipment body, which is arranged on the upper surface of the rotating seat; a first connecting seat, which is arranged on a side wall of the equipment body; a power arm, one end of which is connected to the first connecting seat; an excavation head, which is arranged on the other end of the power arm, and an excavation head hydraulic system is also arranged between the power arm and the excavation head; a controller, which is arranged on the equipment body and is used to determine the real-time travel speed of the walking wheels and the real-time rotation speed of the excavation head. The present invention can adjust the operating parameters according to real-time data, adapt to different working conditions, has flexibility, and improves the efficiency and stability of the system.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel construction, and in particular to an excavation system and method for tunnel construction. Background Art

[0002] Tunnel construction excavation systems are engineering equipment and systems designed specifically for digging and building tunnels underground. These systems cover multiple key components and technologies to ensure efficient, safe and accurate tunnel construction.

[0003] The travel speed and excavation speed in tunnel construction excavation systems are usually independently controllable. Different engineering conditions may affect the demand for travel speed and excavation speed. In actual excavation operations, it is usually necessary to strike a balance between travel and excavation. Increasing the excavation speed may affect the excavation efficiency, but too high a travel speed may reduce the stability and safety of the excavator. Summary of the invention

[0004] In view of this, the present invention proposes an excavation system and method based on tunnel construction, mainly to solve the problem of how to improve the excavation efficiency and ensure the safety of the excavation system by comprehensively controlling the travel speed and excavation speed of the excavation system.

[0005] In one aspect, the present invention provides an excavation system for tunnel construction, the system comprising:

[0006] The frame has traveling wheels at its four corners;

[0007] A hydraulic motor is provided on the travel wheel, and the hydraulic motor is used to control the travel speed of the travel wheel;

[0008] The walking crawler belt comprises two walking crawlers, and the walking crawler belts are arranged on the outer surfaces of the two walking wheels;

[0009] A rotating seat, which is arranged in the middle of the upper surface of the frame;

[0010] A device body, which is arranged on the upper surface of the rotating seat;

[0011] A first connection seat, which is arranged on a side wall of the device body;

[0012] A power arm, one end of which is connected to the first connecting seat;

[0013] An excavator head is arranged on the other end of the power arm, and an excavator head hydraulic system is also arranged between the power arm and the excavator head, and the excavator head hydraulic system is used to control the rotation speed of the excavator head;

[0014] A controller is arranged on the equipment body, the controller is connected to the hydraulic motor and the hydraulic system of the excavator head, and the controller is used to determine the real-time travel speed of the walking wheel and the real-time rotation speed of the excavator head.

[0015] In some embodiments of the present application, a sensor component is also included;

[0016] The sensor assembly comprises:

[0017] A pressure sensor is provided on the excavating head, and is used to detect real-time pressure data generated by the excavating head during operation;

[0018] A vibration sensor is disposed on the lower surface of the frame, and is used to detect real-time vibration intensity data generated during the operation of the travel wheel;

[0019] A torque sensor is provided on the excavating head, and is used to detect real-time torque data generated by the excavating head during operation;

[0020] An acceleration sensor is arranged on the excavating head, and is used to detect real-time acceleration data generated by the excavating head during operation.

[0021] In some embodiments of the present application, the controller includes:

[0022] A first control unit, used for presetting an initial travel speed of the traveling wheel and an initial rotation speed of the excavating head, and controlling the operation of the excavating system according to the initial travel speed and the initial rotation speed;

[0023] A data acquisition unit, used for acquiring detection data of the sensor assembly in real time;

[0024] Wherein, the detection data includes the real-time pressure data, real-time vibration intensity data, real-time torque data and real-time acceleration data;

[0025] a first data processing unit, configured to obtain and adjust the initial travel speed according to the real-time pressure data and the real-time vibration intensity data collected by the data collection unit to obtain the real-time travel speed;

[0026] A second data processing unit is used to acquire and adjust the initial rotation speed according to the real-time torque data and the real-time acceleration data acquired by the data acquisition unit to obtain the real-time rotation speed;

[0027] The second control unit is used for controlling the excavation system to continue to operate according to the real-time traveling speed and the real-time rotating speed.

[0028] In some embodiments of the present application, when the first data processing unit adjusts the initial travel speed to obtain the real-time travel speed, it includes:

[0029] Acquire the real-time pressure data, denoted as B;

[0030] The minimum pressure threshold is preset, denoted as Ba;

[0031] When B<Ba, the first data processing unit determines to adjust the initial travel speed once, and obtains an adjusted travel speed, which is recorded as C;

[0032] When B≥Ba, the first data processing unit determines not to adjust the initial traveling speed, and uses the initial traveling speed as an adjusted traveling speed C.

[0033] In some embodiments of the present application, when B<Ba, the first data processing unit determines to adjust the initial travel speed once, including:

[0034] Obtain the initial traveling speed, recorded as A;

[0035] A first preset pressure data threshold B1, a second preset pressure data threshold B2, a third preset pressure data threshold B3, and a fourth preset pressure data threshold B4 are preset, and Ba=B1>B2>B3>B4; a first preset adjustment coefficient b1, a second preset adjustment coefficient b2, a third preset adjustment coefficient b3, and a fourth preset adjustment coefficient b4 are preset, and 1.2>b4>b3>b2>b1>1;

[0036] When B1>B≥B2, the first data processing unit selects the first preset adjustment coefficient b1 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b1;

[0037] When B2>B≥B3, the first data processing unit selects the second preset adjustment coefficient b2 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b2;

[0038] When B3>B≥B4, the first data processing unit selects the third preset adjustment coefficient b3 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b3;

[0039] When B<B4, the first data processing unit selects the fourth preset adjustment coefficient b4 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b4.

[0040] In some embodiments of the present application, the first data processing unit selects the i-th preset adjustment coefficient bi to adjust the initial travel speed A once, i=1, 2, 3, 4, and obtains the adjusted initial travel speed as A*bi, and further includes:

[0041] The initial travel speed A*bi after the adjustment is used as the adjusted travel speed C;

[0042] Obtaining the real-time vibration intensity data, denoted as D;

[0043] The first data processing unit adjusts the primary travel speed C according to the real-time vibration intensity data D;

[0044] A first preset vibration intensity threshold D1, a second preset vibration intensity threshold D2, a third preset vibration intensity threshold D3, and a fourth preset vibration intensity threshold D4 are preset, and D1>D2>D3>D4; a first preset adjustment coefficient d1, a second preset adjustment coefficient d2, a third preset adjustment coefficient d3, and a fourth preset adjustment coefficient d4 are preset, and 0.9<d1<d2<1<d3>d4<1.1;

[0045] When D≥D1, the first data processing unit selects the first preset adjustment coefficient d1 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d1;

[0046] When D1>D≥D2, the first data processing unit selects the second preset adjustment coefficient d2 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d2;

[0047] When D2>D≥D3, the first data processing unit selects the third preset adjustment coefficient d3 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d3;

[0048] When D3>D≥D4, the first data processing unit selects the fourth preset adjustment coefficient d4 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d4;

[0049] The first data processing unit selects the i-th preset adjustment coefficient di to adjust the once adjusted travel speed C, i=1, 2, 3, 4, and after obtaining the adjusted once adjusted travel speed C*di, uses the adjusted once adjusted travel speed C*di as the real-time travel speed.

[0050] In some embodiments of the present application, when the second data processing unit adjusts the initial rotation speed to obtain the real-time rotation speed, it includes:

[0051] Obtain the initial rotation speed, recorded as E;

[0052] Obtaining the real-time torque data, denoted as F;

[0053] The second data processing unit adjusts the initial rotation speed E once according to the real-time torque data F;

[0054] A first preset torque threshold F1, a second preset torque threshold F2, a third preset torque threshold F3, and a fourth preset torque threshold F4 are preset, and F1>F2>F3>F4; a first preset adjustment coefficient f1, a second preset adjustment coefficient f2, a third preset adjustment coefficient f3, and a fourth preset adjustment coefficient f4 are preset, and 0.9<f1<f<1<f3<f4<1.1;

[0055] When F≥F1, the second data processing unit selects the first preset adjustment coefficient f1 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f1;

[0056] When F1>F≥F2, the second data processing unit selects the second preset adjustment coefficient f2 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f2;

[0057] When F2>F≥F3, the second data processing unit selects the third preset adjustment coefficient f3 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f3;

[0058] When F3>F≥F4, the second data processing unit selects the fourth preset adjustment coefficient f4 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f4.

[0059] In some embodiments of the present application, after the second data processing unit selects the i-th preset adjustment coefficient fi to adjust the initial rotation speed E once, i=1, 2, 3, 4, and obtains the adjusted initial rotation speed as E*fi, it further includes:

[0060] Obtain the real-time acceleration data, recorded as G;

[0061] A first preset acceleration threshold value G1, a second preset acceleration threshold value G2, a third preset acceleration threshold value G3, and a fourth preset acceleration threshold value G4 are preset, and G1>G2>G3>G4; a first preset adjustment coefficient g1, a second preset adjustment coefficient g2, a third preset adjustment coefficient g3, and a fourth preset adjustment coefficient g4 are preset, and 1.1>g1>g2>1>g3>g4>0.9;

[0062] When G≥G1, the second data processing unit selects the first preset adjustment coefficient g1 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g1;

[0063] When G1>G≥G2, the second data processing unit selects the second preset adjustment coefficient g2 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g2;

[0064] When G2>G≥G3, the second data processing unit selects the third preset adjustment coefficient g3 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g3;

[0065] When G3>G≥G4, the second data processing unit selects the fourth preset adjustment coefficient g4 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g4.

[0066] In some embodiments of the present application, the second data processing unit selects the i-th preset adjustment coefficient gi to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, i=1, 2, 3, 4, and obtains the initial rotation speed after the second adjustment as E*fi*gi, and further includes:

[0067] The initial rotation speed E*fi*gi after the second adjustment is used as the real-time rotation speed.

[0068] In another aspect, the present invention provides an excavation method for tunnel construction, the method comprising:

[0069] Presetting the initial travel speed of the traveling wheel and the initial rotation speed of the excavating head, and controlling the operation of the excavating system according to the initial travel speed and the initial rotation speed;

[0070] Collect detection data of sensor components in real time;

[0071] Adjusting the initial travel speed according to the real-time pressure data and the real-time vibration intensity data to obtain the real-time travel speed;

[0072] Adjusting the initial rotation speed according to the real-time torque data and the real-time acceleration data to obtain the real-time rotation speed;

[0073] The excavation system is controlled to continue to operate according to the real-time traveling speed and the real-time rotating speed.

[0074] Compared with the prior art, the present invention has the following beneficial effects: First, the present invention pre-sets the initial travel speed and rotation speed of the travel wheel and the excavation head through the first control unit, ensuring that the system has an initial motion state when it starts to run. The data acquisition unit is responsible for real-time acquisition of the detection data of the sensor component, including real-time pressure, real-time vibration intensity, real-time torque and real-time acceleration data, so that the system can understand its working environment and operating status in real time. The first data processing unit uses the real-time pressure and real-time vibration intensity data to adjust the initial travel speed, thereby obtaining the real-time travel speed. The second data processing unit uses the real-time torque and real-time acceleration data to adjust the initial rotation speed, thereby obtaining the real-time rotation data. The second control unit dynamically controls the operation of the excavation system according to the real-time travel speed and the real-time rotation speed, so that the system can be flexibly adjusted according to the actual situation to ensure efficient and safe operation. The system of the present invention can adjust the operating parameters according to the real-time data, adapt to different working conditions, has flexibility, and improves the efficiency and stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0075] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only used for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. In the accompanying drawings:

[0076] Figure 1 A schematic structural diagram of an excavation system for tunnel construction provided by an embodiment of the present invention;

[0077] Figure 2 A functional block diagram of a controller provided by an embodiment of the present invention;

[0078] Figure 3 A flow chart of an excavation method for tunnel construction provided in an embodiment of the present invention.

[0079] In the figure: 1. walking wheel; 2. walking track; 3. rotating seat; 4. equipment body; 5. controller; 6. first connecting seat; 7. power arm; 8. excavator head. DETAILED DESCRIPTION

[0080] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0081] Combination Figure 1-2 As shown, this embodiment provides an excavation system for tunnel construction, the system comprising:

[0082] The frame has walking wheels 1 at its four corners;

[0083] A hydraulic motor is provided on the travel wheel 1, and the hydraulic motor is used to control the travel speed of the travel wheel 1;

[0084] Walking tracks 2, including two, the walking tracks 2 are arranged on the outer surfaces of the two walking wheels 1;

[0085] A rotating seat 3, which is arranged in the middle of the upper surface of the frame;

[0086] The device body 4 is arranged on the upper surface of the rotating seat 3;

[0087] A first connection seat 6, which is arranged on a side wall of the device body 4;

[0088] A power arm 7, one end of which is connected to the first connecting seat 6;

[0089] An excavator head 8 is disposed on the other end of the power arm 7. A hydraulic system of the excavator head 8 is also disposed between the power arm 7 and the excavator head 8. The hydraulic system of the excavator head 8 is used to control the rotation speed of the excavator head 8.

[0090] The controller 5 is arranged on the equipment body 4 , and is connected to the hydraulic system of the hydraulic motor and the excavator head 8 . The controller 5 is used to determine the real-time travel speed of the walking wheel 1 and the real-time rotation speed of the excavator head 8 .

[0091] It can be understood that in this embodiment, walking wheels 1 are set at the four corners of the frame, and the travel speed of the walking wheels 1 is controlled by a hydraulic motor, so that it can move flexibly in different terrains and environments. The walking track 2 is set on the outer surface of the walking wheel 1, which increases the stability of the frame, is suitable for uneven ground, and provides more reliable support and smooth movement. The rotating seat 3 is located in the middle of the frame surface, and the equipment body 4 is set on the upper surface of the rotating seat 3, so that the entire equipment can rotate 360 ​​degrees, increasing the working range and flexibility. The power arm 7 connects the equipment body 4 and the excavator head 8 to form an excavation system. The hydraulic system of the excavator head 8 is used to control the rotation speed of the excavator head 8, so that the system has a powerful excavation function. The controller 5 is set on the equipment body 4, connecting the hydraulic motor and the hydraulic system of the excavator head 8. The function of the controller 5 is to determine the real-time travel speed of the walking wheel 1 and the real-time rotation speed of the excavator head 8, so as to realize the integrated control of the entire system.

[0092] Furthermore, in this embodiment, by adjusting the walking speed and the rotation speed in real time, the system can operate efficiently in different working scenarios and improve work efficiency.

[0093] In some embodiments of the present application, a sensor component is also included;

[0094] The sensor assembly comprises:

[0095] A pressure sensor, which is arranged on the excavating head 8, and is used to detect real-time pressure data generated by the excavating head 8 during operation;

[0096] A vibration sensor is arranged on the lower surface of the frame, and is used to detect real-time vibration intensity data generated during the operation of the walking wheel 1;

[0097] A torque sensor is provided on the excavator head 8, and is used to detect real-time torque data generated by the excavator head 8 during operation;

[0098] An acceleration sensor is disposed on the excavating head 8 and is used to detect real-time acceleration data generated by the excavating head 8 during operation.

[0099] In some embodiments of the present application, the controller 5 includes:

[0100] A first control unit, used to preset an initial travel speed of the traveling wheel 1 and an initial rotation speed of the excavating head 8, and control the operation of the excavating system according to the initial travel speed and the initial rotation speed;

[0101] A data acquisition unit, used for acquiring detection data of the sensor assembly in real time;

[0102] Wherein, the detection data includes the real-time pressure data, real-time vibration intensity data, real-time torque data and real-time acceleration data;

[0103] a first data processing unit, configured to obtain and adjust the initial travel speed according to the real-time pressure data and the real-time vibration intensity data collected by the data collection unit to obtain the real-time travel speed;

[0104] A second data processing unit is used to acquire and adjust the initial rotation speed according to the real-time torque data and the real-time acceleration data acquired by the data acquisition unit to obtain the real-time rotation speed;

[0105] The second control unit is used for controlling the excavation system to continue to operate according to the real-time traveling speed and the real-time rotating speed.

[0106] It can be understood that in this embodiment, the system can monitor the pressure, vibration intensity, torque and acceleration data generated by the excavator head 8 and the running wheel 1 in real time through the arrangement of the pressure sensor, vibration sensor, torque sensor and acceleration sensor, and provide accurate feedback on the system operation status. By monitoring the operation data of the excavator head 8 and the running wheel 1 in real time, the system can detect potential problems or abnormalities more promptly, thereby enhancing the safety of the equipment. The first control unit in the controller 5 pre-sets the initial speed of the running wheel 1 and the excavator head 8, while the second control unit dynamically controls the operation of the excavation system according to the real-time travel speed and the real-time rotation speed. This combination enables the system to have the flexibility of real-time adjustment. The data acquisition unit collects the data of the sensor assembly in real time, and the first and second data processing units are responsible for processing this data to adjust the travel speed and the rotation speed, optimize the operating parameters of the system, and improve the performance. The overall design of the controller 5 allows the system to comprehensively process the data of different sensors, realize comprehensive control of the excavation system, and the integrated control improves the coordination and efficiency of the system. At the same time, the system can be adjusted according to different working conditions and environmental requirements, thereby improving the adaptability and versatility of the system.

[0107] In some embodiments of the present application, when the first data processing unit adjusts the initial travel speed to obtain the real-time travel speed, it includes:

[0108] Acquire the real-time pressure data, denoted as B;

[0109] The minimum pressure threshold is preset, denoted as Ba;

[0110] When B<Ba, the first data processing unit determines to adjust the initial travel speed once, and obtains an adjusted travel speed, which is recorded as C;

[0111] When B≥Ba, the first data processing unit determines not to adjust the initial traveling speed, and uses the initial traveling speed as an adjusted traveling speed C.

[0112] In some embodiments of the present application, when B<Ba, the first data processing unit determines to adjust the initial travel speed once, including:

[0113] Obtain the initial traveling speed, recorded as A;

[0114] A first preset pressure data threshold B1, a second preset pressure data threshold B2, a third preset pressure data threshold B3, and a fourth preset pressure data threshold B4 are preset, and Ba=B1>B2>B3>B4; a first preset adjustment coefficient b1, a second preset adjustment coefficient b2, a third preset adjustment coefficient b3, and a fourth preset adjustment coefficient b4 are preset, and 1.2>b4>b3>b2>b1>1;

[0115] When B1>B≥B2, the first data processing unit selects the first preset adjustment coefficient b1 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b1;

[0116] When B2>B≥B3, the first data processing unit selects the second preset adjustment coefficient b2 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b2;

[0117] When B3>B≥B4, the first data processing unit selects the third preset adjustment coefficient b3 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b3;

[0118] When B<B4, the first data processing unit selects the fourth preset adjustment coefficient b4 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b4.

[0119] In some embodiments of the present application, the first data processing unit selects the i-th preset adjustment coefficient bi to adjust the initial travel speed A once, i=1, 2, 3, 4, and obtains the adjusted initial travel speed as A*bi, and further includes:

[0120] The initial travel speed A*bi after the adjustment is used as the adjusted travel speed C;

[0121] Obtaining the real-time vibration intensity data, denoted as D;

[0122] The first data processing unit adjusts the primary travel speed C according to the real-time vibration intensity data D;

[0123] A first preset vibration intensity threshold D1, a second preset vibration intensity threshold D2, a third preset vibration intensity threshold D3, and a fourth preset vibration intensity threshold D4 are preset, and D1>D2>D3>D4; a first preset adjustment coefficient d1, a second preset adjustment coefficient d2, a third preset adjustment coefficient d3, and a fourth preset adjustment coefficient d4 are preset, and 0.9<d1<d2<1<d3>d4<1.1;

[0124] When D≥D1, the first data processing unit selects the first preset adjustment coefficient d1 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d1;

[0125] When D1>D≥D2, the first data processing unit selects the second preset adjustment coefficient d2 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d2;

[0126] When D2>D≥D3, the first data processing unit selects the third preset adjustment coefficient d3 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d3;

[0127] When D3>D≥D4, the first data processing unit selects the fourth preset adjustment coefficient d4 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d4;

[0128] The first data processing unit selects the i-th preset adjustment coefficient di to adjust the once adjusted travel speed C, i=1, 2, 3, 4, and after obtaining the adjusted once adjusted travel speed C*di, uses the adjusted once adjusted travel speed C*di as the real-time travel speed.

[0129] It is understandable that in this embodiment, by acquiring pressure and vibration intensity data in real time, the system can perceive environmental changes in real time during operation. When the real-time pressure data is lower than the preset threshold, the first data processing unit adjusts the initial travel speed once according to the actual situation, and the real-time feedback and adjustment mechanism improves the sensitivity and adaptability of the system to environmental changes. For different pressure data ranges, the system adopts a multi-level preset adjustment strategy. Different thresholds and adjustment coefficients are preset, and corresponding adjustments are made according to the specific values ​​of the real-time data. The multi-level strategy enables the system to adapt to different work scenarios and requirements more accurately. For different vibration intensity data, the system adopts a dynamic adjustment coefficient. Different vibration intensity thresholds and corresponding adjustment coefficients are preset, and dynamic adjustments are made according to the specific values ​​of the real-time vibration intensity data. The design of this dynamic adjustment coefficient makes the system more intelligent and flexible. By adjusting the travel speed according to the real-time data, the system can optimize performance, improve efficiency and stability in different situations. This dynamic adjustment strategy helps to reduce energy consumption, improve work efficiency, and extend equipment life.

[0130] In some embodiments of the present application, when the second data processing unit adjusts the initial rotation speed to obtain the real-time rotation speed, it includes:

[0131] Obtain the initial rotation speed, recorded as E;

[0132] Obtaining the real-time torque data, denoted as F;

[0133] The second data processing unit adjusts the initial rotation speed E once according to the real-time torque data F;

[0134] A first preset torque threshold F1, a second preset torque threshold F2, a third preset torque threshold F3, and a fourth preset torque threshold F4 are preset, and F1>F2>F3>F4; a first preset adjustment coefficient f1, a second preset adjustment coefficient f2, a third preset adjustment coefficient f3, and a fourth preset adjustment coefficient f4 are preset, and 0.9<f1<f<1<f3<f4<1.1;

[0135] When F≥F1, the second data processing unit selects the first preset adjustment coefficient f1 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f1;

[0136] When F1>F≥F2, the second data processing unit selects the second preset adjustment coefficient f2 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f2;

[0137] When F2>F≥F3, the second data processing unit selects the third preset adjustment coefficient f3 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f3;

[0138] When F3>F≥F4, the second data processing unit selects the fourth preset adjustment coefficient f4 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f4.

[0139] In some embodiments of the present application, after the second data processing unit selects the i-th preset adjustment coefficient fi to adjust the initial rotation speed E once, i=1, 2, 3, 4, and obtains the adjusted initial rotation speed as E*fi, it further includes:

[0140] Obtain the real-time acceleration data, recorded as G;

[0141] A first preset acceleration threshold value G1, a second preset acceleration threshold value G2, a third preset acceleration threshold value G3, and a fourth preset acceleration threshold value G4 are preset, and G1>G2>G3>G4; a first preset adjustment coefficient g1, a second preset adjustment coefficient g2, a third preset adjustment coefficient g3, and a fourth preset adjustment coefficient g4 are preset, and 1.1>g1>g2>1>g3>g4>0.9;

[0142] When G≥G1, the second data processing unit selects the first preset adjustment coefficient g1 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g1;

[0143] When G1>G≥G2, the second data processing unit selects the second preset adjustment coefficient g2 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g2;

[0144] When G2>G≥G3, the second data processing unit selects the third preset adjustment coefficient g3 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g3;

[0145] When G3>G≥G4, the second data processing unit selects the fourth preset adjustment coefficient g4 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g4.

[0146] In some embodiments of the present application, the second data processing unit selects the i-th preset adjustment coefficient gi to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, i=1, 2, 3, 4, and obtains the initial rotation speed after the second adjustment as E*fi*gi, and further includes:

[0147] The initial rotation speed E*fi*gi after the second adjustment is used as the real-time rotation speed.

[0148] It can be understood that in this embodiment, by presetting different torque thresholds and corresponding adjustment coefficients, the system adopts a multi-level torque adjustment strategy. According to the different numerical ranges of real-time torque data, the system selects different preset adjustment coefficients for primary adjustment, so that the system can be adjusted in a targeted manner under different workloads. After the first adjustment, the system introduces real-time acceleration data for secondary adjustment. By setting different acceleration thresholds and corresponding adjustment coefficients, the system can dynamically make secondary adjustments based on the acceleration data to better adapt to different motion states and environments. The multi-level, dynamic adjustment strategy helps to optimize the rotation speed and improve the stability and responsiveness of the system. By setting different preset torque thresholds and acceleration thresholds, and selecting the corresponding adjustment coefficients according to actual conditions, the system can more flexibly adapt to various working conditions and requirements, making the system more intelligent and robust.

[0149] See also Figure 3 As shown, in another aspect, the present invention provides an excavation method for tunnel construction, the method comprising:

[0150] S101: presetting an initial travel speed of the traveling wheel and an initial rotation speed of the excavating head, and controlling the operation of the excavating system according to the initial travel speed and the initial rotation speed;

[0151] S102: collecting detection data of the sensor component in real time;

[0152] S103: adjusting the initial travel speed according to the real-time pressure data and the real-time vibration intensity data to obtain the real-time travel speed;

[0153] S104: adjusting the initial rotation speed according to the real-time torque data and the real-time acceleration data to obtain the real-time rotation speed;

[0154] S105: Controlling the excavation system to continue operating according to the real-time traveling speed and the real-time rotating speed.

[0155] It can be understood that, in this embodiment, the operating parameters are adjusted according to real-time data to adapt to different working conditions, which has flexibility and improves mining efficiency and stability.

[0156] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0157] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0158] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0159] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0160] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents. Any modification or equivalent replacement that does not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. An excavation system for tunnel construction, characterized in that: include: The frame has traveling wheels at its four corners; A hydraulic motor is provided on the travel wheel, and the hydraulic motor is used to control the travel speed of the travel wheel; The walking crawler belt comprises two walking crawlers, and the walking crawler belt is arranged on the outer surfaces of the two walking wheels; A rotating seat, which is arranged in the middle of the upper surface of the frame; An equipment body, which is arranged on the upper surface of the rotating seat; A first connection seat, which is arranged on a side wall of the device body; A power arm, one end of which is connected to the first connecting seat; An excavator head is arranged on the other end of the power arm, and an excavator head hydraulic system is also arranged between the power arm and the excavator head, and the excavator head hydraulic system is used to control the rotation speed of the excavator head; A controller, which is arranged on the equipment body, the controller is connected to the hydraulic motor and the hydraulic system of the excavator head, and the controller is used to determine the real-time travel speed of the walking wheel and the real-time rotation speed of the excavator head; Also included is a sensor assembly; The sensor assembly comprises: A pressure sensor is provided on the excavating head, and is used to detect real-time pressure data generated by the excavating head during operation; A vibration sensor is disposed on the lower surface of the frame, and is used to detect real-time vibration intensity data generated during the operation of the travel wheel; A torque sensor is provided on the excavating head, and is used to detect real-time torque data generated by the excavating head during operation; An acceleration sensor is disposed on the excavating head, and is used to detect real-time acceleration data generated by the excavating head during operation; The controller comprises: A first control unit, used for presetting an initial travel speed of the traveling wheel and an initial rotation speed of the excavating head, and controlling the operation of the excavating system according to the initial travel speed and the initial rotation speed; A data acquisition unit, used for acquiring detection data of the sensor assembly in real time; Wherein, the detection data includes the real-time pressure data, real-time vibration intensity data, real-time torque data and real-time acceleration data; a first data processing unit, configured to obtain and adjust the initial travel speed according to the real-time pressure data and the real-time vibration intensity data collected by the data collection unit to obtain the real-time travel speed; A second data processing unit is used to acquire and adjust the initial rotation speed according to the real-time torque data and the real-time acceleration data acquired by the data acquisition unit to obtain the real-time rotation speed; The second control unit is used for controlling the excavation system to continue to operate according to the real-time traveling speed and the real-time rotating speed.

2. The excavation system for tunnel construction according to claim 1, characterized in that: When the first data processing unit adjusts the initial travel speed to obtain the real-time travel speed, it includes: Acquire the real-time pressure data, denoted as B; The minimum pressure threshold is preset, denoted as Ba; When B<Ba, the first data processing unit determines to adjust the initial travel speed once, and obtains an adjusted travel speed, which is recorded as C; When B≥Ba, the first data processing unit determines not to adjust the initial traveling speed, and uses the initial traveling speed as an adjusted traveling speed C.

3. The excavation system for tunnel construction according to claim 2, characterized in that: When B<Ba, the first data processing unit determines to adjust the initial travel speed once, including: Obtain the initial traveling speed, recorded as A; A first preset pressure data threshold B1, a second preset pressure data threshold B2, a third preset pressure data threshold B3, and a fourth preset pressure data threshold B4 are preset, and Ba=B1>B2>B3>B4; a first preset adjustment coefficient b1, a second preset adjustment coefficient b2, a third preset adjustment coefficient b3, and a fourth preset adjustment coefficient b4 are preset, and 1.2>b4>b3>b2>b1>1; When B1>B≥B2, the first data processing unit selects the first preset adjustment coefficient b1 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b1; When B2>B≥B3, the first data processing unit selects the second preset adjustment coefficient b2 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b2; When B3>B≥B4, the first data processing unit selects the third preset adjustment coefficient b3 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b3; When B<B4, the first data processing unit selects the fourth preset adjustment coefficient b4 to adjust the initial travel speed A once, and the initial travel speed after the adjustment is A*b4.

4. The excavation system for tunnel construction according to claim 3, characterized in that: The first data processing unit selects the i-th preset adjustment coefficient bi to adjust the initial travel speed A once, i=1, 2, 3, 4, and obtains the adjusted initial travel speed as A*bi, and further includes: The initial travel speed A*bi after the adjustment is used as the adjusted travel speed C; Obtaining the real-time vibration intensity data, denoted as D; The first data processing unit adjusts the primary travel speed C according to the real-time vibration intensity data D; A first preset vibration intensity threshold D1, a second preset vibration intensity threshold D2, a third preset vibration intensity threshold D3, and a fourth preset vibration intensity threshold D4 are preset, and D1>D2>D3>D4; a first preset adjustment coefficient d1, a second preset adjustment coefficient d2, a third preset adjustment coefficient d3, and a fourth preset adjustment coefficient d4 are preset, and 0.9<d1<d2<1<d3>d4<1.1; When D≥D1, the first data processing unit selects the first preset adjustment coefficient d1 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d1; When D1>D≥D2, the first data processing unit selects the second preset adjustment coefficient d2 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d2; When D2>D≥D3, the first data processing unit selects the third preset adjustment coefficient d3 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d3; When D3>D≥D4, the first data processing unit selects the fourth preset adjustment coefficient d4 to adjust the primary adjustment travel speed C, and the adjusted primary adjustment travel speed is C*d4; The first data processing unit selects the i-th preset adjustment coefficient di to adjust the once adjusted travel speed C, i=1, 2, 3, 4, and after obtaining the adjusted once adjusted travel speed C*di, uses the adjusted once adjusted travel speed C*di as the real-time travel speed.

5. The excavation system for tunnel construction according to claim 4, characterized in that: When the second data processing unit adjusts the initial rotation speed to obtain the real-time rotation speed, it includes: Obtain the initial rotation speed, recorded as E; Obtaining the real-time torque data, denoted as F; The second data processing unit adjusts the initial rotation speed E once according to the real-time torque data F; A first preset torque threshold F1, a second preset torque threshold F2, a third preset torque threshold F3, and a fourth preset torque threshold F4 are preset, and F1>F2>F3>F4; a first preset adjustment coefficient f1, a second preset adjustment coefficient f2, a third preset adjustment coefficient f3, and a fourth preset adjustment coefficient f4 are preset, and 0.9<f1<f<1<f3<f4<1.1; When F≥F1, the second data processing unit selects the first preset adjustment coefficient f1 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f1; When F1>F≥F2, the second data processing unit selects the second preset adjustment coefficient f2 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f2; When F2>F≥F3, the second data processing unit selects the third preset adjustment coefficient f3 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f3; When F3>F≥F4, the second data processing unit selects the fourth preset adjustment coefficient f4 to adjust the initial rotation speed E once, and the initial rotation speed after the adjustment is E*f4.

6. The excavation system for tunnel construction according to claim 5, characterized in that: The second data processing unit selects the i-th preset adjustment coefficient fi to adjust the initial rotation speed E once, i=1, 2, 3, 4, and obtains the initial rotation speed after the adjustment as E*fi, and further includes: Obtain the real-time acceleration data, recorded as G; A first preset acceleration threshold value G1, a second preset acceleration threshold value G2, a third preset acceleration threshold value G3, and a fourth preset acceleration threshold value G4 are preset, and G1>G2>G3>G4; a first preset adjustment coefficient g1, a second preset adjustment coefficient g2, a third preset adjustment coefficient g3, and a fourth preset adjustment coefficient g4 are preset, and 1.1>g1>g2>1>g3>g4>0.9; When G≥G1, the second data processing unit selects the first preset adjustment coefficient g1 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g1; When G1>G≥G2, the second data processing unit selects the second preset adjustment coefficient g2 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g2; When G2>G≥G3, the second data processing unit selects the third preset adjustment coefficient g3 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g3; When G3>G≥G4, the second data processing unit selects the fourth preset adjustment coefficient g4 to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, and the initial rotation speed after the second adjustment is E*fi*g4.

7. The excavation system for tunnel construction according to claim 6, characterized in that: The second data processing unit selects the i-th preset adjustment coefficient gi to perform a second adjustment on the initial rotation speed E*fi after the first adjustment, i=1, 2, 3, 4, and obtains the initial rotation speed after the second adjustment as E*fi*gi, and further includes: The initial rotation speed E*fi*gi after the second adjustment is used as the real-time rotation speed.

8. An excavation method for tunnel construction, characterized in that: The excavation system for tunnel construction according to any one of claims 1 to 7 comprises: Presetting the initial travel speed of the traveling wheel and the initial rotation speed of the excavating head, and controlling the operation of the excavating system according to the initial travel speed and the initial rotation speed; Collect detection data of sensor components in real time; Adjusting the initial travel speed according to the real-time pressure data and the real-time vibration intensity data to obtain the real-time travel speed; Adjusting the initial rotation speed according to the real-time torque data and the real-time acceleration data to obtain the real-time rotation speed; The excavation system is controlled to continue to operate according to the real-time traveling speed and the real-time rotating speed.

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