Automatic cutting control method, device, electronic equipment and tunneling machine

Abstract

The present invention provides a control method, device, electronic device and tunnel boring machine for automatic cutting, which relates to the technical field of tunnel boring machines and aims to solve the technical problem that the tunnel boring machine relies on a laser pointer for position correction during the correction of the fuselage. The control method includes: controlling the front millimeter wave radar to emit electromagnetic waves to the front tunnel wall, and determining the first distance between the front millimeter wave radar and the front tunnel wall; controlling the first millimeter wave radar and the second millimeter wave radar to emit electromagnetic waves to the tunnel side wall, and determining the second distance between the first millimeter wave radar and the tunnel side wall, and the third distance between the second millimeter wave radar and the tunnel side wall; based on the first distance, the second distance and the third distance, controlling the position adjustment device to correct the position of the fuselage; controlling the position-corrected cutting head to cut the front tunnel wall. The present invention can realize automatic fuselage correction and improve work efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel boring machines, and in particular to an automatic cutting control method, device, electronic equipment and tunnel boring machine. Background Art

[0002] At present, hard rock tunnel boring machines usually need to do preparatory work before mining, including the calibration of the machine body and the cutting head, that is, the laser pointer is used to illuminate the center of the headway wall with a laser, and then the driver moves the machine body to the standard position. In the standard position, the machine body is parallel to the side wall of the tunnel, and mining begins. This method increases the labor intensity of the workers. Summary of the invention

[0003] The present invention aims to solve or improve the technical problem in the related art that a tunnel boring machine needs to rely on a laser pointer to perform position correction on a machine body before mining.

[0004] A first aspect of the present invention is to provide a control method for automatic cutting.

[0005] A second aspect of the present invention is to provide a control device for automatic cutting.

[0006] A third aspect of the present invention is to provide an electronic device.

[0007] A fourth aspect of the present invention is to provide a tunnel boring machine.

[0008] The automatic cutting control method provided by the present invention is applied to a tunnel boring machine. The tunnel boring machine includes a fuselage, a cutting head connected to the fuselage, and a position adjustment device. The position adjustment device is used to adjust the position and tilt angle of the fuselage. A front millimeter-wave radar is arranged on the forward side of the fuselage. A first millimeter-wave radar and a second millimeter-wave radar are arranged on the same side of the fuselage corresponding to the tunnel side wall. The automatic cutting control method includes: controlling the front millimeter-wave radar to emit electromagnetic waves to the oncoming tunnel wall, and determining a first distance between the front millimeter-wave radar and the oncoming tunnel wall; controlling the first millimeter-wave radar and the second millimeter-wave radar to emit electromagnetic waves to the tunnel side wall, and determining a second distance between the first millimeter-wave radar and the tunnel side wall, and a third distance between the second millimeter-wave radar and the tunnel side wall; controlling the position adjustment device to correct the position of the fuselage based on the first distance, the second distance and the third distance; and controlling the cutting head after position correction to cut the oncoming tunnel wall.

[0009] The automatic cutting control method provided by the present invention has a front millimeter-wave radar arranged on the forward side of the fuselage, and a first millimeter-wave radar and a second millimeter-wave radar arranged on the side of the fuselage corresponding to the tunnel side wall. In this way, the distance between the fuselage and the front tunnel wall can be directly measured by the front millimeter-wave radar, and the distance between the fuselage and the tunnel side wall can be measured by the first millimeter-wave radar and the second millimeter-wave radar, so as to determine whether the fuselage and the tunnel side wall are in a parallel state, thereby correcting the position of the fuselage.

[0010] The present invention does not need to illuminate the center of the headway wall with a laser pointer and then have the driver make corrections as in the related art. The present invention can realize automatic corrections and improve work efficiency.

[0011] When the fuselage is in the calibration state, the fuselage is parallel to the side wall of the tunnel, and the distance between the fuselage and the front tunnel wall should be a standard distance, such as 5 meters. That is, the distance threshold is 5 meters.

[0012] In some technical schemes, optionally, after the step of controlling the position-corrected cutting head to cut the head-on tunnel wall, the automatic cutting control method further includes: determining whether the fuselage is inclined relative to the tunnel side wall during the cutting process based on the second distance and the third distance; when the fuselage is inclined during the cutting process, controlling the position adjustment device to adjust the inclination angle of the fuselage.

[0013] In this technical solution, during the cutting process, since the tunnel boring machine of the present invention is a hard rock tunnel boring machine, the hardness of the rock is much greater than the hardness of the coal. Therefore, during the cutting process of the present invention, the machine body will usually undergo a large displacement, resulting in the problem of insufficient footage accuracy.

[0014] The present invention determines in real time whether a fuselage is inclined relative to a tunnel side wall. When the fuselage is inclined, the present invention can control a position adjustment device to adjust the inclination angle of the fuselage, thereby improving footage accuracy.

[0015] In some technical solutions, optionally, based on the second distance and the third distance, the step of determining whether the fuselage is tilted relative to the tunnel side wall during the cutting process specifically includes: calculating the difference between the second distance and the third distance, and determining whether the fuselage is tilted during the cutting process based on the difference.

[0016] In this technical solution, when the difference between the second distance and the third distance is large, it means that the fuselage has tilted greatly during the cutting process. At this time, the inclination angle of the fuselage is adjusted by controlling the position adjustment device to improve the footage accuracy.

[0017] In some technical solutions, optionally, a laser radar is further provided on the forward side of the fuselage, the first millimeter-wave radar and the second millimeter-wave radar are provided corresponding to the left tunnel side wall, and the third millimeter-wave radar and the fourth millimeter-wave radar are provided on the side of the fuselage corresponding to the right tunnel side wall. After the step of controlling the position-corrected cutting head to cut the head-on tunnel wall, the automatic cutting control method further includes: controlling the third millimeter-wave radar and the fourth millimeter-wave radar to emit electromagnetic waves to the right tunnel side wall, and determining the fourth distance between the third millimeter-wave radar and the right tunnel side wall, and the fourth distance between the fourth millimeter-wave radar and the right tunnel side wall. a fifth distance; based on the first distance, the second distance, the third distance, the fourth distance and the fifth distance, a tunnel coordinate system is established, and the position of the machine body in the tunnel coordinate system is determined; an end face image of the front tunnel wall is obtained through a laser radar; the end face image is analyzed, and it is determined whether there is uncut hard rock; the position of the uncut hard rock in the tunnel coordinate system is determined; based on the position of the machine body in the tunnel coordinate system and the position of the uncut hard rock in the tunnel coordinate system, the position adjustment device is controlled to drive the machine body to move, and the cutting head is driven to move to the position of the uncut hard rock to cut the uncut hard rock.

[0018] In this technical solution, after completing the cutting step, the present invention first establishes a tunnel coordinate system, then determines the position of the fuselage in the tunnel coordinate system, and then obtains the end face image of the head-on tunnel wall through a laser radar, and analyzes the end face image to determine whether there is uncut hard rock, and at the same time determines the position of the uncut hard rock in the tunnel coordinate system. In this way, based on the position of the fuselage in the tunnel coordinate system and the position of the uncut hard rock in the tunnel coordinate system, the movement of the fuselage can be controlled and the cutting head can be driven to move to the position of the uncut hard rock to cut the uncut hard rock. It can also be understood that the present invention can perform continuous cutting on the head-on tunnel wall with a large cross-section. During the first cutting process, since the cutting head cannot completely scan the head-on tunnel wall with a large cross-section, the rocks that have not been cut during the first cutting process are regarded as uncut hard rocks. At this time, the fuselage can move to the corresponding position to achieve secondary cutting and tertiary cutting, etc., to complete the scanning of the entire large section. However, the conventional solution, since there is no millimeter-wave radar and laser radar, the position of the fuselage can only be adjusted manually, and continuity and automation cannot be achieved.

[0019] The invention can realize cutting of the entire large section.

[0020] In some technical solutions, optionally, the first millimeter-wave radar is arranged in front of the second millimeter-wave radar, and the step of controlling the position adjustment device to correct the position of the fuselage based on the first distance, the second distance and the third distance specifically includes: when the second distance is greater than the third distance, the position adjustment device is controlled to drive the fuselage to tilt counterclockwise; when the second distance is less than the third distance, the position adjustment device is controlled to drive the fuselage to tilt clockwise; when the first distance is greater than the distance threshold, the position adjustment device is controlled to drive the fuselage to move forward until the second distance is equal to the third distance and the first distance is equal to the distance threshold.

[0021] In this technical solution, since the present invention can directly measure the distance between the fuselage and the head-on tunnel wall through the front millimeter-wave radar, the data fed back by the first millimeter-wave radar and the second millimeter-wave radar can determine whether the fuselage is parallel to the tunnel side wall, thereby achieving automatic correction.

[0022] The present invention does not need to illuminate the center position of the headway wall with a laser pointer as in the related art, thereby improving work efficiency.

[0023] In some technical solutions, optionally, the step of determining whether the fuselage is tilted during the cutting process based on the difference specifically includes: when the difference is greater than or equal to 10 cm, determining that the fuselage is tilted; when the difference is less than 10 cm, determining that the fuselage is not tilted.

[0024] In this technical solution, when the difference is greater than or equal to 10 cm, it is determined that the fuselage is tilted, and the fuselage needs to be adjusted. If the difference is within 10 cm, it is an allowable error and the fuselage does not need to be adjusted.

[0025] A second aspect of the present invention provides an automatic cutting control device, which is applied to a tunnel boring machine. The tunnel boring machine includes a fuselage, a cutting head connected to the fuselage, and a position adjustment device, the position adjustment device is used to adjust the position and inclination angle of the fuselage, a front millimeter-wave radar is arranged on the forward side of the fuselage, and a first millimeter-wave radar and a second millimeter-wave radar are arranged on the same side of the fuselage corresponding to the tunnel side wall. The automatic cutting control device includes: a control unit, which is used to control the front millimeter-wave radar to emit electromagnetic waves to the oncoming tunnel wall, and control the first millimeter-wave radar and the second millimeter-wave radar to emit electromagnetic waves to the tunnel side wall; a determination unit, which is used to determine a first distance between the front millimeter-wave radar and the oncoming tunnel wall; determine the second distance between the first millimeter-wave radar and the tunnel side wall, and the third distance between the second millimeter-wave radar and the tunnel side wall; the control unit is also used to control the position adjustment device to correct the position of the fuselage based on the first distance, the second distance and the third distance, and control the cutting head after position correction to cut the oncoming tunnel wall.

[0026] Since the automatic cutting control device provided by the present invention is used to implement the steps of the automatic cutting control method provided by any technical solution of the first aspect of the present invention, it has all the beneficial effects of the automatic cutting control method.

[0027] The third aspect of the present invention provides an electronic device, including a memory and a processor, wherein a computer program or instructions are stored in the memory, and when the processor executes the computer program or instructions, the steps of the automatic cutting control method provided by any technical solution of the first aspect of the present application are implemented.

[0028] Since the electronic device provided by the present invention is used to implement the steps of the automatic cutting control method provided by any technical solution of the first aspect of the present invention, it has all the beneficial effects of the automatic cutting control method.

[0029] The fourth aspect of the present invention provides a tunnel boring machine, comprising: a fuselage; a cutting head connected to the fuselage; a position adjustment device connected to the fuselage and used to adjust the position and tilt angle of the fuselage; a front millimeter-wave radar arranged on the forward side of the fuselage; a first millimeter-wave radar arranged on the side of the fuselage close to the side wall of the tunnel; a second millimeter-wave radar arranged on the side of the fuselage close to the side wall of the tunnel and on the same side as the first millimeter-wave radar; and an automatic cutting control device as proposed in the technical solution of the second aspect of the present invention or an electronic device of the technical solution of the third aspect.

[0030] Since the tunnel boring machine provided by the present invention includes the automatic cutting control device provided by the second aspect of the technical solution of the present invention, or includes the electronic device provided by the third aspect of the technical solution, it has all the beneficial effects of the automatic cutting control method steps.

[0031] In some technical solutions, the tunnel boring machine also includes: a third millimeter-wave radar, which is arranged on one side of the fuselage close to the side wall of the tunnel; a fourth millimeter-wave radar, which is arranged on one side of the fuselage close to the side wall of the tunnel, and is located on the same side of the fuselage as the third millimeter-wave radar, and is located on a different side of the fuselage as the first millimeter-wave radar, and the number of front millimeter-wave radars is two.

[0032] In some technical solutions, the tunnel boring machine also includes two laser radars, which are installed on the forward side of the fuselage, and can perform a panoramic scan of the tunnel and obtain the end face image of the front tunnel wall.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] Unlike the related art, it is not necessary to use a laser pointer to illuminate the center of the headway wall and then have the driver make corrections. The present invention can realize automatic corrections, thereby improving work efficiency. In addition, by determining in real time whether the machine body is tilted relative to the side wall of the roadway, when the machine body is tilted, the present invention can control the position adjustment device to adjust the tilt angle of the machine body, thereby improving the footage accuracy.

[0035] Additional aspects and advantages of the present invention will become apparent in the following description or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and / or additional aspects and advantages of the embodiments of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0037] Figure 1 One of the flow charts of the automatic cutting control method provided by the embodiment of the present invention is shown;

[0038] Figure 2 A second flow chart of the automatic cutting control method provided by an embodiment of the present invention is shown;

[0039] Figure 3 One of the structural schematic diagrams of a tunnel boring machine provided by an embodiment of the present invention is shown;

[0040] Figure 4 The second schematic diagram of the structure of the tunnel boring machine provided by the embodiment of the present invention is shown;

[0041] Figure 5 A structural block diagram of an automatic cutting control device provided by an embodiment of the present invention is shown;

[0042] Figure 6 A structural block diagram of an electronic device provided by an embodiment of the present invention is shown;

[0043] Figure 7 One of the structural schematic diagrams of the tunnel boring machine provided by an embodiment of the present invention is shown;

[0044] Figure 8 The second schematic diagram of the structure of the tunnel boring machine provided by the embodiment of the present invention is shown.

[0045] in, Figures 3 to 8 The corresponding relationship between the reference numerals and component names in the figure is:

[0046] 1 Tunnel boring machine, 11 body, 12 cutting head, 13 position adjustment device, 14 front millimeter-wave radar, 152 first millimeter-wave radar, 154 second millimeter-wave radar, 156 third millimeter-wave radar, 158 fourth millimeter-wave radar, 17 laser radar, 2 automatic cutting control device, 22 control unit, 24 determination unit, 700 electronic device, 701 processor, 702 memory, 42 headway wall, 44 side wall of roadway, 442 left side wall of roadway, 446 right side wall of roadway, 5 uncut hard rock. DETAILED DESCRIPTION

[0047] In order to more clearly understand the above aspects, 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.

[0048] In the following description, many specific details are set forth to facilitate a full understanding of the embodiments according to the present invention. However, the embodiments according to the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the embodiments according to the present invention is not limited to the specific embodiments disclosed below.

[0049] The automatic cutting control method provided in this embodiment is applied to a tunnel boring machine 1, such as Figure 3 As shown, the tunnel boring machine 1 includes a body 11, a cutting head 12 connected to the body 11, and a position adjusting device 13, the position adjusting device 13 is used to adjust the position and tilt angle of the body 11, a front millimeter wave radar 14 is arranged on the forward side of the body 11, and a first millimeter wave radar 152 and a second millimeter wave radar 154 are arranged on the same side of the body 11 corresponding to the tunnel side wall 44, as shown in FIG. Figure 1 As shown, the control method of automatic cutting includes:

[0050] S102: Control the front millimeter-wave radar to transmit electromagnetic waves to the oncoming roadway wall, and determine a first distance between the front millimeter-wave radar and the oncoming roadway wall;

[0051] S104: Control the first millimeter wave radar and the second millimeter wave radar to transmit electromagnetic waves to the side wall of the tunnel, and determine a second distance between the first millimeter wave radar and the side wall of the tunnel, and a third distance between the second millimeter wave radar and the side wall of the tunnel;

[0052] S106: Based on the first distance, the second distance and the third distance, controlling the position adjustment device to correct the position of the fuselage;

[0053] S108: Control the position-corrected cutting head to cut the headway wall.

[0054] The automatic cutting control method provided by the present invention has a front millimeter-wave radar 14 arranged on the forward side of the fuselage 11, and the forward side is the side close to the head-on tunnel wall 42. A first millimeter-wave radar 152 and a second millimeter-wave radar 154 are arranged on the side of the fuselage 11 corresponding to the tunnel side wall 44. In this way, the distance between the fuselage 11 and the head-on tunnel wall 42 can be directly measured by the front millimeter-wave radar 14, and the distance between the fuselage 11 and the tunnel side wall 44 can be measured by the first millimeter-wave radar 152 and the second millimeter-wave radar 154 to determine whether the fuselage 11 and the tunnel side wall 44 are parallel, thereby correcting the position of the fuselage 11. There is no need to illuminate the center position of the head-on tunnel wall 42 with a laser pointer and then correct it by the driver as in the related art. The present invention can realize automatic correction and improve work efficiency.

[0055] When the fuselage 11 is in the calibration state, the fuselage 11 and the tunnel side wall 44 are parallel, and the distance between the fuselage 11 and the front tunnel wall 42 should be a standard distance, such as 5 meters. That is, the distance threshold is 5 meters.

[0056] In some embodiments, optionally, after the step of controlling the position-corrected cutting head 12 to cut the head-on tunnel wall 42, the automatic cutting control method further includes: determining whether the fuselage 11 is inclined relative to the tunnel side wall 44 during the cutting process based on the second distance d2 and the third distance d3; when the fuselage 11 is inclined during the cutting process, controlling the position adjustment device 13 to adjust the inclination angle of the fuselage 11.

[0057] In this embodiment, during the cutting process, since the tunnel boring machine 1 of the present invention is a hard rock tunnel boring machine, the hardness of the rock is much greater than the hardness of the coal. Therefore, during the cutting process of the present invention, the fuselage 11 will usually undergo a large offset, resulting in the problem of insufficient footage accuracy. Therefore, the present invention determines in real time whether the fuselage 11 is inclined relative to the tunnel side wall 44. When the fuselage 11 is inclined, the present invention can control the position adjustment device 13 to adjust the inclination angle of the fuselage 11, thereby improving the footage accuracy.

[0058] In some embodiments, optionally, based on the second distance d2 and the third distance d3, the step of determining whether the fuselage 11 is tilted relative to the tunnel side wall 44 during the cutting process specifically includes: calculating the difference between the second distance d2 and the third distance d3, and determining whether the fuselage 11 is tilted during the cutting process based on the difference.

[0059] In this embodiment, when the difference between the second distance d2 and the third distance d3 is large, it means that the fuselage 11 has tilted greatly during the cutting process. At this time, the tilt angle of the fuselage 11 is adjusted by controlling the position adjustment device 13 to improve the footage accuracy.

[0060] In some embodiments, optionally, a laser radar 17 is further provided on the forward side of the fuselage 11, the first millimeter-wave radar 152 and the second millimeter-wave radar 154 are provided corresponding to the left tunnel side wall 442, and a third millimeter-wave radar 156 and a fourth millimeter-wave radar 158 are provided on the side of the fuselage 11 corresponding to the right tunnel side wall 446, and after the step of controlling the position-corrected cutting head 12 to cut the head-on tunnel wall 42, the automatic cutting control method further includes: controlling the third millimeter-wave radar 156 and the fourth millimeter-wave radar 158 to emit electromagnetic waves to the right tunnel side wall 446, and determining a fourth distance d4 between the third millimeter-wave radar 156 and the right tunnel side wall 446, and a fourth distance d5 between the fourth millimeter-wave radar 158 and the right tunnel side wall 446. a fifth distance d5 between the tunnel side walls 446; based on the first distance d1, the second distance d2, the third distance d3, the fourth distance d4 and the fifth distance d5, a tunnel coordinate system is established, and the position of the fuselage 11 in the tunnel coordinate system is determined; through the laser radar 17, an end face image of the head tunnel wall 42 is obtained; the end face image is analyzed, and it is determined whether there is uncut hard rock 5; the position of the uncut hard rock 5 in the tunnel coordinate system is determined; based on the position of the fuselage 11 in the tunnel coordinate system and the position of the uncut hard rock 5 in the tunnel coordinate system, the position adjustment device 13 is controlled to drive the fuselage 11 to move, and the cutting head 12 is driven to move to the position of the uncut hard rock 5, so as to cut the uncut hard rock 5.

[0061] In this embodiment, after completing the cutting step, the present invention first establishes a lane coordinate system, such as Figure 4 As shown, since d1, d3 and d4 are all obtained, the position of the fuselage 11 in the tunnel coordinate system can be accurately known, and then the end face image of the head tunnel wall 42 is obtained by the laser radar 17, and the end face image is analyzed to determine whether there is uncut hard rock 5, and at the same time determine the position of the uncut hard rock 5 in the tunnel coordinate system. In this way, based on the position of the fuselage 11 in the tunnel coordinate system and the position of the uncut hard rock 5 in the tunnel coordinate system, the movement of the fuselage 11 can be controlled and the cutting head 12 can be driven to move to the position of the uncut hard rock 5 to cut the uncut hard rock 5. It can also be understood that the present invention can perform continuous cutting on the large-section headway wall 42. During the first cutting process, since the cutting head 12 cannot completely scan the large-section headway wall 42, the rocks that have not been cut during the first cutting process are regarded as uncut hard rocks 5. At this time, the fuselage 11 can move to the corresponding position to achieve secondary cutting and tertiary cutting, etc., to complete the scanning of the entire large section. The conventional solution, since there is no millimeter-wave radar and laser radar, the position of the fuselage can only be adjusted manually, and continuity and automation cannot be achieved. The present invention can achieve the cutting of the entire large section.

[0062] In some embodiments, optionally, the first millimeter-wave radar 152 is arranged on the front side of the second millimeter-wave radar 154, and the step of correcting the position of the fuselage 11 based on the first distance d1, the second distance d2 and the third distance d3 specifically includes: when the second distance d2 is greater than the third distance d3, the position adjustment device 13 is controlled to drive the fuselage 11 to tilt counterclockwise; when the second distance d2 is less than the third distance d3, the position adjustment device 13 is controlled to drive the fuselage 11 to tilt clockwise; when the first distance d1 is greater than the distance threshold, the position adjustment device 13 is controlled to drive the fuselage 11 to move forward until the second distance d2 is equal to the third distance d3, and the first distance d1 is equal to the distance threshold.

[0063] In this embodiment, since the present invention can directly measure the distance between the fuselage 11 and the oncoming tunnel wall 42 through the front millimeter-wave radar 14, the data fed back by the first millimeter-wave radar 152 and the second millimeter-wave radar 154 can determine whether the fuselage 11 is parallel to the tunnel side wall 44, thereby realizing automatic correction. There is no need to illuminate the center position of the oncoming tunnel wall 42 with a laser pointer as in the related art, thereby improving work efficiency.

[0064] In some embodiments, optionally, the step of determining whether the fuselage 11 is tilted during the cutting process based on the difference specifically includes: when the difference is greater than or equal to 10 cm, determining that the fuselage 11 is tilted; when the difference is less than 10 cm, determining that the fuselage 11 is not tilted.

[0065] In this embodiment, when the difference is greater than or equal to 10 cm, it is determined that the fuselage 11 is tilted, and the fuselage 11 needs to be adjusted. If the difference is within 10 cm, it is an allowable error and the fuselage 11 does not need to be adjusted.

[0066] like Figure 3 and Figure 5As shown, the second aspect of the present invention provides an automatic cutting control device 2, which is applied to a tunnel boring machine 1. The tunnel boring machine 1 includes a body 11, a cutting head 12 connected to the body 11, and a position adjustment device 13, the position adjustment device 13 is used to adjust the position and tilt angle of the body 11, a front millimeter wave radar 14 is arranged on the forward side of the body 11, and a first millimeter wave radar 152 and a second millimeter wave radar 154 are arranged on the same side of the body 11 corresponding to the tunnel side wall 44. The automatic cutting control device 2 includes: a control unit 22, which is used to control the front millimeter wave radar 14 to emit electromagnetic waves to the front tunnel wall 42 , controlling the first millimeter-wave radar 152 and the second millimeter-wave radar 154 to transmit electromagnetic waves to the tunnel side wall 44; determining unit 24, used to determine a first distance d1 between the front millimeter-wave radar 14 and the oncoming tunnel wall 42; determining a second distance d2 between the first millimeter-wave radar 152 and the tunnel side wall, and a third distance d3 between the second millimeter-wave radar 154 and the tunnel side wall; the control unit 22 is also used to correct the position of the fuselage 11 based on the first distance d1, the second distance d2 and the third distance d3, and control the cutting head 12 after position correction to cut the oncoming tunnel wall 42.

[0067] Since the automatic cutting control device 2 provided by the present invention is used to implement the steps of the automatic cutting control method provided by any embodiment of the first aspect of the present invention, it has all the beneficial effects of the automatic cutting control method.

[0068] like Figure 6 As shown, the third aspect of the present invention provides an electronic device 700, including a memory 702 and a processor 701, wherein the memory 702 stores a computer program or instructions, and when the processor 701 executes the computer program or instructions, it implements the steps of the automatic cutting control method provided in any embodiment of the first aspect of the present application.

[0069] Since the electronic device 700 provided by the present invention is used to implement the steps of the automatic cutting control method provided by any embodiment of the first aspect of the present invention, it has all the beneficial effects of the automatic cutting control method.

[0070] like Figure 3 , Figure 7 and Figure 8As shown, the fourth aspect of the present invention provides a tunnel boring machine 1, comprising: a fuselage 11; a cutting head 12, connected to the fuselage 11; a position adjustment device 13, connected to the fuselage 11, for adjusting the position and inclination angle of the fuselage 11; a front millimeter-wave radar 14, arranged on the forward side of the fuselage 11; a first millimeter-wave radar 152, arranged on the side of the fuselage 11 close to the tunnel side wall 44; a second millimeter-wave radar 154, arranged on the side of the fuselage 11 close to the tunnel side wall 44, and on the same side as the first millimeter-wave radar 152; as the automatic cutting control device 2 of the second aspect embodiment of the present invention or the electronic device 700 of the third aspect embodiment.

[0071] Since the tunnel boring machine 1 provided by the present invention includes the automatic cutting control device 2 provided by the second aspect embodiment of the present invention, or includes the electronic device 700 provided by the third aspect embodiment, it has all the beneficial effects of the steps of the automatic cutting control method.

[0072] In some embodiments, the tunnel boring machine 1 also includes: a third millimeter-wave radar 156, which is arranged on the side of the fuselage 11 close to the tunnel side wall 44; a fourth millimeter-wave radar 158, which is arranged on the side of the fuselage 11 close to the tunnel side wall 44, and is located on the same side of the fuselage 11 as the third millimeter-wave radar 156, and is located on a different side of the fuselage 11 as the first millimeter-wave radar 152, and the number of front millimeter-wave radars 14 is two.

[0073] In some embodiments, the tunnel boring machine 1 further includes two laser radars 17 , which are disposed on the forward side of the machine body 11 and are capable of performing a panoramic scan of the tunnel and acquiring an end face image of the front tunnel wall 42 .

[0074] Another embodiment of the present invention provides a method for controlling automatic cutting.

[0075] It is important to understand that tunnel shaping has always been an important dimension of intelligent tunneling evaluation. The acceptance criteria for advanced intelligentization in many regions have also been added to this acceptance index, which is the only way for intermediate mines to move towards advanced mines. At present, the precise one-time shaping of full-rock tunnels and wide tunnels and the automatic detection of the shaping effect after cutting are still the bottleneck technologies in the intelligent tunneling machine industry. The current status mainly relies on inertial navigation positioning, which cannot meet the shaping and cutting requirements of complex working conditions, and the industry for visual display of cross-section shaping is still blank.

[0076] The following are the main technical problems in the current mining process of roadheaders. 1. Insufficient footage accuracy. 2. Hard rock models do not have telescopic parts and cannot automatically compensate. 3. Large sections cannot be automatically moved to achieve full-section cutting. 4. During the hard rock cutting process, the lateral displacement distance cannot be detected and automatic deviation correction cannot be achieved. 5. Lack of tunnel forming data collection and detection hardware.

[0077] The present invention adds 6 millimeter wave radars to the hardware to sense the forward distance and the side distance in real time, and adds 2 forward laser radars 17 to realize the panoramic scanning of the lane.

[0078] The present invention uses the coordinate system through the combination of inertial navigation + millimeter wave radar to know the absolute position coordinates relative to the tunnel. The dynamic cutting process can sense the lateral deviation through the lateral millimeter wave radar, and the dynamic correction algorithm can be implemented. The two forward millimeter wave radars can accurately control the footage to solve the problem of insufficient footage. Six millimeter wave radars are used to accurately control the automatic movement of the tunnel boring machine 1 in the tunnel to solve the problem that large sections cannot be formed in one time. The point cloud algorithm is used to visually evaluate the tunnel forming quality.

[0079] Specifically, if Figure 2 As shown, the automatic cutting control method of the present invention comprises the following steps:

[0080] S202: Automatic advance;

[0081] S204: Determine whether the advance is in place; if not, execute S206; if yes, execute S208;

[0082] S206: Perform compensation based on the front millimeter-wave radar; execute S202;

[0083] S208: automatic cutting;

[0084] S210: Determine whether the lateral direction is shifted; if not, execute S214; if so, execute S212;

[0085] S212: Perform compensation based on the side millimeter-wave radar; execute S208;

[0086] S214: Cutting is completed;

[0087] S216: Determine whether trimming is required; if not, execute S220; if so, execute S218;

[0088] S218: Automatically move the machine for trimming; execute S214;

[0089] S220: Automatically exit the machine;

[0090] S222: Point cloud scanning and uploading.

[0091] The technical effects of the present invention are: it can solve the under-excavation condition caused by insufficient precision, it can solve the under-excavation condition caused by lateral deviation during cutting, it can solve the large-section one-time forming condition, and it can realize the visual display of tunnel forming.

[0092] In the embodiments according to the present invention, the terms "first", "second", and "third" are only used for description and cannot 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" and the like 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 embodiments according to the present invention can be understood according to specific circumstances.

[0093] In addition, although each operation is described in a specific order, this should be understood as requiring such operation to be performed in a specific order or in a sequential order, or requiring that all illustrated operations should be performed to obtain desired results. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present invention. Some features described in the context of a separate embodiment can also be implemented in a single implementation in combination. On the contrary, the various features described in the context of a single implementation can also be implemented in multiple implementations individually or in any suitable sub-combination mode.

[0094] Although the subject matter has been described in the language of specific structural features and / or method logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0095] The above are only preferred embodiments according to the embodiments of the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various modifications and changes may be made according to the embodiments of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the embodiments of the present invention shall be included in the protection scope of the embodiments of the present invention.

Claims

1. A control method for automatic cutting, characterized in that: Applied to a tunnel boring machine, the tunnel boring machine comprises a fuselage, a cutting head connected to the fuselage, and a position adjusting device, the position adjusting device is used to adjust the position and inclination angle of the fuselage, a front millimeter wave radar is arranged on the forward side of the fuselage, and a first millimeter wave radar and a second millimeter wave radar are arranged on the same side of the fuselage corresponding to the side wall of the tunnel, and the automatic cutting control method comprises: Controlling the front millimeter-wave radar to transmit electromagnetic waves to the oncoming roadway wall, and determining a first distance between the front millimeter-wave radar and the oncoming roadway wall; Controlling the first millimeter-wave radar and the second millimeter-wave radar to transmit electromagnetic waves to the side wall of the tunnel, and determining a second distance between the first millimeter-wave radar and the side wall of the tunnel, and a third distance between the second millimeter-wave radar and the side wall of the tunnel; Based on the first distance, the second distance and the third distance, controlling the position adjustment device to correct the position of the fuselage; Controlling the position-corrected cutting head to cut the headway wall; The forward side of the fuselage is also provided with a laser radar, the first millimeter-wave radar and the second millimeter-wave radar are provided corresponding to the left lane side wall, and the side of the fuselage corresponding to the right lane side wall is provided with a third millimeter-wave radar and a fourth millimeter-wave radar. After the step of controlling the cutting head after position correction to cut the head-on lane wall, the automatic cutting control method further includes: Controlling the third millimeter-wave radar and the fourth millimeter-wave radar to transmit electromagnetic waves to the side wall of the right lane, and determining a fourth distance between the third millimeter-wave radar and the side wall of the right lane, and a fifth distance between the fourth millimeter-wave radar and the side wall of the right lane; Based on the first distance, the second distance, the third distance, the fourth distance and the fifth distance, a roadway coordinate system is established to determine the position of the fuselage in the roadway coordinate system; Acquiring an end face image of the head-on tunnel wall by means of the laser radar; Analyzing the end face image and determining whether there is uncut hard rock; Determining the position of the uncut hard rock in the roadway coordinate system; Based on the position of the machine body in the roadway coordinate system and the position of the uncut hard rock in the roadway coordinate system, controlling the position adjustment device to drive the machine body to move, and driving the cutting head to move to the position of the uncut hard rock, so as to cut the uncut hard rock; Wherein, the distance between the fuselage and the head-on roadway wall is a standard distance; After the step of controlling the cutting head after the position correction to cut the head-on tunnel wall, the automatic cutting control method further comprises: determining, based on the second distance and the third distance, whether the body is tilted relative to the sidewall of the roadway during the cutting process; When the fuselage tilts during the cutting process, controlling the position adjustment device to adjust the tilt angle of the fuselage; The step of determining whether the fuselage is inclined relative to the side wall of the roadway during the cutting process based on the second distance and the third distance specifically includes: calculating a difference between the second distance and the third distance, and determining whether the fuselage is tilted during the cutting process based on the difference; The first millimeter-wave radar is disposed in front of the second millimeter-wave radar, and the step of controlling the position adjustment device to correct the position of the fuselage based on the first distance, the second distance, and the third distance specifically includes: When the second distance is greater than the third distance, the position adjustment device is controlled to drive the fuselage to tilt counterclockwise; when the second distance is less than the third distance, the position adjustment device is controlled to drive the fuselage to tilt clockwise; when the first distance is greater than a distance threshold, the position adjustment device is controlled to drive the fuselage to move forward until the second distance is equal to the third distance and the first distance is equal to the distance threshold.

2. The automatic cutting control method according to claim 1, characterized in that: The step of determining whether the fuselage is tilted during the cutting process based on the difference specifically includes: When the difference is greater than or equal to 10 cm, it is determined that the fuselage is tilted; When the difference is less than 10 cm, it is determined that the fuselage is not tilted.

3. A control device for automatic cutting, characterized in that: Applied to a tunnel boring machine, the tunnel boring machine includes a fuselage, a cutting head connected to the fuselage, and a position adjusting device, the position adjusting device is used to adjust the position and tilt angle of the fuselage, a front millimeter wave radar is arranged on the forward side of the fuselage, a first millimeter wave radar and a second millimeter wave radar are arranged on the same side of the fuselage corresponding to the tunnel side wall, a laser radar is also arranged on the forward side of the fuselage, the first millimeter wave radar and the second millimeter wave radar are arranged corresponding to the left tunnel side wall, and a third millimeter wave radar and a fourth millimeter wave radar are arranged on the side of the fuselage corresponding to the right tunnel side wall, and the automatic cutting control device includes: A control unit, used to control the front millimeter-wave radar to transmit electromagnetic waves to the front tunnel wall, and control the first millimeter-wave radar and the second millimeter-wave radar to transmit electromagnetic waves to the side walls of the tunnel; A determination unit, configured to determine a first distance between the front millimeter-wave radar and the oncoming roadway wall; Determine a second distance between the first millimeter-wave radar and the sidewall of the tunnel, and a third distance between the second millimeter-wave radar and the sidewall of the tunnel; The control unit is further used to correct the position of the fuselage based on the first distance, the second distance, and the third distance, control the cutting head after position correction to cut the head-on tunnel wall, control the third millimeter-wave radar and the fourth millimeter-wave radar to transmit electromagnetic waves to the right tunnel side wall, and determine a fourth distance between the third millimeter-wave radar and the right tunnel side wall, and a fifth distance between the fourth millimeter-wave radar and the right tunnel side wall, based on the first distance, the second distance, the third distance, the fourth distance, and the fifth distance. distance, establish a roadway coordinate system, determine the position of the fuselage in the roadway coordinate system, obtain an end face image of the head-on roadway wall through the laser radar, analyze the end face image, and determine whether there is uncut hard rock, determine the position of the uncut hard rock in the roadway coordinate system, and based on the position of the fuselage in the roadway coordinate system and the position of the uncut hard rock in the roadway coordinate system, control the position adjustment device to drive the fuselage to move, and drive the cutting head to move to the position of the uncut hard rock, so as to cut the uncut hard rock; Wherein, the distance between the fuselage and the head-on tunnel wall is a standard distance.

4. An electronic device, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program or instructions, and the processor implements the steps of the automatic cutting control method as claimed in claim 1 or 2 when executing the computer program or the instructions.

5. A tunnel boring machine, characterized in that: include: body; A cutting head connected to the fuselage; A position adjustment device, connected to the fuselage, for adjusting the position and tilt angle of the fuselage; A front millimeter-wave radar is disposed on the forward side of the fuselage; A first millimeter wave radar is arranged on a side of the fuselage close to the side wall of the tunnel; a second millimeter-wave radar, disposed on a side of the fuselage close to the side wall of the tunnel and located on the same side as the first millimeter-wave radar; The automatic cutting control device according to claim 3 or the electronic device according to claim 4; A third millimeter wave radar is arranged on a side of the fuselage close to the side wall of the tunnel; The fourth millimeter-wave radar is arranged on a side of the fuselage close to the side wall of the tunnel, and is located on the same side of the fuselage as the third millimeter-wave radar, and is located on a different side of the fuselage from the first millimeter-wave radar. The number of the front millimeter-wave radars is two.

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