Water jet cutting path planning method and system

Abstract

The application discloses a water jet cutting path planning method and system, comprising the following steps: constructing a rock breaking database according to historical water jet cutting data; obtaining rock mass information in a pre-cutting process of the rock mass, and screening an optimal cutting path in the rock breaking database according to the rock mass information; in the process of cutting with the optimal cutting path, generating an environment map according to obtained environment data, and determining a target position and an obstacle position in the environment map; combining a current body pose of a tunneling machine to plan a body action path, and controlling the tunneling machine to perform a body action before cutting; planning a boom action pose according to a current boom pose, the target position, the obstacle position and boom movement parameters, and feeding back and optimizing the boom action pose according to a set boom safety distance during cross operation of the double booms. The optimal cutting path of the high-pressure water jet is planned, the action poses of the tunneling machine and the booms are planned, and the double booms cooperatively and efficiently break rocks.

Description

Technical Field

[0001] The present invention relates to the technical field of tunneling devices, and in particular to a water jet cutting path planning method and system. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] Currently, most coal, rock, and coal-rock tunnel boring machines are cantilevered. These machines integrate cutting, traveling, transporting, and dust suppression functions, resulting in high tunneling efficiency. However, when faced with high-strength, highly abrasive rock, these machines suffer from low cutting efficiency, severe tool wear, and slow construction progress, increasing tunnel construction costs. To address these issues, a dual-cantilever tunneling solution using abrasive water jets to assist tunnel boring machines can improve excavation efficiency, reduce construction costs, and shorten construction schedules.

[0004] High-pressure abrasive water jets utilize ultra-high-speed water flow to accelerate abrasive particles, leveraging their impact to cut and crush rock. This technology offers advantages such as low cost, environmental compatibility, high efficiency, and a dust-free environment. However, current dual-cantilever high-pressure water jet roadheaders present numerous unresolved control challenges, including the difficulty of coordinating the two cantilevers, the difficulty of optimal cutting sequence and path planning, and the complexity of real-time control of cutting parameters. Summary of the Invention

[0005] In order to solve the above problems, the present invention proposes a water jet cutting path planning method and system to realize the planning of the optimal cutting path of the high-pressure water jet. At the same time, by planning the movement posture of the tunnel boring machine and the cantilever, the dual cantilever coordinated and efficient rock breaking is achieved, thereby improving the rock breaking efficiency.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present invention provides a water jet cutting path planning method, comprising:

[0008] Build a rock breaking database based on historical water jet cutting data; the rock breaking database includes cutting strategies for multiple jet parameter combinations under different rock conditions;

[0009] Obtain rock mass information during pre-cutting of the rock mass, and select the optimal cutting path from the rock breaking database based on the rock mass information;

[0010] During the cutting process with the optimal cutting path, an environmental map is generated based on the acquired environmental data, and the target position and obstacle position are determined in the environmental map. This is combined with the current body posture of the tunnel boring machine to plan the body movement path and control the body movement of the tunnel boring machine before cutting. The cantilever movement posture is planned based on the current cantilever posture, the target position and obstacle position in the environmental map, and the cantilever movement parameters. The cantilever movement posture is also optimized based on the set cantilever safety distance when the dual cantilever is working in cross-cooperation.

[0011] As an optional embodiment, the jet parameters include pump pressure, target distance, abrasive concentration, nozzle parameters and traverse speed.

[0012] As an optional implementation method, the cutting strategy includes a cutting mode and an optimal cutting path; the cutting mode includes: when the strength and hardness of the rock mass are within the set range, linear, curved or point cutting is selected; when the strength and hardness of the rock mass exceed the set limit, grid cutting is used.

[0013] As an optional implementation, the environmental data includes object images, obstacle data and three-dimensional environmental data. The target object is obtained based on the object image recognition, and an environmental map is generated based on the three-dimensional environmental data. The position of the target object and the obstacle position are determined based on the environmental map.

[0014] As an optional implementation, the process of acquiring the posture of the tunnel boring machine body and the cantilever includes: constructing a spatial posture detection coordinate system, measuring the posture of the body or the cantilever, and describing the posture with offset angle, pitch angle, roll angle, horizontal offset displacement and vertical offset displacement.

[0015] As an optional implementation, the cantilever movement parameters are determined from the optimal cutting path obtained by screening, and the cantilever movement parameters include the cantilever movement path and movement speed.

[0016] As an optional implementation method, a cantilever safety distance is set when the two cantilevers work in a cross-cooperative manner. According to the feedback of the two cantilever distance and the moving speed, if it is judged that the two cantilever distance exceeds the cantilever safety distance or the moving speed exceeds the set threshold, the cantilever movement posture is adjusted.

[0017] In a second aspect, the present invention provides a water jet cutting path planning system, comprising:

[0018] A database construction module is configured to construct a rock breaking database based on historical water jet cutting data; the rock breaking database includes cutting strategies for multiple jet parameter combinations under different rock conditions;

[0019] a path screening module configured to obtain rock mass information during the pre-cutting process of the rock mass, and screen the optimal cutting path in the rock breaking database based on the rock mass information;

[0020] The motion planning module is configured to generate an environmental map based on the acquired environmental data during the cutting process with the optimal cutting path, and determine the target position and obstacle position in the environmental map. Based on this, the module plans the body movement path in combination with the current body posture of the tunnel boring machine, and controls the body movement of the tunnel boring machine before cutting. The module plans the cantilever movement posture according to the current cantilever posture, the target position and obstacle position in the environmental map, and the cantilever movement parameters, and provides feedback to optimize the cantilever movement posture according to the set cantilever safety distance when the dual cantilever is cross-cooperatively operated.

[0021] In a third aspect, the present invention provides an electronic device comprising a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein the computer instructions, when executed by the processor, perform the method described in the first aspect.

[0022] In a fourth aspect, the present invention provides a computer-readable storage medium for storing computer instructions, wherein when the computer instructions are executed by a processor, the method described in the first aspect is performed.

[0023] In a fifth aspect, the present invention provides a computer program product, comprising a computer program, which implements the method described in the first aspect when executed by a processor.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] The present invention proposes a water jet cutting path planning method and system. By constructing a rock breaking database containing cutting strategies for multiple jet parameter combinations under different rock conditions, the optimal cutting path and the corresponding optimal parameter combination can be directly called according to the rock information fed back during the pre-cutting process. The optimal cutting path also includes the optimal cutting order, thereby realizing the regulation of jet cutting parameters and completing the planning of the optimal path of the high-pressure water jet.

[0026] The present invention proposes a water jet cutting path planning method and system. During the cutting process with the optimal cutting path, the body movement path and cantilever movement posture of the tunnel boring machine are planned, and according to the set cantilever safety spacing when the dual cantilevers are cross-cooperatively operated, the cantilever movement posture is optimized through feedback, so as to realize the efficient rock breaking of the dual cantilevers in collaboration, ensure that the dual cantilevers do not interfere with each other in collaborative operation, realize efficient rock crushing and efficient tunnel excavation, improve rock breaking efficiency, and shorten construction period.

[0027] Advantages of additional aspects of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0029] Figure 1 Schematic diagram of a double-cantilever high-pressure water jet tunnel boring machine provided in Example 1 of the present invention;

[0030] Figure 2 A schematic diagram of the nozzle mounting groove provided in Example 1 of the present invention;

[0031] Figure 3 Flowchart of the water jet cutting path planning method provided in Example 1 of the present invention;

[0032] Figure 4 This is a schematic diagram of the tunnel face construction provided in Example 1 of the present invention. DETAILED DESCRIPTION

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] It should be noted that the following detailed descriptions are exemplary and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which the present invention belongs.

[0035] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that the terms "include" and "comprise" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] In the absence of conflict, the embodiments of the present invention and the features thereof may be combined with each other.

[0037] Example 1

[0038] The high-pressure water jet assisted cantilever roadheader used in this embodiment has two cantilever structures, namely a mechanical cutting head cantilever equipped with a cutting head and a high-pressure water jet cantilever equipped with a high-pressure water jet operating mechanism. The water jet is located at the nozzle mounting slot of the high-pressure water jet cantilever. The working position of the water jet is controlled by controlling the high-pressure water jet cantilever. Figure 1-Figure 2 shown.

[0039] The principle of the combined construction is as follows: first, a high-pressure water jet cantilever is used to cut at the tunnel face and crack the rock mass to reduce its compressive strength; then the cutting head penetrates the fractured rock mass, the slag falls off, and the rock excavation is completed.

[0040] Among them, the cantilever structure that controls the movement of the high-pressure water jet can move around the cutting head and its cutting arm, so that the water jet and the cutting head can work synchronously. That is, after the water jet finishes cutting the rock mass, the cutting head immediately penetrates the rock mass, greatly improving construction efficiency.

[0041] Therefore, if Figure 3 As shown, this embodiment provides a water jet cutting path planning method, including:

[0042] Build a rock breaking database based on historical water jet cutting data; the rock breaking database includes cutting strategies for multiple jet parameter combinations under different rock conditions;

[0043] Obtain rock mass information during pre-cutting of the rock mass, and select the optimal cutting path from the rock breaking database based on the rock mass information;

[0044] During the cutting process with the optimal cutting path, an environmental map is generated based on the acquired environmental data, and the target position and obstacle position are determined in the environmental map. This is combined with the current body posture of the tunnel boring machine to plan the body movement path and control the body movement of the tunnel boring machine before cutting. The cantilever movement posture is planned based on the current cantilever posture, the target position and obstacle position in the environmental map, and the cantilever movement parameters. The cantilever movement posture is also optimized based on the set cantilever safety distance when the dual cantilever is working in cross-cooperation.

[0045] Specifically, in this embodiment, a rock breaking database for high-pressure abrasive water jets is first established based on a large number of indoor experiments; then, after adjusting the posture of the dual-cantilever tunnel boring machine, pre-cutting of the tunnel face is carried out; and then, the rock information fed back during the pre-cutting process is combined with the rock breaking database to obtain the optimal cutting path of the dual-cantilever tunnel boring machine; in the process of cutting with the optimal cutting path, the posture and cutting of the dual cantilever are controlled in real time through the intelligent collaborative control system, realizing efficient collaborative control of the dual cantilever and real-time intelligent regulation of water jet cutting parameters, providing basic support for the automation, intelligence, informatization and unmanned development of the dual-cantilever tunnel boring machine.

[0046] The method of this embodiment is described in detail below.

[0047] In this embodiment, the rock breaking database is: through a lot of preliminary work, the lithology and other physical parameters of various rocks are collected as comprehensively as possible and water jet cutting tests are carried out, including but not limited to rock color, texture, strength, hardness and rock breaking effects under different jet parameters. The data is then input into an artificial neural network for training, so as to obtain cutting strategies under multiple jet parameter combinations under various typical rock conditions, including cutting patterns and optimal cutting paths, and the optimal cutting path includes the optimal cutting order.

[0048] The jet parameters include but are not limited to: pump pressure, target distance, abrasive concentration, nozzle parameters, traverse speed, etc.

[0049] Among them, the cutting mode includes: when the strength and hardness of the rock mass are within the set range, linear, curved or point cutting is selected; when the strength and hardness exceed the set limit, grid cutting is adopted, such as Figure 4 shown.

[0050] In this embodiment, the pre-cutting is: using conventional jet parameters to perform abrasive water jet pre-cutting, and using a camera to capture the distribution characteristics of rock samples on the tunnel face, and comparing them with the rock mass information in the rock breaking database. Based on the comparison results between the pre-cutting results and the rock breaking database, the optimal cantilever cutting path of the tunnel face is intelligently selected.

[0051] The following is an introduction to the tunnel boring machine's body motion planning and cantilever motion planning.

[0052] In this embodiment, environmental data including object images, obstacle data, and three-dimensional environmental data are acquired through an environmental perception component, which includes a pan-tilt camera, a three-dimensional laser radar, and a solid-state laser radar.

[0053] Among them, the gimbal camera is used to capture object images and send the object images to the processor; the three-dimensional laser radar is used to obtain three-dimensional environmental data and send the three-dimensional environmental data to the processor; the solid-state laser radar is used to obtain obstacle data and send the obstacle data to the processor.

[0054] The processor obtains the target object based on the object image recognition; generates an environmental map based on the three-dimensional environmental data, and determines the position of the target object based on the environmental map; plans the body movement path of the dual-arm tunnel boring machine based on the environmental map, the position of the target object and the position of the obstacle, combined with the current body posture of the dual-arm tunnel boring machine. After planning and zoning the tunnel face, control instructions are generated according to the body movement path of the dual-arm tunnel boring machine to control the body movement of the dual-arm tunnel boring machine before cutting, so as to control the dual-arm tunnel boring machine to reach the target position and effectively avoid obstacles.

[0055] It is understandable that the conventional path planning algorithm can be used for the planning algorithm of the body movement path of the dual-cantilever tunnel boring machine, and will not be elaborated here.

[0056] In this embodiment, the process of acquiring the body posture of a dual-boom roadheader involves constructing a spatial posture detection coordinate system, measuring the body posture using a dual-cross laser scanner, and describing the body posture in the tunnel using five parameters: offset angle α, pitch angle β, roll angle γ, horizontal offset displacement Δx, and vertical offset displacement Δz. Based on the acquired body posture, the roadheader's movement path in the tunnel is planned based on environmental data collected by the environmental perception component.

[0057] In this embodiment, after the optimal cutting path is screened, the cantilever movement parameters can be determined, including the cantilever movement path and movement speed, that is, the water jet and cutter head cutting path and traverse speed. This data comes from the rock breaking database, which contains experimentally advantageous parameter combinations for specific rocks.

[0058] Therefore, the cantilever motion posture is planned according to the current cantilever posture, the target object position and obstacle position in the environment map, and the cantilever movement parameters.

[0059] Among them, the movement postures of the mechanical cutting head cantilever and the high-pressure water jet cantilever are planned separately here to control the movement of the two cantilevers.

[0060] Among them, the acquisition process of the position and posture of the mechanical cutting head cantilever and the high-pressure water jet cantilever is consistent with the acquisition process of the fuselage position and posture of the dual-cantilever tunnel boring machine, which will not be repeated here.

[0061] At the same time, the cantilever safety distance is defined when the dual cantilevers are working in cross-cooperation, and the dual cantilever distance and moving speed are fed back in real time. If it is judged that the dual cantilever distance exceeds the cantilever safety distance or the moving speed exceeds the set threshold, the cantilever movement posture is adjusted in time to achieve efficient cutting and ensure that the dual cantilever working in collaboration does not interfere with each other.

[0062] In this embodiment, the cutter head position of the high-pressure water jet cantilever can also be equipped with a particle jet nozzle, a laser head, a slurry jet nozzle, a microwave generator, etc. according to actual needs. The control system reserves corresponding multi-functional control modules to achieve the needs of efficient rock breaking by combining multiple new technologies.

[0063] In this embodiment, the method also includes fault diagnosis of the double cantilever action posture, which can monitor the abnormal state of the equipment in real time. Based on the jet flowmeter pressure sensor, it can monitor sand blockage, water leakage, machine jamming and other fault problems in real time; based on the force state of the double cantilever, it can judge in real time whether the cantilever operation is abnormal. When the force direction deviates from the normal force state, the emergency stop alarm state is turned on. After the fault is eliminated, the emergency stop state is manually released to continue operation; the joint state information of the double cantilever is obtained through the encoder, and the virtual reality component is used to generate and display the virtual reality posture image of the double cantilever tunneling machine according to the received joint state information and the preset three-dimensional model of the double cantilever tunneling machine, thereby controlling the cantilever movement and providing support for cantilever fault detection.

[0064] In this embodiment, the method also has functional modules such as lighting, gas detection, and early warning. Signal processing is performed on a programmable computer controller through bus control, and key information is then fed back on the human interaction interface. At the same time, instructions are sent to the tunnel boring machine execution device to achieve efficient rock breaking.

[0065] This embodiment relates to a water jet cutting path planning method for a dual-cantilever high-pressure water jet tunnel boring machine. Based on an intelligent control system, a high-pressure water jet is used to cut the rock surface from bottom to top, thereby creating an open surface on the rock surface and reducing the rock strength. After pre-cutting in an area, the cutting head immediately penetrates the rock mass after the cutting, and the high-pressure jet system simultaneously cuts the rock mass at other locations on the tunnel face, which can improve the control accuracy of the dual-cantilever tunnel boring machine and the efficiency of cutting.

[0066] Example 2

[0067] This embodiment provides a water jet cutting path planning system, including:

[0068] A database construction module is configured to construct a rock breaking database based on historical water jet cutting data; the rock breaking database includes cutting strategies for multiple jet parameter combinations under different rock conditions;

[0069] a path screening module configured to obtain rock mass information during the pre-cutting process of the rock mass, and screen the optimal cutting path in the rock breaking database based on the rock mass information;

[0070] The motion planning module is configured to generate an environmental map based on the acquired environmental data during the cutting process with the optimal cutting path, and determine the target position and obstacle position in the environmental map. Based on this, the module plans the body movement path in combination with the current body posture of the tunnel boring machine, and controls the body movement of the tunnel boring machine before cutting. The module plans the cantilever movement posture according to the current cantilever posture, the target position and obstacle position in the environmental map, and the cantilever movement parameters, and provides feedback to optimize the cantilever movement posture according to the set cantilever safety distance when the dual cantilever is cross-cooperatively operated.

[0071] As an optional embodiment, the jet parameters include pump pressure, target distance, abrasive concentration, nozzle parameters and traverse speed.

[0072] As an optional implementation method, the cutting strategy includes a cutting mode and an optimal cutting path; the cutting mode includes: when the strength and hardness of the rock mass are within the set range, linear, curved or point cutting is selected; when the strength and hardness of the rock mass exceed the set limit, grid cutting is used.

[0073] As an optional implementation, the environmental data includes object images, obstacle data and three-dimensional environmental data. The target object is obtained based on the object image recognition, and an environmental map is generated based on the three-dimensional environmental data. The position of the target object and the obstacle position are determined based on the environmental map.

[0074] As an optional implementation, the process of acquiring the posture of the tunnel boring machine body and the cantilever includes: constructing a spatial posture detection coordinate system, measuring the posture of the body or the cantilever, and describing the posture with offset angle, pitch angle, roll angle, horizontal offset displacement and vertical offset displacement.

[0075] As an optional implementation, the cantilever movement parameters are determined from the optimal cutting path obtained by screening, and the cantilever movement parameters include the cantilever movement path and movement speed.

[0076] As an optional implementation method, a cantilever safety distance is set when the two cantilevers work in a cross-cooperative manner. According to the feedback of the two cantilever distance and the moving speed, if it is judged that the two cantilever distance exceeds the cantilever safety distance or the moving speed exceeds the set threshold, the cantilever movement posture is adjusted.

[0077] It should be noted that the above modules correspond to the steps described in Example 1, and the examples and application scenarios implemented by the above modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above Example 1. It should be noted that the above modules, as part of the system, can be executed in a computer system such as a set of computer-executable instructions.

[0078] In further embodiments, there is also provided:

[0079] An electronic device includes a memory and a processor, and computer instructions stored in the memory and executed by the processor, wherein when the computer instructions are executed by the processor, the method described in Example 1 is performed. For the sake of brevity, no further details are given here.

[0080] It should be understood that in this embodiment, the processor may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), off-the-shelf field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0081] The memory may include a read-only memory and a random access memory, and provides instructions and data to the processor. A portion of the memory may also include a non-volatile random access memory. For example, the memory may also store information about the device type.

[0082] A computer-readable storage medium is used to store computer instructions, and when the computer instructions are executed by a processor, the method described in Example 1 is performed.

[0083] The method in Example 1 can be directly implemented as a hardware processor, or can be implemented using a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, it will not be described in detail here.

[0084] A computer program product includes a computer program, which implements the method described in embodiment 1 when executed by a processor.

[0085] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer-executable instructions, such as instructions contained in program modules, which are executed in a device on a real or virtual processor of a target to perform the process / method described above. Generally, program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. In various embodiments, the functionality of program modules can be combined or divided between program modules as needed. The machine-executable instructions for the program modules can be executed in local or distributed devices. In distributed devices, program modules can be located in local and remote storage media.

[0086] The computer program code for implementing the method of the present invention can be written in one or more programming languages. These computer program codes can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the computer or other programmable data processing device, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on a computer, partially on a computer, as an independent software package, partially on a computer and partially on a remote computer, or entirely on a remote computer or server.

[0087] In the context of the present invention, computer program code or related data can be carried by any appropriate carrier to enable a device, apparatus, or processor to perform the various processes and operations described above. Examples of carriers include signals, computer-readable media, and the like. Examples of signals include electrical, optical, radio, acoustic, or other forms of propagated signals, such as carrier waves, infrared signals, and the like.

[0088] Those skilled in the art will appreciate that the units and algorithm steps of the various examples described in conjunction with this embodiment can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0089] Although the above describes the specific embodiments of the present invention in conjunction with the accompanying drawings, it is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without any creative work are still within the scope of protection of the present invention.

Claims

1. A water jet cutting path planning method, characterized in that: include: Construct a rock breaking database based on historical water jet cutting data; The rock breaking database includes cutting strategies for multiple jet parameter combinations under different rock conditions; Obtain rock mass information during pre-cutting of the rock mass, and select the optimal cutting path from the rock breaking database based on the rock mass information; During the cutting process using the optimal cutting path, an environmental map is generated based on the acquired environmental data. The target and obstacle positions are determined in the environmental map. This is then combined with the current posture of the roadheader to plan the movement path and control the movement of the roadheader before cutting. The cantilever movement posture is planned based on the current posture of the boom, the target and obstacle positions in the environmental map, and the boom movement parameters. The cantilever movement posture is then optimized based on the set safe distance between the booms when the two booms are working in a cross-cooperative manner. Among them, the cantilever safety distance is set when the dual cantilever crosses and cooperates. According to the feedback of the dual cantilever distance and moving speed, if it is judged that the dual cantilever distance exceeds the cantilever safety distance or the moving speed exceeds the set threshold, the cantilever movement posture is adjusted.

2. A water jet cutting path planning method according to claim 1, characterized in that: The jet parameters include pump pressure, target distance, abrasive concentration, nozzle parameters and traverse speed; The cutting strategy includes cutting mode and optimal cutting path; the cutting mode includes: when the strength and hardness of the rock mass are within the set range, linear, curved or point cutting is selected; when the strength and hardness of the rock mass exceed the set limit, grid cutting is adopted.

3. A water jet cutting path planning method according to claim 1, characterized in that: The environmental data includes object images, obstacle data and three-dimensional environmental data. The target object is obtained based on the object image recognition, and an environmental map is generated based on the three-dimensional environmental data. The position of the target object and the position of the obstacle are determined based on the environmental map.

4. A water jet cutting path planning method according to claim 1, characterized in that: The process of acquiring the posture of the tunnel boring machine body and cantilever includes: constructing a spatial posture detection coordinate system, measuring the posture of the body or cantilever, and describing the posture with offset angle, pitch angle, roll angle, horizontal offset displacement and vertical offset displacement.

5. The water jet cutting path planning method according to claim 1, wherein: The cantilever movement parameters are determined from the optimal cutting path obtained by screening. The cantilever movement parameters include the cantilever movement path and movement speed.

6. A water jet cutting path planning system, characterized in that: include: a database construction module configured to construct a rock breaking database based on historical water jet cutting data; The rock breaking database includes cutting strategies for multiple jet parameter combinations under different rock conditions; a path screening module configured to obtain rock mass information during the pre-cutting process of the rock mass, and screen the optimal cutting path in the rock breaking database based on the rock mass information; The motion planning module is configured to generate an environmental map based on acquired environmental data during the cutting process using the optimal cutting path, determine the target and obstacle positions in the environmental map, and use this map to plan the machine's motion path in combination with the machine's current body position, thereby controlling the machine's body movements before cutting. The module also plans the boom's motion posture based on the boom's current position, the target and obstacle positions in the environmental map, and boom movement parameters, and provides feedback to optimize the boom's motion posture based on the set boom safety spacing for dual-boom cross-cooperation. Among them, the cantilever safety distance is set when the dual cantilever crosses and cooperates. According to the feedback of the dual cantilever distance and moving speed, if it is judged that the dual cantilever distance exceeds the cantilever safety distance or the moving speed exceeds the set threshold, the cantilever movement posture is adjusted.

7. An electronic device, characterized in that: The method comprises a memory and a processor, and computer instructions stored in the memory and executed on the processor, wherein when the computer instructions are executed by the processor, the method according to any one of claims 1 to 5 is completed.

8. A computer-readable storage medium, characterized in that Used to store computer instructions, which, when executed by a processor, complete the method according to any one of claims 1 to 5.

9. A computer program product, characterized in that The invention comprises a computer program, which is used to implement the method according to any one of claims 1 to 5 when the computer program is executed by a processor.

Images