Low-disturbance cutting control method and control system for heading machine

Abstract

The invention discloses a low-disturbance cutting control method and system for a heading machine, and the method comprises the steps: generating a roadway section contour through the type and size information of a pre-cut roadway, setting a roadway boundary target point, planning a cutting path of the heading machine, and carrying out the setting of a parameter theoretical value through the real-time detection of working parameter information. And comparing the parameter signal with a theoretical set value, judging the position of the cutting head in a roadway, selecting an optimal cutting motion parameter, controlling the rotating speed of the tunneling cutting head and the motion of a cutting arm in real time, and realizing low-disturbance cutting. The position information of the cutting head in the cutting process can be accurately judged in real time, cutting operation parameters are optimized, high-speed low-disturbance cutting at the edge position of a roadway or at the position where obstacles exist is achieved, the situation that the heading machine cuts a top plate and meanwhile reduces the swing speed of the cutting arm when cutting hard rock is effectively avoided, vibration of the cutting head and a machine body is reduced, and the cutting efficiency of the heading machine is improved. Abrasion and damage of cutting teeth of the cutting head are reduced, roadway section forming quality is improved, and surface flatness of a top plate and a bottom plate is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine tunnel boring machines, and in particular to a low-disturbance cutting control method and a control system for a tunnel boring machine. Background Art

[0002] Coal is my country's basic energy industry. Only by ensuring the stable operation of the basic pillar industry can a good foundation be laid for economic construction. For the fully mechanized excavation working face, there are still prominent problems such as low reliability of the mechanical system, low level of automation, high labor intensity of workers, and high degree of danger. Especially in the semi-coal rock tunnel, which is mixed with harder rocks such as gangue, when the cutting head encounters harder rocks during the cutting process, the cutting current will suddenly increase, the vibration of the machine body will intensify, and the vibration of the cutting head will intensify, causing the wear of the cutting teeth to intensify, seriously affecting the quality of the tunnel section forming, and reducing the reliability of the mechanical system. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide a low-disturbance cutting control method and control system for a roadheader, which can reasonably plan the cutting path of the roadheader, reduce the vibration of the cutting head and the machine body, reduce the wear and damage of the cutting teeth of the cutting head, improve the quality of tunnel section forming, and ensure the smoothness of the top and bottom plate surfaces.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions: A low-disturbance cutting control method for a roadheader comprises the following steps: S1 obtains the type and size information of the pre-cutting tunnel; S2 generates a tunnel cross-section profile based on tunnel type and tunnel size information; S3 plans the cutting path of the roadheader, sets the target points at the tunnel boundary, and generates the cutting route; S4 detects the working status parameters of the tunnel boring machine and the set tunnel boundary point information in real time; S5 sets the theoretical value of the cylinder parameter at the lane boundary according to the working state parameters and the lane boundary point information; S6 processes the obtained working parameter signal, and compares the processed parameter signal with the theoretical setting value to determine the position of the cutting head in the tunnel; S7 sets a cutting motion parameter selection rule and selects the best cutting motion parameter; S8 compares the optimal cutting motion parameters with the cutting motion parameters monitored in real time to perform closed-loop control of the roadheader.

[0005] Furthermore, in step S2, the method for generating the tunnel cross-section contour is: generating the tunnel cross-section shape according to the tunnel type and tunnel size, setting a number of feature points, and generating the coordinates of all boundary points of the tunnel cross-section by curve fitting.

[0006] Furthermore, the specific steps of generating the coordinates of all boundary points of the tunnel section are: S21 takes any three adjacent feature points; S22 compares and obtains the minimum horizontal coordinate value, the maximum horizontal coordinate value, the minimum vertical coordinate value, and increases the vertical coordinate value; S23 calculates the number of insertion points; S24 calculates the insertion point coordinates.

[0007] Specifically, the three adjacent feature points are expressed as ( x 0 , y 0 ), x 1 , y 1 ), x 2 , y 2 ), the calculation formula for the number of insertion points is: in: H is the number of insertion points, min X is the minimum horizontal coordinate value, max X is the maximum horizontal coordinate value, min Y is the minimum ordinate value, max Y is the maximum ordinate value; The insertion point coordinate calculation formula is: in: x 0 is the horizontal coordinate value of the first feature point, x 1 is the horizontal coordinate value of the second feature point, x 2 The horizontal coordinate value of the third feature point, y 0 The vertical coordinate value of the first feature point, y 1 The vertical coordinate value of the first feature point, y 2 The vertical coordinate value of the first feature point.

[0008] Furthermore, in step S3, the target points of the lane boundary are selected as the lower left and lower right points of the lane on the bottom edge, and several other points are generated at equal intervals based on the left and right points. The remaining three sides can respectively select the two end points and the middle point as the main feature points for positioning, and several points are generated between the two main feature points.

[0009] Specifically, the lane boundary target points are the lower left and lower right points of the lane on the bottom edge, and another three points are generated based on the equal spacing between the left and right points. The remaining three sides can select the two end points plus the midpoint as the main feature points for positioning, and then generate another point between the two main feature points.

[0010] Furthermore, in step S6, the method for determining the position of the cutting head is: the lifting and rotation angle sensors detect the rotation angle and the lifting angle of the cutting part in real time, and determine the relationship between the extension and contraction amount of the lifting hydraulic cylinder, the extension and contraction amount of the right rotation hydraulic cylinder and the horizontal and vertical coordinates of the cutting head in the tunnel coordinate system, thereby determining the position of the cutting head in the tunnel.

[0011] Specifically, the calculation formula of the vertical coordinate of the cutting head in the tunnel is: in: z is the ordinate of the cutting head in the tunnel; L is the cutting arm length; The extension of the telescopic cylinder of the cutting head; L 1 The vertical swing center point of the cutting arm O 2 Hinge point under the turntable A The distance between L 2 The vertical swing center point of the cutting arm O 2 Articulation point with cutting arm B The distance between L 0 It is the distance between the hinge point under the slewing table and the lifting hinge point of the cutting arm when the cutting arm is in the horizontal position; is the extension of the lifting cylinder; ϕ 0 ∠ when the cutting arm is in the horizontal position AO 2 X 2 ; θ 0 The straight line between the cutting arm and the vertical swing center point of the cutting arm and the lifting hinge point of the cutting arm O 2 B The angle between The calculation formula of the horizontal coordinate of the cutting head in the tunnel is: in: y is the horizontal coordinate of the cutting head in the tunnel; e The vertical swing center point of the cutting arm O 2 With horizontal rotary table center O1 The distance between n It is the hinge point between the horizontal rotary cylinder and the right side of the tunnel boring machine body. O 4 Or the hinge point between the horizontal rotary cylinder and the left side of the tunnel boring machine body O 5 With horizontal rotary table center O 1 The distance between r is the radius of the turntable; The extension of the telescopic cylinder of the cutting head; is the extension of the lifting cylinder; is the extension of the rotary cylinder; L ’ 0 It is the hinge point between the horizontal rotary cylinder and the right side of the tunnel boring machine body when the cutting head is in the horizontal middle position. O 4 The hinge point between the horizontal rotary cylinder and the right side of the horizontal rotary table O 6 The distance between θ ∠ when the cutting head is in the horizontal middle position O 4 O 1 O 6 ; When the cutting arm is in horizontal position When the lifting cylinder is horizontally rising When positive, it decreases is negative; When the cutting arm is centered When it is 0, it turns right Positive, when turning left is negative.

[0012] Specifically, in step S6, the processing of the working parameter signal includes: filtering, denoising, and feature extraction.

[0013] Furthermore, in step S7, the cutting motion parameters include the cutting head rotation speed and the cutting arm swing speed, and the cutting motion parameter selection rules are as follows: at the edge of the tunnel or at a position where the cutting resistance increases, the cutting head's own rotation speed is increased and the cutting part's swing speed is reduced, so that the tunnel boring machine is in a high-speed and low-torque mode; in the middle area of ​​the tunnel or at a position where the cutting resistance decreases, the cutting head's own rotation speed is reduced and the cutting part's swing speed is increased, so that the tunnel boring machine is in a low-speed and high-torque mode, thereby achieving high-speed and low-disturbance cutting at the tunnel edge.

[0014] Specifically, the priority of the parameter selection rule is: edge position> cutting resistance increased position> middle area position of the tunnel> cutting resistance reduced position.

[0015] Furthermore, the step S8 is specifically as follows: S81 When it is detected that the cutting head is at the boundary point of the tunnel, the cutting motor is controlled to increase the cutting current and reduce the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the cutting head speed increases and the cutting arm swing speed decreases, thereby achieving high-speed and low-disturbance cutting; S82 When it is detected that the cutting head is not at the boundary point of the tunnel, but the current parameter output increases, that is, the cutting resistance increases, the cutting motor is controlled to increase the cutting current and reduce the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the cutting head speed increases and the cutting arm swing speed decreases, thereby achieving high-speed and low-disturbance cutting; S83: When it is detected that the cutting head is in the middle area of ​​the tunnel and the cutting resistance has not changed, the cutting motor is controlled to reduce the cutting current and increase the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the speed of the cutting head is reduced and the swing speed of the cutting arm is increased, so as to achieve low-speed and high-torque cutting; S84 When it is detected that the cutting head is not at the boundary point of the tunnel, but the current parameter output decreases, that is, the cutting resistance decreases, the cutting motor is controlled to reduce the cutting current and increase the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the cutting head speed is reduced and the cutting arm swing speed is increased to achieve low-speed and high-torque cutting.

[0016] The cutting status, cutting head movement position, sensor detection and other information can also be sent to the remote operation platform in real time, and remote monitoring and control can be carried out through the remote operation platform.

[0017] Repeat the above steps to achieve precise cutting control of the cutting head at different positions in the tunnel.

[0018] A control system for implementing a low-disturbance cutting control method for a tunnel boring machine is also provided, comprising a state detection module, a data processing module, a host computer control module and a remote operation platform; the state detection module comprises an inclination sensor, a pressure sensor, an angle sensor, a current sensor, and an infrared thermal imager, and the data processing module comprises a data acquisition card and a main processor; the host computer control module comprises a programmable computer and a main industrial computer, the inclination sensor, pressure sensor, angle sensor, current sensor, and infrared thermal imager are all connected to the signal input end of the data acquisition card, the output end of the data acquisition card is connected to the input end of the main processor, and the output end of the main processor is connected to the programmable computer of the host computer control module.

[0019] Further, the inclination sensor is installed on the tunnel boring machine and the inclination sensor includes inclination sensor 1 and inclination sensor 2; The inclination sensor 1 is installed on the cutting arm of the cutting part of the tunnel boring machine and is used to detect the inclination angle of the cutting arm relative to the horizontal plane; The inclination sensor 2 is installed on the main body of the tunnel boring machine and is used to detect the inclination angle of the main body of the tunnel boring machine relative to the horizontal plane; The pressure sensor includes a lifting cylinder pressure sensor and a rotary cylinder pressure sensor, which are respectively built into the cutting rotary cylinder and the cutting lifting cylinder, and are used to detect the pressure values ​​in the rotary cylinder and the lifting cylinder; The angle sensor includes a rotation angle sensor and a lifting angle sensor, which are respectively installed on the slewing table of the tunnel boring machine and the cutting arm of the tunnel boring machine, and are used to detect the rotation angle of the cutting part of the tunnel boring machine and the lifting angle of the cutting arm; The current sensor is a cutting motor current sensor, which is arranged inside the cutting arm of the roadheader and installed together with the cutting motor, and is used to detect the current value of the cutting motor; The infrared thermal imager is installed on the cutting arm of the roadheader and is used to detect the boundary information points of the tunnel; The data acquisition card is used to collect data obtained by each sensor; The main processor is used to receive data collected by the data acquisition card and send data information to the upper computer control module; The programmable computer is used to send control commands; The main industrial computer is used to execute control commands and control the actions of the cutting head and the cutting part; The remote operation platform can display, collect and record all data of the tunnel boring machine, and realize data storage, display, query, call, data processing and analysis.

[0020] Furthermore, the data processing module and the status detection module are simultaneously connected to the remote operation platform signal, and are used to send the cutting status, cutting head movement position, sensor detection and other information to the remote operation platform in real time. The remote operation platform is used to remotely monitor and control the tunnel boring machine.

[0021] Beneficial effects of the present invention: 1. By inputting the preset tunnel type and size on the remote operation platform, the cutting trajectory planning and tunnel boundary target point setting of three types of tunnels, namely rectangular, arched and trapezoidal, can be realized. The precise positioning of the cutting head can be realized through the sensors arranged on the roadheader; 2. During the cutting operation, the main controller will record the corresponding sensor detection information and cutting head position information, compare and analyze the sensor detection value and the set value of the lane target point in real time, control the movement of the cutting head, and achieve accurate cutting of the predetermined cutting path; 3. A strategy for matching the cutting head rotation speed and the cutting arm swing speed is proposed, which realizes high-torque and efficient cutting operations in the center area of ​​the tunnel and high-speed and low-disturbance cutting operations in the boundary area of ​​the tunnel, effectively reduces the wear of the cutting teeth of the cutting head, helps to improve the tunnel section forming quality and cutting efficiency, and enhances the operating reliability of the whole machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. For those skilled in the art, other drawings can be obtained based on the drawings without paying creative work.

[0023] Figure 1 It is a flow chart of the low-disturbance cutting control method of the roadheader of the present invention; Figure 2 is a schematic diagram of the distribution of different lane boundary points set in an embodiment of the present invention; Figure 3 Schematic diagram of automatic cutting paths of different types of lanes set in an embodiment of the present invention; Figure 4 Schematic diagram of the relationship between the vertical coordinate of the cutting head and the telescopic amount of the lifting cylinder in an embodiment of the present invention; Figure 5 Schematic diagram of the relationship between the horizontal coordinate of the cutting head and the telescopic amount of the rotary cylinder according to an embodiment of the present invention; Figure 6 It is a schematic diagram of the structure of a cutting control system for a roadheader according to an embodiment of the present invention.

[0024] in: O 0 , the cutting head apex when the telescopic section of the cutting arm is fully extended; O 1 , the center point of the horizontal rotary table; O 2 , the vertical swing center point of the cutting arm; O 3 , the cutting head apex when the telescopic section of the cutting arm is not extended; O 4 , the hinge point between the horizontal rotary cylinder and the right side of the tunnel boring machine body; O 5 , the hinge point between the horizontal rotary cylinder and the left side of the tunnel boring machine body; O 6 , the hinge point between the horizontal rotary cylinder and the right side of the horizontal rotary workpiece; O 7 , the hinge point between the horizontal rotary cylinder and the left side of the horizontal rotary table; A, hinge point under the turntable; B , cutting arm lifting hinge point; O 2 B , the straight line between the vertical swing center point of the cutting arm and the lifting and lowering hinge point of the cutting arm;. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] like Figures 1 to 5 As shown, an embodiment of a low-disturbance cutting control method for a roadheader comprises the following steps: S1 obtains the type and size information of the pre-cutting tunnel; S2 generates a tunnel cross-section profile based on tunnel type and tunnel size information; S3 plans the cutting path of the roadheader, sets the target points at the tunnel boundary, and generates the cutting route; S4 detects the working status parameters of the tunnel boring machine and the set tunnel boundary point information in real time; S5 sets the theoretical value of the cylinder parameter at the lane boundary according to the working state parameters and the lane boundary point information; S6 processes the obtained working parameter signal, and compares the processed parameter signal with the theoretical setting value to determine the position of the cutting head in the tunnel; S7 sets a cutting motion parameter selection rule and selects the best cutting motion parameter; S8 compares the optimal cutting motion parameters with the cutting motion parameters monitored in real time to perform closed-loop control of the roadheader.

[0027] In the specific implementation process, Figure 2 As shown, first, we need to determine the pre-cut tunnel type and tunnel size, generate the tunnel cross-section contour according to the tunnel type and tunnel size, generate the tunnel cross-section shape according to the tunnel type and tunnel size, set several feature points, and generate the coordinates of all boundary points of the tunnel cross-section through curve fitting. The specific steps are as follows: Take any three adjacent feature points ( x 0 , y 0 ), x 1 , y 1 ), x 2 ,y 2 ); Compare and get the minimum horizontal coordinate value min X , maximum horizontal coordinate value max X 、Minimum ordinate value min Y , increase the vertical coordinate value max Y ; The number of insertion points is calculated using the following formula (1): (1) Substitute the number of insertion points into the following formula (2) to perform straight line interpolation and calculate the coordinates of all insertion points: (2) in: x 0 is the horizontal coordinate value of the first feature point, x 1 is the horizontal coordinate value of the second feature point, x 2 The horizontal coordinate value of the third feature point, y 0 The vertical coordinate value of the first feature point, y 1 The vertical coordinate value of the first feature point, y 2 The vertical coordinate value of the first feature point.

[0028] In this embodiment, the target points of the lane boundary are the lower left and lower right points of the lane on the bottom edge, and another three points are generated at equal intervals based on the left and right points. The remaining three sides can select the two end points and the midpoint as the main feature points for positioning, and then generate another point between the two main feature points to complete the lane boundary point setting of 16 points in total.

[0029] like Figure 3 As shown, after setting the tunnel boundary points, different cutting routes are generated by planning the cutting path of the tunnel boring machine and setting the tunnel boundary target points.

[0030] The inclination angle of the tunnel boring machine, the pressure of the lifting and rotating cylinder, the lifting and rotating angle, the current of the cutting motor and other signals and the set tunnel boundary point information are detected in real time. The parameter information of the rotating and lifting cylinders at the tunnel boundary conditions is calculated based on the collected information, and the theoretical value of the cylinder parameters at the tunnel boundary is set.

[0031] The obtained signals are processed in sequence such as filtering, denoising, and feature extraction, and the detection values ​​of the lifting and rotating cylinder angle sensors are compared and analyzed with the theoretical set values ​​to determine the position of the cutting head in the tunnel. The optimal cutting motion parameters are selected based on the cutting head position information and the cutting motion parameter selection rules, and the current position of the cutting head is analyzed. The theoretical position coordinates of the next cutting target are found based on the pre-set cutting path, and the optimal cutting motion parameters and the cutting head's next target theoretical position information are sent to the tunneling machine control module; like Figure 4 and Figure 5 As shown, the method for determining the position of the cutting head is: the lifting and rotation angle sensors detect the rotation angle and the lifting angle of the cutting part in real time, and determine the relationship between the extension and contraction amount of the lifting hydraulic cylinder, the extension and contraction amount of the right rotation hydraulic cylinder and the horizontal and vertical coordinates of the cutting head in the tunnel coordinate system, thereby determining the position of the cutting head in the tunnel.

[0032] Among them, the calculation formula (3) of the vertical coordinate of the cutting head in the tunnel is: (3) in: z is the ordinate of the cutting head in the tunnel; L is the cutting arm length; The extension of the telescopic cylinder of the cutting head; L 1 The vertical swing center point of the cutting arm O 2 Hinge point under the turntable A The distance between L 2 The vertical swing center point of the cutting arm O 2 Articulation point with cutting arm B The distance between L 0 It is the distance between the hinge point under the slewing table and the lifting hinge point of the cutting arm when the cutting arm is in the horizontal position; is the extension of the lifting cylinder; ϕ 0 ∠ when the cutting arm is in the horizontal position AO 2 X 2 ; θ 0 The straight line between the cutting arm and the vertical swing center point of the cutting arm and the lifting hinge point of the cutting arm O 2 B The angle between.

[0033] Among them, the calculation formula (4) of the horizontal coordinate of the cutting head in the tunnel is: (4) in: y is the horizontal coordinate of the cutting head in the tunnel; e The vertical swing center point of the cutting arm O 2 With horizontal rotary table center O 1 The distance between n It is the hinge point between the horizontal rotary cylinder and the right side of the tunnel boring machine body. O 4 Or the hinge point between the horizontal rotary cylinder and the left side of the tunnel boring machine body O 5 With horizontal rotary table center O 1 The distance between r is the radius of the turntable; The extension of the telescopic cylinder of the cutting head; is the extension of the lifting cylinder; is the extension of the rotary cylinder; L ’ 0 It is the hinge point between the horizontal rotary cylinder and the right side of the tunnel boring machine body when the cutting head is in the horizontal middle position. O 4 The hinge point between the horizontal rotary cylinder and the right side of the horizontal rotary table O 6 The distance between θ ∠ when the cutting head is in the horizontal middle position O 4 O 1 O 6 ; When the cutting arm is in horizontal position When the lifting cylinder is horizontally rising When positive, it decreases is negative; When the cutting arm is centered When it is 0, it turns right Positive, when turning left is negative.

[0034] The cutting motion parameters include the cutting head rotation speed and the cutting arm swing speed. The cutting motion parameters selection rules are as follows: at the edge of the tunnel or where the cutting resistance increases, the cutting head's own rotation speed is increased and the cutting part's swing speed is reduced, so that the tunnel boring machine is in a high-speed, low-torque mode; in the middle area of ​​the tunnel or where the cutting resistance decreases, the cutting head's own rotation speed is reduced and the cutting part's swing speed is increased, so that the tunnel boring machine is in a low-speed, high-torque mode, thereby achieving high-speed, low-disturbance cutting at the tunnel edge.

[0035] Because coal mine tunnels, especially semi-coal rock tunnels, are mixed with harder rocks such as gangue, when the cutting head encounters harder rocks during the cutting process, the resistance will increase and the cutting motor current will suddenly increase. Therefore, the detected current can reflect the relative cutting resistance, that is, whether there is a cutting obstacle. After passing the cutting obstacle, the cutting resistance decreases, and the cutting motor current will decrease relative to when encountering an obstacle.

[0036] The priority of parameter selection rules is: edge position > position where cutting resistance increases > position in the middle area of ​​the tunnel > position where cutting resistance decreases.

[0037] The tunnel boring machine control module compares and analyzes the optimal cutting motion parameters with the current cutting motion parameters measured in real time, and performs closed-loop control on the rotation speed of the tunnel boring machine's cutting head and the swing speed of the cutting part, specifically: When it is detected that the cutting head is at the boundary point of the tunnel, the cutting motor is controlled to increase the cutting current and reduce the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the cutting head speed increases and the cutting arm swing speed decreases, achieving high-speed and low-disturbance cutting; When it is detected that the cutting head is not at the boundary point of the tunnel, but the current parameter output increases, that is, the cutting resistance increases, the cutting motor is controlled to increase the cutting current and reduce the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the cutting head speed increases and the cutting arm swing speed decreases, thereby achieving high-speed and low-disturbance cutting; When it is detected that the cutting head is in the middle area of ​​the tunnel and the cutting resistance has not changed, the cutting motor is controlled to reduce the cutting current and increase the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the cutting head speed is reduced and the cutting arm swing speed is increased, so as to achieve low-speed and high-torque cutting; When it is detected that the cutting head is not at the boundary point of the tunnel, but the current parameter output decreases, that is, the cutting resistance decreases, the cutting motor is controlled to reduce the cutting current and increase the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the cutting head speed is reduced and the cutting arm swing speed is increased to achieve low-speed and high-torque cutting.

[0038] The cutting status, cutting head movement position, sensor detection and other information can also be sent to the remote operation platform in real time, and remote monitoring and control can be carried out through the remote operation platform.

[0039] Repeat the above steps to achieve precise cutting control of the cutting head at different positions in the tunnel.

[0040] like Figure 6As shown, in order to realize the above-mentioned tunnel boring machine mobilization and cutting control method, the present invention also provides a tunnel boring machine low-disturbance cutting control system, including a state detection module, a data processing module, a host computer control module and a remote operation platform; the state detection module includes an inclination sensor, a pressure sensor, an angle sensor, a current sensor, and an infrared thermal imager, which are used to detect the tunnel boring machine working state signal and the tunnel boundary point information in real time; the data processing module includes a data acquisition card and a main processor, which are used to collect the parameter signals detected by the state detection module and process the parameter signals; the host computer control module includes a programmable computer and a main industrial computer, which are used to issue control commands to control the cutting motor speed and the movement of the cutting arm; the inclination sensor, the pressure sensor, the angle sensor, the current sensor, and the infrared thermal imager are all connected to the signal input end of the data acquisition card, the output end of the data acquisition card is connected to the input end of the main processor, the output end of the main processor is connected to the programmable computer of the host computer control module, and the main industrial computer of the host computer control module is connected to the cutting motor and the cutting arm.

[0041] The inclination sensor is installed on the tunnel boring machine. The inclination sensor includes an inclination sensor 1 installed on the cutting arm of the cutting part of the tunnel boring machine and an inclination sensor 2 installed on the main body of the tunnel boring machine. The inclination sensor 1 is used to detect the inclination angle of the cutting arm relative to the horizontal plane, and the inclination sensor 2 is used to detect the inclination angle of the tunnel boring machine body relative to the horizontal plane. The pressure sensor includes a lifting cylinder pressure sensor and a rotary cylinder pressure sensor, which are respectively built into the cutting rotary cylinder and the cutting lifting cylinder, and are used to detect the pressure values ​​in the rotary cylinder and the lifting cylinder; The angle sensor includes a rotation angle sensor and a lifting angle sensor, which are respectively installed on the slewing table of the tunnel boring machine and the cutting arm of the tunnel boring machine, and are used to detect the rotation angle of the cutting part of the tunnel boring machine and the lifting angle of the cutting arm; The current sensor is a cutting motor current sensor, which is arranged inside the cutting arm of the roadheader and installed together with the cutting motor to detect the current value of the cutting motor; The infrared thermal imager is installed on the cutting arm of the tunnel boring machine to detect the boundary information points of the tunnel; The data acquisition card is used to collect data obtained by each sensor and transmit the collected data to the main processor for processing; The main processor is used to receive the data collected by the data acquisition card, process and calculate it, and send data information to the upper computer control module; A programmable computer is used to send control commands; The main industrial computer is used to execute control commands, control the cutting head speed and cutting arm movement; The remote operation platform can display, collect and record all data of the tunnel boring machine, and realize data storage, display, query, call, processing and analysis.

[0042] The data processing module and the status detection module can communicate with the remote operation platform at the same time, and send the cutting status, cutting head movement position, sensor detection and other information to the remote operation platform in real time, and the remote operation platform performs remote monitoring and control.

[0043] The model of the tunnel boring machine in this embodiment is the EBZ230 tunnel boring machine produced by Jiamusi Coal Mine Machinery Co., Ltd. Of course, this embodiment only takes the EBZ230 tunnel boring machine as an example to illustrate the positional relationship of the center point positions and the hinge point positions in the present invention, but the protection scope of the present invention is not limited to the EBZ230 tunnel boring machine, and other tunnel boring machines with lifting and rotating capabilities including a machine body, a turntable, and a cutting arm are applicable.

[0044] Although the preferred implementation cases of the present invention have been described above in conjunction with the accompanying drawings, the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms of specific changes without departing from the scope of protection of the invention spirit and claims, which all fall within the scope of protection of the present invention.

Claims

1. A low-disturbance cutting control method for a roadheader, characterized in that: The following steps are involved: S1 obtains the type and size information of the pre-cutting tunnel; S2 generates a tunnel cross-section profile based on tunnel type and tunnel size information; S3 plans the cutting path of the roadheader, sets the target points at the tunnel boundary, and generates the cutting route; S4 detects the working status parameters of the tunnel boring machine and the set tunnel boundary point information in real time; S5 sets the theoretical value of the cylinder parameter at the lane boundary according to the working state parameters and the lane boundary point information; S6 processes the obtained working state parameter signal, and compares the processed parameter signal with the theoretical set value to determine the position of the cutting head in the tunnel; S7 sets a cutting motion parameter selection rule and selects the best cutting motion parameter; S8 compares the optimal cutting motion parameters with the cutting motion parameters monitored in real time to perform closed-loop control of the roadheader.

2. The low-disturbance cutting control method for a roadheader according to claim 1, characterized in that: In step S2, the method for generating the tunnel cross-section profile is: generating the tunnel cross-section shape according to the tunnel type and tunnel size, setting a number of feature points, and generating the coordinates of all boundary points of the tunnel cross-section by curve fitting.

3. The low-disturbance cutting control method for a roadheader according to claim 2, characterized in that: The specific steps of generating the coordinates of all boundary points of the tunnel section are: S21 takes any three adjacent feature points; S22 compares and obtains the minimum horizontal coordinate value, the maximum horizontal coordinate value, the minimum vertical coordinate value, and increases the vertical coordinate value; S23 calculates the number of insertion points; S24 calculates the insertion point coordinates.

4. The low-disturbance cutting control method for a roadheader according to claim 3, characterized in that: The three adjacent feature points are expressed as ( x 0, y 0), ( x 1, y 1), ( x 2, y 2) The calculation formula for the number of insertion points is: in: H is the number of insertion points, min X is the minimum horizontal coordinate value, max X is the maximum horizontal coordinate value, min Y is the minimum ordinate value, max Y is the maximum ordinate value; The insertion point coordinate calculation formula is: in: x 0 is the horizontal coordinate value of the first feature point, x 1 is the horizontal coordinate value of the second feature point, x 2The horizontal coordinate value of the third feature point, y 0 The vertical coordinate value of the first feature point, y 1 The vertical coordinate value of the first feature point, y 2 The vertical coordinate value of the first feature point.

5. The low-disturbance cutting control method for a roadheader according to claim 1, characterized in that: In step S3, the lane boundary target points are selected as the lower left and lower right points of the lane on the bottom edge, and several other points are generated based on the two points on the left and right with equal spacing. The remaining three sides can select the two end points plus the middle point as the main feature points for positioning, and several points are generated between the two main feature points.

6. The low-disturbance cutting control method for a roadheader according to claim 5, characterized in that: The lane boundary target point is to select the lower left and lower right points of the lane on the bottom edge, and generate another three points based on the equal spacing between the left and right points. The remaining three sides can select the two end points plus the midpoint as the main feature points for positioning, and then generate another point between the two main feature points.

7. The low-disturbance cutting control method for a roadheader according to claim 1, characterized in that: In step S6, the method for determining the position of the cutting head is: the lifting and rotation angle sensors detect the rotation angle and the lifting angle of the cutting part in real time, determine the relationship between the extension and contraction amount of the lifting hydraulic cylinder, the extension and contraction amount of the right rotation hydraulic cylinder and the horizontal and vertical coordinates of the cutting head in the tunnel coordinate system, thereby determining the position of the cutting head in the tunnel.

8. The low-disturbance cutting control method for a roadheader according to claim 7, characterized in that: The calculation formula of the ordinate of the cutting head in the tunnel is: in: z is the ordinate of the cutting head in the tunnel; L is the cutting arm length; The extension of the telescopic cylinder of the cutting head; L 1 is the vertical swing center point of the cutting arm ( O 2) The hinge point under the turntable ( A ) between; L 2 is the vertical swing center point of the cutting arm ( O 2) The hinge point with the cutting arm lifting ( B ) between; L 0 is the distance between the hinge point under the slewing table and the lifting hinge point of the cutting arm when the cutting arm is in the horizontal position; is the extension of the lifting cylinder; ϕ 0 is the ∠ when the cutting arm is in the horizontal position AO 2 X 2; θ 0 is the straight line between the cutting arm and the vertical swing center point of the cutting arm and the lifting hinge point of the cutting arm ( O 2 B ) The calculation formula of the horizontal coordinate of the cutting head in the tunnel is: in: y is the horizontal coordinate of the cutting head in the tunnel; e The vertical swing center point of the cutting arm ( O 2) With the center of the horizontal rotary table ( O 1) The distance between them; n It is the hinge point between the horizontal rotary cylinder and the right side of the tunnel boring machine body ( O 4) or the hinge point between the horizontal rotary cylinder and the left side of the tunnel boring machine body ( O 5) With the horizontal rotary table center ( O 1) The distance between them; r is the radius of the turntable; The extension of the telescopic cylinder of the cutting head; is the extension of the lifting cylinder; is the extension of the rotary cylinder; L ’ 0 is the hinge point between the horizontal rotary cylinder and the right side of the tunnel boring machine body when the cutting head is in the horizontal middle position ( O 4) The hinge point between the horizontal rotary cylinder and the right side of the horizontal rotary table ( O 6) The distance between them; θ ∠ when the cutting head is in the horizontal middle position O 4 O 1 O 6 .

9. The low-disturbance cutting control method for a roadheader according to claim 8, characterized in that: In step S6, the processing of the working parameter signal includes filtering, denoising, and feature extraction.

10. The low-disturbance cutting control method for a roadheader according to claim 1, characterized in that: In step S7, the cutting motion parameters include the cutting head rotation speed and the cutting arm swing speed, and the cutting motion parameter selection rule is as follows: at the edge of the tunnel or the position where the cutting resistance increases, the cutting head's own rotation speed is increased and the cutting part swing speed is reduced, so that the tunnel boring machine is in a high-speed and low-torque mode; in the middle area of ​​the tunnel or the position where the cutting resistance decreases, the cutting head's own rotation speed is reduced and the cutting part swing speed is increased, so that the tunnel boring machine is in a low-speed and high-torque mode, thereby achieving high-speed and low-disturbance cutting at the tunnel edge.

11. The low-disturbance cutting control method for a roadheader according to claim 10, characterized in that: The priority of the parameter selection rule is: edge position > position where the cutting resistance increases > position in the middle area of ​​the tunnel > position where the cutting resistance decreases.

12. The low-disturbance cutting control method for a roadheader according to claim 1, characterized in that: The step S8 is specifically as follows: S81 When it is detected that the cutting head is at the boundary point of the tunnel, the cutting motor is controlled to increase the cutting current and reduce the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the cutting head speed increases and the cutting arm swing speed decreases, thereby achieving high-speed and low-disturbance cutting; S82 When it is detected that the cutting head is not at the boundary point of the tunnel, but the current parameter output increases, that is, the cutting resistance increases, the cutting motor is controlled to increase the cutting current and reduce the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the cutting head speed increases and the cutting arm swing speed decreases, thereby achieving high-speed and low-disturbance cutting; S83: When it is detected that the cutting head is in the middle area of ​​the tunnel and the cutting resistance has not changed, the cutting motor is controlled to reduce the cutting current and increase the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the speed of the cutting head is reduced and the swing speed of the cutting arm is increased, so as to achieve low-speed and high-torque cutting; S84 When it is detected that the cutting head is not at the boundary point of the tunnel, but the current parameter output decreases, that is, the cutting resistance decreases, the cutting motor is controlled to reduce the cutting current and increase the flow rate of the rotary cylinder valve port according to the optimal cutting motion parameters, so that the cutting head speed is reduced and the cutting arm swing speed is increased to achieve low-speed and high-torque cutting.

13. A low-disturbance cutting control system for a roadheader, used to implement the low-disturbance cutting control method for a roadheader according to any one of claims 1 to 12, characterized in that: It includes a state detection module, a data processing module, a host computer control module and a remote operation platform; the state detection module includes an inclination sensor, a pressure sensor, an angle sensor, a current sensor, and an infrared thermal imager, and the data processing module includes a data acquisition card and a main processor; the host computer control module includes a programmable computer and a main industrial computer, the inclination sensor, pressure sensor, angle sensor, current sensor, and infrared thermal imager are all connected to the signal input end of the data acquisition card, the output end of the data acquisition card is connected to the input end of the main processor, and the output end of the main processor is connected to the programmable computer of the host computer control module.

14. The low-disturbance cutting control system for a roadheader according to claim 13, characterized in that: The inclination sensor is installed in the tunnel boring machine. The inclination sensor includes inclination sensor 1 and inclination sensor 2; The inclination sensor 1 is installed on the cutting arm of the cutting part of the tunnel boring machine and is used to detect the inclination angle of the cutting arm relative to the horizontal plane; The inclination sensor 2 is installed on the main body of the tunnel boring machine and is used to detect the inclination angle of the main body of the tunnel boring machine relative to the horizontal plane; The pressure sensor includes a lifting cylinder pressure sensor and a rotary cylinder pressure sensor, which are respectively built into the cutting rotary cylinder and the cutting lifting cylinder, and are used to detect the pressure values ​​in the rotary cylinder and the lifting cylinder; The angle sensor includes a rotation angle sensor and a lifting angle sensor, which are respectively installed on the slewing table of the tunnel boring machine and the cutting arm of the tunnel boring machine, and are used to detect the rotation angle of the cutting part of the tunnel boring machine and the lifting angle of the cutting arm; The current sensor is a cutting motor current sensor, which is arranged inside the cutting arm of the roadheader and installed together with the cutting motor, and is used to detect the current value of the cutting motor; The infrared thermal imager is installed on the cutting arm of the roadheader and is used to detect the boundary information points of the tunnel; The data acquisition card is used to collect data obtained by each sensor; The main processor is used to receive data collected by the data acquisition card and send data information to the upper computer control module; The programmable computer is used to send control commands; The main industrial computer is used to execute control commands and control the actions of the cutting head and the cutting part; The remote operation platform can display, collect and record all data of the tunnel boring machine, and realize data storage, display, query, call, data processing and analysis.

15. The low-disturbance cutting control system for a roadheader according to claim 14, characterized in that: The data processing module and the state detection module are simultaneously connected to the remote operation platform signal, and are used to send the cutting state, the movement position of the cutting head, the sensor detection and other information to the remote operation platform in real time. The remote operation platform is used to remotely monitor and control the tunnel boring machine.

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