Cutting path planning system and method for heading machine

Abstract

The invention relates to a heading machine cutting path planning system and method. The method comprises the steps that at least one coordinate value of a roadway under a local machine coordinate system is determined; acquiring a preset cutting path of the tunneling equipment according to the coordinate value; in response to tunneling equipment for tunneling based on the preset cutting path, obtaining a deviation between the real-time pose of the cutting head and the preset cutting path; and adjusting the cutting head according to the deviation. By determining the coordinate value of the roadway under the coordinate system of the machine, the tunneling equipment can obtain a more accurate preset cutting path according to the coordinate value; when the tunneling equipment carries out tunneling based on the preset cutting path, feedback adjustment is carried out on the swing of the cutting head through the deviation between the real-time pose of the cutting head and the preset cutting path, so that the tunneling equipment can obtain a more accurate cutting path through feedback adjustment, unnecessary repeated movement is avoided, manual intervention is reduced to the maximum extent, and the tunneling efficiency is improved. And the method has wide applicability.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent tunneling equipment, and in particular to a tunneling machine cutting path planning system and method. Background Art

[0002] With the development of coal mining technology, the traditional manual cutting method has defects such as rigid path control, lack of planning ability, and frequent manual intervention. It cannot automatically adjust the movement path and speed of the cutting head according to the position changes of the tunneling equipment and the changes in the rock hardness of the working face. Therefore, there is an urgent need for a method that can automatically adjust the movement path and speed of the cutting head according to the position changes of the tunneling equipment to improve the existing problems.

[0003] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solutions of the present application and for the convenience of understanding by those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art simply because they are described in the background technology section of the present application. Summary of the invention

[0004] The purpose of the present application is to provide a cutting path planning system and method for a tunnel boring machine, so as to solve the problem in the prior art that it is difficult to automatically adjust the motion path and speed of the cutting head according to the position change of the tunnel boring equipment.

[0005] In order to solve the above problems, a cutting path planning system for a roadheader involved in this application adopts the following technical solutions:

[0006] The tunnel boring machine cutting path planning system includes: a perception module, a reference module, a main control module and tunnel boring equipment, wherein the perception module is connected to the tunnel boring equipment to collect posture information of the tunnel boring process, wherein the tunnel boring equipment includes a cutting head and a fuselage part; the reference module determines the position information of the tunnel boring equipment and the tunnel boring operation reference surface; the main control module is connected to the perception module, the reference module and the tunnel boring equipment, and based on the pre-processing output information of the perception module and the reference module, a tunnel boring operation model is constructed to plan the cutting path of the tunnel boring equipment.

[0007] In order to solve the above problems, a cutting path planning method for a roadheader involved in the present application is applicable to a cutting path planning system for a roadheader involved in the present application. The cutting path planning method for a roadheader adopts the following technical solutions:

[0008] Determine at least one coordinate value of the tunnel in a local coordinate system, wherein the local coordinate system is set based on the tunneling equipment;

[0009] According to the coordinate values, a preset cutting path of the tunneling equipment is obtained;

[0010] In response to the excavation equipment performing excavation based on the preset cutting path, obtaining a deviation between the real-time position and posture of the cutting head and the preset cutting path;

[0011] The cutting head is adjusted according to the deviation.

[0012] In order to solve the above problems, a cutting path planning device for a roadheader involved in the present application adopts the following technical solutions:

[0013] A first acquisition module, the first acquisition module is used to determine at least one coordinate value of the tunnel in a local coordinate system, wherein the local coordinate system is set based on the tunneling equipment;

[0014] A second acquisition module, the second acquisition module is used to acquire a preset cutting path of the tunneling equipment according to the coordinate value;

[0015] A third acquisition module, the third acquisition module is used for acquiring a deviation between a real-time position and posture of the cutting head and the preset cutting path in response to the excavation equipment excavating based on the preset cutting path;

[0016] An adjustment module is used to adjust the cutting head according to the deviation.

[0017] In order to solve the above problems, the present application involves an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the tunnel boring machine cutting path planning method involved in the present application.

[0018] In order to solve the above problems, the present application involves a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute the tunnel boring machine cutting path planning method involved in the present application.

[0019] In order to solve the above-mentioned problem, the present application relates to a computer program product, including a computer program, which implements the tunnel boring machine cutting path planning method involved in the present application when executed by a processor in a communication device.

[0020] The beneficial effects of this application are as follows:

[0021] By determining the coordinate value of the tunnel in the local coordinate system, the tunneling equipment can obtain a more accurate preset cutting path based on the coordinate value; when the tunneling equipment is excavating based on the preset cutting path, the swing of the cutting head is feedback-adjusted through the deviation between the real-time position of the cutting head and the preset cutting path, so that the tunneling equipment can obtain a more accurate cutting path through feedback adjustment, avoiding unnecessary repeated movements and minimizing manual intervention, and has wide applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the embodiment of the present application, the following is a brief introduction to the drawings required for use in the embodiment:

[0023] Figure 1 A schematic diagram of the structure of a cutting path planning system for a roadheader provided in an embodiment of the present application;

[0024] Figure 2 A schematic diagram of the structure of a main control module provided according to an embodiment of the present application;

[0025] Figure 3 A schematic flow chart of a method for planning a cutting path for a roadheader provided in an embodiment of the present application;

[0026] Figure 4 A schematic flow chart of another method for planning a cutting path for a roadheader provided in an embodiment of the present application;

[0027] Figure 5 A schematic diagram of the structure of a cutting path planning device for a tunnel boring machine provided in an embodiment of the present application;

[0028] Figure 6 A schematic diagram of the structure of an electronic device provided according to an embodiment of the present application;

[0029] Figure 7 It is a schematic diagram of the structure of another electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0030] In order to make the technical purpose, technical solution and beneficial effects of the present application clearer, the technical solution of the present application is further described below in conjunction with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application, that is, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0031] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present application. The singular forms of "a" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0032] It should be understood that, although the terms first, second, third, etc. may be used to describe various information in the embodiments of the present application, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the embodiments of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein may be interpreted as "at..." or "when..." or "in response to determination".

[0033] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0034] It should be noted that the method provided in any embodiment of the present application can be executed alone, or can be executed in combination with possible implementation methods in other embodiments, or can be executed in combination with any technical solution in the related technology.

[0035] In the process of tunneling operation, the manual cutting method of traditional tunneling equipment usually adopts preset fixed codes for path planning, which limits the flexibility of operation and is difficult to adapt to coal walls of different shapes and sizes. Furthermore, since the fixed code usually adopts a hard-coded path, the tunneling equipment lacks the ability to adaptively adjust when facing different geological conditions, resulting in low cutting efficiency. On the other hand, the manual cutting method usually requires a lot of manual intervention to cope with sudden geological changes or adjust the cutting path, which increases the complexity of operation and safety risks. For example, if the environment during tunnel excavation is complex, resulting in poor vision of the operators, it is difficult to accurately control the posture of the tunneling equipment through manual operation, resulting in poor tunnel forming quality and low tunneling efficiency during tunnel excavation.

[0036] The following describes a cutting path planning system and method for a roadheader according to an embodiment of the present application with reference to the accompanying drawings.

[0037] Figure 1 A schematic structural diagram of a cutting path planning system for a tunnel boring machine provided in an embodiment of the present application.

[0038] like Figure 1 As shown, the tunnel boring machine cutting path planning system includes but is not limited to a perception module, a reference module, a main control module and a tunnel boring device, wherein the perception module is connected to the tunnel boring device and is mainly responsible for collecting various environmental information and status information of the tunnel boring device during the tunnel boring process, including the posture information during the tunnel boring process (the posture information refers to the position and posture of the tunnel boring device). As an example, the perception module can obtain the geological structure, coal seam thickness, rock hardness and other parameters in front of the tunnel boring operation reference surface, as well as the posture, position, speed and other information of the tunnel boring device in real time through a variety of sensors, such as laser rangefinders, radars, cameras, etc. The information of the perception module is the basis for subsequent path planning and control, and its accuracy and real-time performance directly affect the effect of the tunnel boring operation. The tunnel boring device usually includes a cutting head and a fuselage part, and the fuselage part usually also includes a propulsion mechanism, a steering mechanism and other parts. These parts work together to realize the tunnel boring operation. The tunnel boring device is the direct executor of the tunnel boring operation, and its performance and stability directly affect the quality and safety of the tunnel boring operation. The reference module determines the location information of the tunneling equipment and the tunneling operation reference plane (used to determine the cutting depth and cutting direction of the tunneling equipment). The reference module can usually accurately determine the position of the tunneling equipment in the tunnel by receiving information from the perception module or other positioning systems (such as ultra-wideband positioning devices). This usually involves the three-dimensional coordinates of the tunneling machine (such as the position on the X, Y, and Z axes) and attitude information (such as pitch angle, yaw angle, roll angle, etc.). These data are the basis for subsequent path planning and control, ensuring that the tunneling operation can be carried out according to the predetermined design. The main control module is connected with the perception module, the reference module and the tunneling equipment. As the core module of the cutting path, it pre-processes the output information of the perception module and the reference module (real-time position, posture and speed information of the tunneling equipment; geological structure, coal rock distribution and hardness information of the tunnel; operating status of the tunneling equipment, such as the rotation speed of the cutting head, displacement of the cylinder, etc.), such as geological conditions, tunnel shape, real-time status of the tunneling equipment, etc. After pre-processing, this information is converted into data that can be used for tunneling operation model construction and path planning. Among them, the tunneling operation model is constructed, which is usually a three-dimensional, dynamic model. The main control module can reflect the position and posture of the tunneling equipment in the tunnel, as well as the changes in the surrounding geological conditions in real time. After building the tunneling operation model, the main control module begins to plan the cutting path of the tunneling equipment, and determines the cutting method of the tunneling equipment (such as longitudinal or transverse cutting) according to the size and shape of the tunneling operation reference surface and the distribution and properties of the coal and rock. According to the real-time position and posture of the tunneling equipment and the changes in the surrounding geological conditions, the movement path and speed of the cutting head are dynamically adjusted. Advanced control algorithms and artificial intelligence technologies are used to optimize the cutting path to improve the efficiency and safety of tunneling operations.

[0039] Optionally, as an example, the reference module includes a laser guidance unit and a posture measurement unit. It should be noted that the laser guidance unit is a key component of the reference module, which uses a laser beam as a guidance signal to provide precise guidance for the tunneling equipment. The laser guidance unit usually includes components such as a laser, a scanner, and a reflector, which can generate and control the size, shape and direction of the laser beam. In the tunneling operation, the laser beam can be used as a clear guidance signal to indicate the direction in which the tunneling equipment should tunnel. By adjusting the direction and angle of the laser beam, the travel path of the tunneling equipment can be accurately controlled; the laser beam can also be used as a positioning reference to help the tunneling equipment determine its specific position in the tunnel. By measuring the intersection with the laser beam, the real-time coordinates of the tunneling equipment can be calculated; by monitoring the distance change between the laser beam and the tunneling equipment, the progress of the tunneling operation can be understood in real time, so as to adjust the tunneling strategy in time.

[0040] The posture measurement unit is another important component in the reference module, which is responsible for measuring the posture and position information of the tunneling equipment. The posture measurement unit usually includes sensors, data processing units and other components, which can collect and process the posture and position data of the tunneling equipment in real time. During the tunneling operation, the posture measurement unit can monitor the posture information of the tunneling equipment in real time, including pitch angle, yaw angle, roll angle, etc.; by integrating high-precision sensors, the posture measurement unit can accurately measure the position information of the tunneling equipment in the tunnel, which can be used to build a tunneling operation model, plan the tunneling path, etc.; the posture measurement unit can also fuse and process the collected posture and position data to generate more accurate and reliable tunneling operation information.

[0041] Alternatively, as an example, Figure 2 The present invention is a schematic diagram of the structure of a main control module provided according to an embodiment of the present application.

[0042] like Figure 2As shown, the main control module includes a posture measurement unit, a data storage unit and a motion control unit, wherein the data storage unit is connected to the perception module and the reference module to store and pre-process the posture information; the posture measurement unit is connected to the data storage unit to extract features from the posture information and solve the posture of the cutting head; the motion control unit is connected to the posture measurement unit to obtain instructions for controlling the tunneling equipment based on feature extraction and posture solution. It should be noted that the data storage unit can be set in the form of a database to store the posture information in the form of multimedia data such as images and videos; distributed data storage or centralized storage can be used, and the selection should be made according to the system scale and performance requirements. Preprocessing is a series of operations performed by the data storage unit before storing the posture information, usually including image enhancement, noise removal, feature extraction, etc. For example, in tunneling operations, by enhancing the edge and texture information in the image, the recognition accuracy of the position and posture of the tunneling equipment can be improved; noise removal can help eliminate the clutter and noise in the image and improve the accuracy of the image; feature extraction can be used to extract the contour and color information of the tunneling equipment to achieve accurate recognition and tracking of the tunneling equipment.

[0043] The pose information is preprocessed by the data storage unit to extract feature points such as edges, corners, and textures. The pose measurement unit matches the extracted feature points with a known feature library (such as nearest neighbor search and template matching). Combined with the pose information obtained by the perception module (including focal length, distortion coefficient, and position information determined by the reference module), the Perspective-n-Point algorithm can be used to determine the relative position and posture of the cutting head, where the position is usually expressed as three-dimensional coordinates (x, y, z) and the posture is usually expressed as a rotation matrix or Euler angles (such as pitch angle, yaw angle, and roll angle). Specifically, the posture measurement unit includes an onboard computer and a controller, wherein the onboard computer is connected to the data storage unit, and is used to preset cutting parameters and perform feature extraction on the posture information; the controller is connected to the onboard computer, and performs cutting head posture solution based on comparing the extracted features and the preset cutting parameters. It should be noted that the controller can adopt a programmable logic controller (PLC), a digital signal processor (DSP), or a microcontroller unit (MCU). The setting form of the controller should be selected according to the specific usage scenario, and is not limited to this embodiment.

[0044] Furthermore, the motion control unit receives the current posture information of the tunneling equipment provided by the posture measurement unit, calculates the target posture that the tunneling equipment needs to achieve according to the objectives and plans of the tunneling operation, and generates instructions for controlling the tunneling equipment to move from the current posture to the target posture in combination with the kinematic model and dynamic model of the tunneling equipment. For example, the generated instructions are transmitted to the actuators (such as hydraulic cylinders, motors, etc.) of the tunneling equipment, and the actuators perform corresponding movements according to the instructions to achieve precise control of the tunneling equipment.

[0045] It should be noted that the main control module can also be set up in the form of application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short. ASIC is an integrated circuit of a proprietary application designed and manufactured for specific user requirements and specific systems. In this embodiment, the integrated circuit is characterized by a stability detection circuit), IP core (Intellectual Property Core in English. IP core is a mature design of a circuit module with independent functions in chip or integrated circuit design. The circuit design can be applied to other chip or integrated circuit design projects containing the circuit module, thereby reducing the design workload, shortening the design cycle, and improving the success rate of chip or integrated circuit design. IP cores are classified into three levels: behavioral level, structural level, and physical level, and thus correspond to three types of IP cores, which are soft cores designed with hardware description language, solid cores that complete structural description, and hard cores based on physical description and process verification. The specific setting forms will not be described here one by one. As long as the excavation operation model can be constructed based on the output information of the preprocessing perception module and the reference module, and the cutting path of the excavation equipment can be planned, any setting form of the main control module is applicable, and is not limited to this embodiment.

[0046] Figure 3 A schematic flow chart of a method for planning a cutting path for a tunnel boring machine provided in an embodiment of the present application.

[0047] like Figure 3 As shown, the tunnel boring machine cutting path planning method is applicable to the tunnel boring machine cutting path planning system provided in the application embodiment, and the tunnel boring machine cutting path planning method includes but is not limited to the following steps:

[0048] S301, determining at least one coordinate value of a tunnel in a local coordinate system, wherein the local coordinate system is set based on tunneling equipment.

[0049] In a feasible implementation, the local coordinate system is usually set based on the tunneling equipment and is used to describe the spatial position of the tunneling equipment and its surrounding environment. For example, from the perspective of the tunneling equipment moving forward, the local coordinate system is used to calibrate the left and right coal walls, the tunneling operation reference plane in front, the four corners of the tunneling equipment, and the position of the cutting head. Its origin, axis, and axis direction are usually determined according to the design of the tunneling equipment. When determining the local coordinate system, the initial position of the tunnel is usually taken as the origin, and it is defined according to parameters such as the tunneling direction, the width of the tunnel, and the height of the tunnel. The specific establishment method may vary depending on the tunneling equipment and tunnel characteristics. The position of the tunneling equipment can be measured and corrected in real time and regularly through the reference module. According to the coordinate data measured and corrected by the reference module, at least one coordinate value can be selected as the representative of the tunnel in the local coordinate system. For example, a certain constant coordinate value, ordinate value, or elevation value of the tunnel can be selected. In order to ensure the accuracy of the selected coordinate value, it can be compared and verified with the known control point coordinates or design coordinates. If there is a difference, it should be measured and calculated again.

[0050] S302, obtaining a preset cutting path of the tunneling equipment according to the coordinate values.

[0051] In a feasible implementation, the local coordinate system is usually based on the center of the rotary mechanism of the tunneling equipment as the origin, and a suitable three-dimensional coordinate system is established according to the structural characteristics of the tunneling equipment. The coordinate values ​​in the tunnel (these coordinate values ​​are usually the coordinates of the key points of the cutting path on the tunnel, such as the starting point of the cutting path, the end point of the cutting path, the turning point of the cutting path, etc.) can be input into the control system or path planning software of the tunneling equipment, and then the expected cutting path of the tunneling equipment is determined by the path planning algorithm according to the parameters such as the shape, size and rock hardness of the tunnel, wherein the path planning algorithm is usually set based on factors such as the kinematic characteristics of the tunneling equipment, the motion range of the cutting head and the cutting efficiency.

[0052] S303, in response to the excavation equipment performing excavation based on the preset cutting path, obtaining a deviation between the real-time position and posture of the cutting head and the preset cutting path.

[0053] In a feasible implementation, after setting the preset cutting path, the excavation equipment is started, and the excavation operation is performed according to the preset cutting path. The position, angle and posture of the cutting head are monitored in real time through the perception module; the corrected data is processed and analyzed through the main control module to obtain the real-time posture information of the cutting head; the real-time posture information of the cutting head is fused and verified through the reference module to improve the accuracy and reliability of the real-time posture information.

[0054] The preset cutting path usually includes the size of the tunnel, the shape of the tunnel, the coordinate values ​​of key points, etc. The real-time position information of the cutting head is compared with the preset cutting path to calculate the deviation between the two. The deviation calculation can include position deviation, angle deviation, etc. Then the calculated deviation is evaluated to determine whether the parameters of the tunneling equipment or the cutting path need to be adjusted. If adjustment is required, the main control system will issue an adjustment command to adjust the motion state of the tunneling equipment or the posture of the cutting head to reduce the deviation.

[0055] S304, adjusting the cutting head according to the deviation.

[0056] In a feasible implementation, a PID (Proportional-Integral-Derivative) control method can be used to adjust the motion state of the tunneling equipment according to the size and change trend of the deviation; the actual situation during the tunneling process, such as rock hardness, tunneling speed, etc., can also be obtained by deviation, and the control parameters can be adaptively adjusted by feedbacking the deviation to the main control module to optimize the tunneling effect. As an example, a reasonable deviation threshold can be set by the main control system according to the requirements of the tunneling operation and the characteristics of the tunnel. When the deviation exceeds this threshold, the type of deviation is first determined, and the deviation is analyzed to determine whether it is caused by the walking of the tunneling equipment or the angle of the cutting head; then, according to the type and size of the deviation, the direction in which the cutting head needs to swing is determined. For example, if the deviation is offset to the left, the swing angle of the cutting head needs to be adjusted to the right; next, according to the size of the deviation and the kinematic characteristics of the tunneling equipment, the swing angle that needs to be adjusted is calculated, and the calculated adjustment angle is transmitted to the main control system, and the adjustment operation is performed based on the main control system, including adjusting the walking mechanism of the tunneling equipment, the swing mechanism of the cutting head, etc.

[0057] It should be noted that during the adjustment process, it is necessary to monitor the real-time position and deviation of the cutting head in real time to ensure the adjustment effect; according to the monitoring results, if the deviation still exists or exceeds the threshold, it is necessary to further adjust the swing angle of the cutting head until the expected excavation effect is achieved; record the relevant data in the adjustment process, such as deviation size, adjustment angle, excavation speed, etc., for subsequent analysis and optimization.

[0058] To summarize, the cutting path planning method for a tunnel boring machine in the embodiment of the present application determines the coordinate value of the tunnel in the local coordinate system, so that the tunnel boring equipment can obtain a more accurate preset cutting path according to the coordinate value; when the tunnel boring equipment is excavating based on the preset cutting path, the swing of the cutting head is feedback-adjusted through the deviation between the real-time posture of the cutting head and the preset cutting path, so that the tunnel boring equipment can obtain a more accurate cutting path through feedback adjustment, avoids unnecessary repetitive motion, and minimizes manual intervention, and has wide applicability.

[0059] Figure 4 A flowchart of another method for planning a cutting path for a tunnel boring machine provided in an embodiment of the present application.

[0060] like Figure 4 As shown, the tunnel boring machine cutting path planning method is applicable to the tunnel boring machine cutting path planning system provided in the application embodiment, and the tunnel boring machine cutting path planning method includes but is not limited to the following steps:

[0061] S401, determining the coordinate value of the tunnel in the local coordinate system according to the excavation operation reference plane.

[0062] In a feasible implementation, first, at least one original coordinate of the tunnel in the local geodetic coordinate system can be obtained based on the excavation operation reference surface, wherein the excavation operation reference surface is the basic surface used to determine the position and direction of the tunnel in the excavation operation, which is usually determined according to the design requirements of the tunnel, geological conditions and the capabilities of the excavation equipment. The local geodetic coordinate system is a coordinate system established with a certain point as the origin, the tangent direction of the point as the X-axis, the horizontal direction perpendicular to the tangent direction as the Y-axis, and the vertical upward as the Z-axis. The local geodetic coordinate system is usually used to describe the position and posture of the tunnel during the excavation process, and its coordinate origin is usually the coordinate of the tunnel entrance position as the origin. According to the excavation operation reference surface, at least one original coordinate of the tunnel in the local geodetic coordinate system can be obtained.

[0063] In the local coordinate system, it is usually necessary to reflect the coordinates of the four front, rear, left and right feet on the upper surface of the tunneling equipment, as well as the coordinates of the cutting head, the coordinates of the left and right coal walls, and the coordinates of the front tunneling operation reference surface. Therefore, the origin of the local coordinate system can be the mechanism connected to the cutting head of the tunneling equipment (the mechanism can usually rotate), the X axis is to the right, the Y axis is forward, and the Z axis is upward.

[0064] After obtaining the original coordinates, the rotation matrix and translation vector from the local geodetic coordinate system to the local coordinate system can be determined through the reference module, where the rotation matrix describes the rotation of the local geodetic coordinate system relative to the local coordinate system, and the translation vector describes the translation distance between the two. For each original coordinate, it can be converted to the local coordinate system through the rotation matrix and translation vector, which usually involves matrix multiplication (for the rotation part) and vector addition (for the translation part). As an example, the coordinate value of the original coordinate in the local coordinate system can be obtained by the following formula:

[0065] P UCS =R LGS-＞UCS *P LGS +T LGS-＞UCS

[0066] Among them, P UCSis the coordinate value of the original coordinate in the local coordinate system; R LGS-＞UCS is the rotation matrix; P LGS is the original coordinate in the local geodetic coordinate system; T LGS-＞UCS is the translation vector.

[0067] For further details of step S401, please refer to the relevant contents in the above embodiments, which will not be repeated here.

[0068] S402, obtaining a preset cutting path of the tunneling equipment according to the coordinate values.

[0069] In a feasible implementation, according to the acquired coordinate values ​​and the actual situation of the lane, a suitable geometric shape is selected to fit the profile of the lane. For example, the coordinate values ​​can be fitted by the least square method, nonlinear regression, etc. to obtain the geometric parameters of the lane profile. Then, according to the fitted geometric parameters, the overall situation of the lane is analyzed. For example, if the fitting result is a circular arc, the lane may be a semicircular arch; if the fitting result is a series of straight line segments, the lane may be a rectangle or a trapezoid. According to the analysis results, combined with the fitted lane shape, the key dimensions of the lane, such as width, height, and arc length, are determined.

[0070] After obtaining the shape and size of the tunnel, the main control module collects detailed data on the shape and size of the tunnel, the size of the excavation equipment, the range of motion, the shape and size of the cutting head, the speed and angle at which the cutting head can swing, etc.; genetic algorithms and particle swarm algorithms can be selected to plan the preset cutting path of the cutting equipment in the tunnel based on the above collected parameters and combined with geological conditions. It should be noted that for tunnels with complex shapes, such as arched tunnels, the path generation process can divide the tunnel into multiple parts and gradually carry out path planning to ensure that the cutting can be fully covered.

[0071] For further details of step S402, please refer to the relevant contents in the above embodiment, which will not be repeated here.

[0072] S403, in response to the excavation equipment performing excavation based on the preset cutting path, obtaining a deviation between the real-time position and posture of the cutting head and the preset cutting path.

[0073] In a feasible implementation, in response to the tunneling equipment performing tunneling based on a preset cutting path, the body posture of the tunneling equipment in the tunnel space is obtained as determined by the reference module, wherein the body posture describes the specific position and direction of the tunneling equipment in the tunnel space. For example, the main control module can obtain the virtual axis motion parameters (the virtual axis motion parameters include parameters on three coordinate axes) and characterize them as the specific position of the tunneling equipment in the tunnel space, and the rotation angle around the virtual axis (including pitch angle, yaw angle and roll angle).

[0074] Then, based on the Denavit-Hartenberg parameter model, the dynamic distance of the cutting head relative to the body posture is kinematically solved to determine the real-time posture of the cutting head. The Denavit-Hartenberg parameter model is a mathematical method used to describe the relative position and direction between the robot links. It uses four parameters (α, a, d, θ) to describe the transformation relationship between two adjacent links. α is the rotation angle (torsion angle) of link i-1 relative to link i around the common axis (i.e., Z axis); a is the distance from the origin of link i-1 to the origin of link i along the common axis (i.e., Z axis) (link length); d is the offset (offset distance) from the origin of link i-1 to the origin of link i perpendicular to the common axis (i.e., Z axis); θ is the rotation angle (pitch angle) of link i relative to link i-1. Specifically, the body part and the connecting head of the tunneling equipment are defined as different connecting rods respectively, the body part can be a base connecting rod, and the cutting head can be an n-connecting rod, 1≤i≤n, and n is the total number of connecting rods.

[0075] The Denavit-Hartenberg parameters are used to establish a transformation matrix for each link relative to the previous link, which describes the relative position and direction between adjacent links; the transformation matrices of each link are multiplied to obtain the total transformation matrix of the cutting head relative to the fuselage part, which describes the complete posture of the cutting head relative to the fuselage part; the position (θ, L, Z) and direction (pitch angle, yaw angle and roll angle) of the cutting head are extracted from the total transformation matrix, and this information constitutes the real-time posture of the cutting head, among which θ controls the angle of the cutting head; L controls the front and rear position of the cutting head; and Z controls the vertical height of the cutting head.

[0076] After determining the real-time position of the cutting head, obtain the deviation between the real-time position of the cutting head and the preset cutting path. For the position information (θ, L, Z) in the real-time position, calculate the position deviation between it and the corresponding point on the preset cutting path. The position deviation can be obtained by calculating the Euclidean distance or Manhattan distance between the two points; for the direction information (pitch angle, yaw angle, roll angle) in the real-time position, calculate the direction deviation between it and the corresponding point on the preset cutting path. It can be obtained by calculating the angle or angle difference between the two direction vectors.

[0077] For further details of step S403, please refer to the relevant contents in the above embodiment, which will not be repeated here.

[0078] S404, adjusting the cutting head according to the deviation.

[0079] In a feasible implementation, the deviation is subjected to an inverse kinematic transformation to obtain the swing angle of the cutting head that needs to be adjusted. The inverse kinematic transformation is the inverse process of forward kinematics. In robotics, forward kinematics describes the position and posture of the end effector (such as the cutting head of the tunneling equipment) when the joint angles of the robot are given; while inverse kinematics describes how to calculate the swing angle required for each joint when the target position and posture of the end effector are given. That is, in the tunneling equipment, the swing angle of the cutting head is usually controlled by one or more rotary joints. Among the joint angles calculated by the inverse kinematic transformation, the joint angle related to the swing of the cutting head is the swing angle that needs to be adjusted.

[0080] Then, according to the swing angle, the height to be adjusted of the cutting head is determined, and the height is achieved by changing the angle or displacement of the lifting shaft. The change of the lifting shaft can establish a proportional relationship with the extension length of the oil cylinder of the tunneling equipment. The proportional relationship is as follows:

[0081] L cylinder =L real-1 +L offset

[0082] Among them, L cylinder is the target length of the cylinder; L real-1 is the target position of the lifting axis; L offset is a fixed offset in a mechanical structure (for example, the length of a cylinder when it is not extended).

[0083] According to the swing angle, the angle of rotation of the cutting head in the horizontal plane is determined. By adjusting the angle of the rotary axis, the direction of the cutting head can be changed to achieve excavation at different angles. The change of the rotary axis can be expressed by converting the angle into the telescopic length of the cylinder. The expression is as follows:

[0084] L cylinder =L base +R*(θ-θ start )

[0085] Among them, L base is the initial length of the cylinder, R is the rotation radius of the cutting head, θ start is the starting angle.

[0086] According to the swing angle, the distance between the cutting head and the excavation operation reference surface is determined. The operating range of the cutting head can be changed by adjusting the extension or shortening of the telescopic shaft. The relationship between the length of the telescopic shaft and the oil cylinder is expressed as follows:

[0087] L cylinder =L real-2

[0088] Among them, L real-2is the target position of the telescopic axis.

[0089] Then, the cutting head is adjusted according to the adjustment parameters of the lifting axis, the rotating axis and the telescopic axis. As an example, the adjustment parameters can be converted into PID adjustment parameters through the main control module, and then the cutting head is controlled based on the PID adjustment parameters, wherein the trajectory parameters of the cutting head can be characterized as:

[0090]

[0091] Among them, u(t) is the output signal of the main control module, K p is the proportional gain, K i is the integral gain, K d is the differential gain, and e(t) is the expression of the adjustment parameter.

[0092] For further details of step S404, please refer to the relevant contents in the above embodiments, which will not be repeated here.

[0093] To summarize, the cutting path planning method for a tunnel boring machine in the embodiment of the present application determines the coordinate value of the tunnel in the local coordinate system, so that the tunnel boring equipment can obtain a more accurate preset cutting path according to the coordinate value; when the tunnel boring equipment is excavating based on the preset cutting path, the swing of the cutting head is feedback-adjusted through the deviation between the real-time posture of the cutting head and the preset cutting path, so that the tunnel boring equipment can obtain a more accurate cutting path through feedback adjustment, avoids unnecessary repetitive motion, and minimizes manual intervention, and has wide applicability.

[0094] Figure 5 A schematic structural diagram of a cutting path planning device for a tunnel boring machine provided in an embodiment of the present application.

[0095] like Figure 5 As shown, the cutting path planning device 500 for a roadheader includes:

[0096] A first acquisition module 501, the first acquisition module 501 is used to determine at least one coordinate value of the tunnel in the local coordinate system, wherein the local coordinate system is set based on the tunneling equipment;

[0097] A second acquisition module 502, the second acquisition module 502 is used to acquire a preset cutting path of the tunneling equipment according to the coordinate value;

[0098] A third acquisition module 503, the third acquisition module 503 is used to obtain the deviation between the real-time position of the cutting head and the preset cutting path in response to the excavation equipment excavating based on the preset cutting path;

[0099] The adjustment module 504 is used to adjust the cutting head according to the deviation.

[0100] Figure 6 The present invention is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. Figure 6 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0101] like Figure 6 As shown, the electronic device 600 includes a processor 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a memory 606 to a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 are also stored. The processor 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0102] The following components are connected to the I / O interface 605: a memory 606 including a hard disk, etc.; and a communication part 607 including a network interface card such as a LAN (Local Area Network) card, a modem, etc., and the communication part 607 performs communication processing via a network such as the Internet; a drive 608 is also connected to the I / O interface 605 as needed.

[0103] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 607. When the computer program is executed by the processor 601, the above-mentioned functions defined in the method of the present application are executed.

[0104] In an exemplary embodiment, a storage medium including instructions is also provided, such as a memory including instructions, and the instructions can be executed by the processor 601 of the electronic device 600 to complete the above method. Optionally, the storage medium can be a non-transitory computer-readable storage medium, for example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0105] In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0106] Figure 7 It is a schematic diagram of the structure of another electronic device provided according to an embodiment of the present application. Figure 7 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present application. Figure 7 As shown, the electronic device 700 includes a processor 701 and a memory 702. The memory 702 is used to store program codes, and the processor 701 is connected to the memory 702 to read the program codes from the memory 702 to implement the cutting path planning method of the tunnel boring machine in the above embodiment.

[0107] Optionally, the number of processors 701 may be one or more.

[0108] Optionally, the electronic device may further include an interface 703 , and the number of the interface 703 may be multiple. The interface 703 may be connected to an application program and may receive data from an external device such as a sensor.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate but not limit the technical solutions of the present application. Any equivalent substitutions of the present application and any modifications or partial substitutions that do not depart from the spirit and scope of the present application shall be included in the scope of protection of the claims of the present application.

Claims

1. A cutting path planning system for a roadheader, characterized in that: include: A perception module, a reference module, a main control module and a tunneling device, wherein the perception module is connected to the tunneling device to collect posture information of the tunneling process, wherein the tunneling device includes a cutting head and a fuselage; the reference module determines the position information of the tunneling device and the tunneling operation reference surface; the main control module is connected to the perception module, the reference module and the tunneling device, and based on pre-processing the output information of the perception module and the reference module, a tunneling operation model is constructed to plan the cutting path of the tunneling device.

2. The cutting path planning system for a roadheader according to claim 1, characterized in that: The reference module includes a laser guiding unit and a posture measuring unit.

3. The cutting path planning system for a roadheader according to claim 1, characterized in that: The main control module includes a posture measurement unit, a data storage unit and a motion control unit, wherein the data storage unit is connected to the perception module and the reference module to store and pre-process the posture information; the posture measurement unit is connected to the data storage unit to perform a cutting head posture solution on the posture information; the motion control unit is connected to the posture measurement unit to obtain instructions for controlling the tunneling equipment based on the posture solution.

4. The cutting path planning system for a roadheader according to claim 3, characterized in that: The posture measurement unit includes an onboard computer and a controller, wherein the onboard computer is connected to the data storage unit, and is used to preset cutting parameters and perform feature extraction on the posture information; the controller is connected to the onboard computer, and performs cutting head posture solution based on comparing the extracted features and the preset cutting parameters.

5. A method for planning a cutting path for a roadheader, characterized in that: Applicable to the cutting path planning system for a roadheader according to any one of claims 1 to 4, the method comprising: Determine at least one coordinate value of the tunnel in a local coordinate system, wherein the local coordinate system is set based on the tunneling equipment; According to the coordinate values, a preset cutting path of the tunneling equipment is obtained; In response to the excavation equipment performing excavation based on the preset cutting path, obtaining a deviation between the real-time position and posture of the cutting head and the preset cutting path; The cutting head is adjusted according to the deviation.

6. The method according to claim 5, characterized in that The step of determining at least one coordinate value of the lane in the local coordinate system includes: Determine the local coordinate system; According to the excavation operation reference plane, at least one original coordinate of the tunnel in the local geodetic coordinate system is obtained; Based on the reference module, a coordinate value of each of the original coordinates in the local coordinate system is determined.

7. The method according to claim 6, characterized in that The determining, based on the reference module, the coordinate value of each original coordinate in the local coordinate system comprises: Based on the reference module, determine the rotation matrix and translation vector from the local earth coordinate system to the local coordinate system; According to the rotation matrix and the translation vector, the original coordinates are switched to the local coordinate system, and the coordinate value of each original coordinate in the local coordinate system is obtained.

8. The method according to claim 5, characterized in that The step of obtaining a preset cutting path of the tunneling equipment according to the coordinate values ​​includes: Determine the shape and size of the lane according to the coordinate values; In response to the main control module performing posture solution on the shape and size, a preset cutting path of the tunneling equipment is obtained.

9. The method according to claim 5, characterized in that In response to the excavation equipment performing excavation based on the preset cutting path, obtaining the deviation between the real-time position and posture of the cutting head and the preset cutting path includes: In response to the excavation equipment performing excavation based on the preset cutting path, obtaining a body posture of the excavation equipment in the tunnel space determined by the reference module; Based on the Denavit-Hartenberg parameter model, a kinematic forward solution is performed on the dynamic distance of the cutting head relative to the body posture, the real-time posture of the cutting head is determined, and the deviation between the real-time posture of the cutting head and the preset cutting path is obtained.

10. The method according to claim 5, characterized in that The step of adjusting the cutting head according to the deviation comprises: Performing inverse kinematic transformation on the deviation to obtain the swing angle required for adjusting the cutting head; According to the swing angle, the adjustment parameters of the lifting shaft, the rotating shaft and the telescopic shaft of the tunneling equipment are determined; The cutting head is adjusted according to the adjustment parameters.

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