Tunnel punching device

Abstract

The invention relates to the field of tunnel punching equipment, in particular to a tunnel punching device. Comprising a mounting base, two lifting control assemblies and two drilling assemblies. The two lifting control assemblies are arranged on the placement base at intervals, and the lifting directions of the two lifting control assemblies are the same; the drilling direction of the drilling assembly is the same as the lifting direction of the lifting control assembly. The two lifting control assemblies are arranged on the placement base to control the two drilling assemblies to conduct drilling correspondingly, so that manual operation can be replaced with mechanical equipment, and then the operation difficulty of drilling in the tunnel can be lowered. In addition, the lifting transmission racks in the two lifting control assemblies are parallel to each other, and the drilling direction and the lifting direction of the drilling assemblies fixed to the equipment placement frame through the equipment placement frame are the same. Therefore, under the guide limitation of the lifting transmission rack and the equipment placement frame, the drilling feeding directions are consistent, and then the axis parallelism of two hole positions is improved.

Description

Background Art

[0002] A tunnel is a passage through mountains or underground, mainly used for transportation, water conservancy, mining, etc. Usually during the construction of a tunnel, holes are drilled on the inner wall of the tunnel to install channel steel in order to support and reinforce the tunnel structure, install equipment, and arrange pipelines. During the installation of the channel steel, holes need to be drilled on both sides of the channel steel at the same time to facilitate a more secure installation of the channel steel.

[0003] In the prior art, workers usually use electric hammers to drill holes. However, since the drilling position is usually located in the dome area of ​​the tunnel, manual operation is difficult and the drilling angle is not easy to control, which can easily make the axes of the two holes drilled at the same installation position non-parallel, and thus make the two holes appear in an "inner eight" or "outer eight" arrangement. This ultimately makes it difficult to install the channel steel later, or even impossible to install it. Summary of the invention

[0004] In view of one of the above technical problems, the technical solution adopted by the present invention is:

[0005] According to one aspect of the present invention, there is provided a tunnel drilling device, the device comprising:

[0006] Place the base, two lifting control assemblies and two drilling assemblies;

[0007] Two lifting control assemblies are arranged at intervals on the placement base, and the lifting directions of the two lifting control assemblies are the same; two drilling assemblies are respectively installed on the two lifting control assemblies, and the drilling direction of the drilling assemblies is the same as the lifting direction of the lifting control assemblies;

[0008] The lifting control components include: lifting transmission rack, lifting motor, lifting transmission gear and equipment placement frame;

[0009] The lifting transmission rack is fixedly connected to the mounting base, the equipment mounting frame is slidably sleeved on the lifting transmission rack, and the sliding direction of the equipment mounting frame is the same as the drilling direction of the drilling assembly; the lifting motor is fixedly arranged on the equipment mounting frame, the lifting transmission gear is fixedly arranged on the output shaft of the lifting motor, and the lifting transmission gear is meshed with the lifting transmission rack; the drilling assembly is arranged on the equipment mounting frame.

[0010] Furthermore, the mounting base includes: a first slide rail platform and two second slide rail platforms, the two second slide rail platforms are slidably arranged on the first slide rail platform; the sliding direction of the first slide rail platform and the sliding direction of the second slide rail platform are perpendicular to each other; and two lifting transmission racks are respectively arranged on the two second slide rail platforms.

[0011] Furthermore, the first slide rail platform and the second slide rail platform both include: a slide rail and a slide platform; the slide platform is slidably disposed on the slide rail;

[0012] The slide rail of the second slide rail platform is fixedly connected to the sliding platform of the first slide rail platform.

[0013] Furthermore, the lifting transmission rack is vertically arranged on the second slide rail platform.

[0014] Furthermore, the placement base includes: a level, and the level is arranged on the sliding platform of the second slide rail platform.

[0015] Furthermore, the lifting control assembly also includes: a lifting base;

[0016] The lifting transmission rack is vertically arranged on the lifting base, and the lifting base is connected to the sliding platform of the second slide rail platform.

[0017] Further, the drilling assembly includes an electric hammer and a limit rod;

[0018] The limit rod and the electric hammer are both arranged on the equipment mounting frame, and the limit rod is used to limit the drilling depth of the electric hammer.

[0019] Furthermore, it also includes: a controller and a sound collection sensor;

[0020] The sound collection sensor and the lifting motor are both connected to the controller in communication; the controller is used to perform the following steps:

[0021] Generate one-dimensional recognition feature information corresponding to each frame of audio information according to the drilling audio information of each frame of the drilling component and the working parameters of the drilling component acquired by the sound acquisition sensor; the one-dimensional recognition feature information includes short-time energy, zero-crossing rate, Mel frequency cepstrum coefficient, drill type coefficient, drill working type coefficient and drill speed corresponding to the current frame of the drilling audio information;

[0022] Generate two-dimensional recognition feature information corresponding to the current moment according to the punched audio information of multiple adjacent historical frames corresponding to the current moment; the two-dimensional recognition feature information includes a spectrogram corresponding to a time window of the punched audio information of multiple adjacent historical frames; the frame length of each audio frame is 30 milliseconds and the frame shift is 20 milliseconds;

[0023] Inputting the one-dimensional recognition feature information corresponding to a plurality of adjacent historical frames into the first classification model respectively, and generating the classification results corresponding to each historical frame respectively; the classification results include the category identification and the confidence, and the category identification includes: the drill bit contacts the concrete identification, the drill bit partially contacts the steel bar identification and the drill bit completely contacts the steel bar identification; the first classification model is the MLP model;

[0024] Inputting the two-dimensional recognition feature information into a second classification model to generate a classification result corresponding to the two-dimensional recognition feature information; the second classification model is a CNN model;

[0025] If the weighted confidence mean corresponding to the drill bit completely contacting the steel bar mark in the classification result is the largest, the lifting motor is controlled to stop the lifting feed;

[0026] The weighted confidence mean satisfies the following conditions:

[0027]

[0028] Among them, Pi is the weighted confidence mean corresponding to the i-th category identification, A i is the number of category identifiers in the classification result; A sum Avg is the number of all category identifiers in the classification results; pi is the confidence mean corresponding to the i-th category identification.

[0029] Furthermore, the controller is also used to perform the following steps:

[0030] If the weighted confidence mean corresponding to the mark of the drill bit partially contacting the steel bar in the classification result is the largest, the lifting motor is controlled to reduce the lifting feed speed.

[0031] Furthermore, the controller is also used to perform the following steps:

[0032] Before the one-dimensional identification feature information is input into the first classification model, the elements in the one-dimensional identification feature information are normalized.

[0033] The present invention has at least one of the following beneficial effects:

[0034] In the present invention, two lifting control components are arranged on the mounting base to control the two drilling components to perform drilling respectively, so that mechanical equipment can replace manual operation, thereby avoiding the problem of being unable to grasp the direction of the drilling when manually holding the drill, and reducing the operational difficulty of drilling in the tunnel (especially the dome area).

[0035] In addition, the lifting transmission racks in the two lifting control components are parallel to each other, and the drilling direction of the drilling component fixed thereon by the equipment mounting frame is the same as the lifting direction. Therefore, when the two drilling components are drilling, the consistency of the drilling feed direction can be improved as much as possible under the guidance limit of the lifting transmission rack and the equipment mounting frame, thereby improving the parallelism of the axes of the two hole positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0037] Figure 1 A schematic diagram of the overall structure of a tunnel drilling device provided in an embodiment of the present invention.

[0038] Figure 2 A schematic diagram of the use status of a tunnel drilling device provided in an embodiment of the present invention.

[0039] Figure 3 A schematic diagram of a lifting motor control method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0040] 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 those skilled in the art without creative work are within the scope of protection of the present invention.

[0041] As a possible embodiment of the present invention, Figure 1 As shown, a tunnel drilling device is provided, the device comprising:

[0042] Install the base, two lift control assemblies and two drilling assemblies.

[0043] Two lifting control components are arranged on the placement base at intervals, and the lifting directions of the two lifting control components are the same. Two drilling components are respectively installed on the two lifting control components, and the drilling direction of the drilling component is the same as the lifting direction of the lifting control component.

[0044] By setting two lifting control components on the installation base to control the two drilling components to drill holes, mechanical equipment can be used to replace manual operation, thereby avoiding the problem of being unable to grasp the direction of the drilling when holding the drilling tool manually, and reducing the difficulty of drilling holes in the tunnel (especially the dome area). At the same time, by controlling the lifting directions of the two lifting control components to be the same, the parallelism between the axes of the holes drilled by the two drilling components is ensured.

[0045] Specifically, the lifting control assembly includes: a lifting transmission rack 10, a lifting base 13, a lifting motor 11, a lifting transmission gear and an equipment placement frame 12.

[0046] The lifting transmission rack 10 is vertically fixedly connected to the placement base. Specifically, the lifting transmission rack 10 is vertically arranged on the lifting base 13, and the lifting base 13 is connected to the sliding platform of the second slide rail platform. The equipment placement frame 12 is slidably sleeved on the lifting transmission rack 10, and the sliding direction of the equipment placement frame 12 is the same as the drilling direction of the drilling assembly. The lifting motor 11 is fixedly arranged on the equipment placement frame 12, and the lifting transmission gear is fixedly arranged on the output shaft of the lifting motor 11, and the lifting transmission gear is meshed with the lifting transmission rack 10. The drilling assembly is arranged on the equipment placement frame 12.

[0047] In this embodiment, the lifting motor 11 drives the lifting transmission gear to move back and forth on the lifting transmission rack 10 to control the drilling feed speed and drilling depth of the drilling.

[0048] The lifting transmission rack 10 is vertically arranged on the installation base, so when drilling a vertical hole in the tunnel dome, it is only necessary to place the installation base on a horizontal surface. Figure 2 As shown, the placement height of the mounting base can usually be greatly adjusted by means of a lifting scaffold 40 to reach a corresponding drilling height.

[0049] Specifically, the placement base includes: a level 24, a first slide rail platform 20 and two second slide rail platforms 21, and the two second slide rail platforms 21 are both slidably arranged on the first slide rail platform 20. The sliding direction of the first slide rail platform 20 is perpendicular to the sliding direction of the second slide rail platform 21. Two lifting transmission racks 10 are respectively arranged on the two second slide rail platforms 21.

[0050] In this embodiment, after the first slide rail platform 20 and the second slide rail platform 21 are connected to each other, the sliding directions are perpendicular to each other, so that the relative positions of the two drilling components can be adjusted at will in a limited two-dimensional plane area to improve the flexibility of the drilling position.

[0051] The first slide rail platform 20 and the second slide rail platform 21 both include: a slide rail 22 and a sliding platform 23. The sliding platform 23 is slidably arranged on the slide rail 22. In this embodiment, the slide rail 22 of the second slide rail platform 21 is fixedly connected to the sliding platform 23 of the first slide rail platform 20. A level 24 is arranged on the sliding platform 23 of the second slide rail platform 21. The sliding platform 23 in this embodiment is specifically a flat plate structure, and when drilling a vertical hole, it is necessary to ensure that the sliding platform 23 of the second slide rail platform 21 is in a horizontal state, so the level 24 is arranged to assist in adjusting the posture of the sliding platform 23.

[0052] Specifically, the drilling assembly in this embodiment can be an electric hammer 30 in the prior art, and the drilling assembly also includes a limit rod 31. The limit rod 31 and the electric hammer 30 are both arranged on the equipment mounting frame 12, and the limit rod 31 is used to limit the drilling depth of the electric hammer 30.

[0053] As another possible embodiment of the present invention, Figure 3 As shown, the tunnel drilling device also includes: a controller and a sound collection sensor.

[0054] The sound collection sensor and the lifting motor 11 are both connected to the controller for communication. The controller is used to perform the following steps:

[0055] Since the tunnel is excavated by a shield machine, a prefabricated concrete lining method is usually used to splice prefabricated concrete slabs on the inner side of the tunnel wall to form a more solid and smooth tunnel inner wall. The punching device in the present invention usually punches holes on the concrete inner wall. However, since there are steel bars in the concrete, the drill bit may hit the steel bars during the drilling process. It is usually necessary to determine whether to continue drilling based on how much the drill bit contacts the steel bars. If the drill bit contacts the steel bars completely, it is necessary to stop drilling, otherwise the drill bit will easily break. If only a small part of the drill bit contacts the steel bars, it is necessary to reduce the drilling feed speed and continue drilling, otherwise the drill bit will easily break. Based on the above situation, the following method is proposed in this embodiment to control the action of the lifting motor 11 to avoid the drill bit from breaking.

[0056] S100: Generate one-dimensional recognition feature information corresponding to each frame of the audio information according to the drilling audio information of each frame of the drilling component and the working parameters of the drilling component acquired by the sound acquisition sensor. The one-dimensional recognition feature information includes short-time energy, zero-crossing rate, Mel frequency cepstrum coefficient, drill type coefficient, drill working type coefficient and drill speed corresponding to the current frame of the drilling audio information.

[0057] Specifically, in this embodiment, a sound collection sensor is provided to collect the sound generated when drilling holes. The sound generated when the drill bit makes a hole in concrete is significantly different from the sound generated when the drill bit makes a hole in a steel bar. In addition, the size of the contact portion between the drill bit and the steel bar is different, and different sounds are also generated. Therefore, based on this feature, this embodiment distinguishes whether the drill bit has hit the steel bar and how much it has contacted the steel bar, and finally generates a control instruction for the lifting motor 11.

[0058] Since sound is a continuous signal based on time sequence, in order to better analyze the local characteristics of the audio signal, it is necessary to perform frame processing on the collected continuous audio information to divide the continuous sound signal into short time segments (called frames). In the frame processing in this embodiment, the frame length of each audio frame is 30 milliseconds and the frame shift is 20 milliseconds. In this way, a mechanism similar to a sliding window can be formed to divide the audio signal within a period of time into different audio frames.

[0059] In this embodiment, the characteristics of each frame of audio signal can be obtained by analyzing a single audio frame, and then the relevant identification features are generated. Specifically, the short-time energy in the identification feature is used to distinguish between silent and non-silent frames, reflecting the intensity change of the signal. The zero-crossing rate is used to distinguish between high-frequency and low-frequency signals, reflecting the frequency characteristics of the signal. Mel-Frequency Cepstral Coefficients (MFCC) is a vector, usually containing 13 to 40 coefficients (the specific number can be adjusted according to task requirements). Each coefficient represents the energy distribution information of the sound signal in different frequency bands, thereby capturing the spectral characteristics of the sound. In this embodiment, the length of the Mel-Frequency Cepstral coefficient is 20.

[0060] The above short-time energy and zero-crossing rate belong to the time domain characteristics of audio, and the Mel-frequency cepstral coefficients belong to the frequency domain characteristics of audio. In addition, the working parameters of the drilling component will be used as feature inputs, so that the current drilling characteristics of the drill bit can be reflected from multiple dimensions. Because the sound made by the drill bit when drilling a hole in concrete and when drilling a hole in steel bars will be significantly different. In addition, the size of the contact part between the drill bit and the steel bar is different, and different sounds will be made. Therefore, the recognition features corresponding to different situations will be greatly different, and based on the differences in the above recognition features, deep learning network alignment can be used for classification and recognition to determine the current working condition of the drill bit.

[0061] S200: Generate two-dimensional recognition feature information corresponding to the current moment according to the punched audio information of multiple adjacent historical frames corresponding to the current moment. The two-dimensional recognition feature information includes a spectrogram corresponding to a time window of the punched audio information of multiple adjacent historical frames. The frame length of each audio frame is 30 milliseconds and the frame shift is 20 milliseconds.

[0062] In this embodiment, the corresponding time-frequency spectrum is obtained by Fourier transforming the audio information of each historical frame. Then the amplitude spectrum in the time-frequency spectrum is visualized to form a corresponding spectrogram. This identification feature belongs to the time-frequency domain feature of the audio. Therefore, by collecting feature information of the audio in the time domain, frequency domain, time-frequency domain and corresponding dimensions of the working condition, the audio under different working conditions can be distinguished more accurately.

[0063] S300: Inputting the one-dimensional recognition feature information corresponding to multiple adjacent historical frames into the first classification model respectively, and generating classification results corresponding to each historical frame respectively. The classification results include category identification and confidence, and the category identification includes: drill bit contact concrete identification, drill bit partial contact steel bar identification, and drill bit full contact steel bar identification. The first classification model is an MLP model.

[0064] Before the one-dimensional identification feature information is input into the first classification model, the elements in the one-dimensional identification feature information are normalized.

[0065] Generally, the drilling bit hitting the steel bar is a continuous process, so in order to improve the recognition accuracy, the information of multiple adjacent historical frames will be used in this step to participate in the judgment together, thereby improving the recognition accuracy. In this embodiment, there can be 3 adjacent historical frames.

[0066] S400: Input the two-dimensional recognition feature information into a second classification model to generate a classification result corresponding to the two-dimensional recognition feature information. The second classification model is a CNN model.

[0067] Since the one-dimensional recognition feature information belongs to the input in the form of a one-dimensional vector, it is necessary to select a corresponding deep neural network classification model. In this embodiment, a fully connected neural network MLP (Multi-Layer Perceptron) is selected. Of course, other existing classification networks can also be selected, such as a support vector machine (SVM). Similarly, the two-dimensional recognition feature information belongs to the input in the form of a two-dimensional image, so the corresponding input CNN (Convolutional Neural Network) is selected.

[0068] When training the model, background sounds that may exist during the drilling process (such as people talking, background noise, and other tool sounds) can be collected as negative samples, and positive samples are the sounds recorded when the drill is drilling under various working conditions. Therefore, by training positive and negative samples at the same time, the recognition accuracy of the model can be further improved.

[0069] S500: If the weighted confidence mean corresponding to the drill bit completely contacting the steel bar mark in the classification result is the largest, the lifting motor 11 is controlled to stop the lifting and feeding.

[0070] The weighted confidence mean satisfies the following conditions:

[0071]

[0072] Among them, Pi is the weighted confidence mean corresponding to the i-th category identification, A i is the number of category identifiers in the classification result; A sum Avg is the number of all category identifiers in the classification results; pi is the confidence mean corresponding to the i-th category identification.

[0073] For example, the one-dimensional recognition feature information corresponding to the three historical frames respectively generates the classification results as a1: the drill bit contacts the concrete mark, with a confidence of 0.86; a2: the drill bit partially contacts the steel bar mark, with a confidence of 0.7; a3: the drill bit partially contacts the steel bar mark, with a confidence of 0.9; the two-dimensional recognition feature information generates the classification result as a4: the drill bit partially contacts the steel bar mark, with a confidence of 0.87.

[0074] Correspondingly, the weighted confidence mean of the drill bit partially touching the steel bar mark is [3×(0.7+0.9+0.87) / 3] / 4=0.6175. The weighted confidence mean of the drill bit touching the concrete mark is [1×0.86] / 4=0.215.

[0075] S600: If the weighted confidence mean corresponding to the drill bit partially contacting the steel bar mark in the classification result is the largest, the lifting motor 11 is controlled to reduce the lifting feed speed.

[0076] In this embodiment, when making the final judgment, the two factors of the number of classification results and the confidence level are combined. The number can reflect the length of continuous contact with the steel bars, and the confidence level can reflect whether the steel bars are contacted. The weighted confidence level is calculated in this way, which can reduce misjudgment and more accurately determine the current working condition of the drill bit.

[0077] In addition, although the steps of the method in the present disclosure are described in a specific order in the drawings, this does not require or imply that the steps must be performed in this specific order, or that all the steps shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps, etc.

[0078] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a mobile terminal, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0079] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above method is also provided.

[0080] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as a system, method or program product. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to herein as a "circuit", "module" or "system".

[0081] The electronic device according to this embodiment of the present invention is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0082] The electronic device is presented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: the at least one processor mentioned above, the at least one storage device mentioned above, and a bus connecting different system components (including storage devices and processors).

[0083] The storage stores program codes, which can be executed by the processor, so that the processor executes the steps according to various exemplary embodiments of the present invention described in the above “Exemplary Method” section of this specification.

[0084] The memory may include readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory, and may further include read only memory (ROM).

[0085] The storage may also include a program / utility having a set (at least one) of program modules, such program modules including but not limited to: an operating system, one or more application programs, other program modules and program data, each of which or some combination may include the implementation of a network environment.

[0086] The bus may represent one or more of several types of bus structures including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures.

[0087] The electronic device may also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), may communicate with one or more devices that enable a user to interact with the electronic device, and / or may communicate with any device (e.g., routers, modems, etc.) that enables the electronic device to communicate with one or more other computing devices. Such communication may be performed through an input / output (I / O) interface. Furthermore, the electronic device may also communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) through a network adapter. The network adapter communicates with other modules of the electronic device through a bus. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device, including but not limited to: microcode, device drivers, redundant processors, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, etc.

[0088] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including several instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the method according to the implementation of the present disclosure.

[0089] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the above method of the present specification is stored. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Method" section of the present specification.

[0090] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0091] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. 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. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0092] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0093] Program code for performing the operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0094] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0095] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be embodied.

[0096] The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A tunnel drilling device, characterized in that: The device comprises: Place the base, two lifting control assemblies and two drilling assemblies; The two lifting control assemblies are arranged at intervals on the placement base, and the lifting directions of the two lifting control assemblies are the same; the two drilling assemblies are respectively installed on the two lifting control assemblies, and the drilling direction of the drilling assemblies is the same as the lifting direction of the lifting control assemblies; The lifting control assembly includes: a lifting transmission rack, a lifting motor, a lifting transmission gear and an equipment placement frame; The lifting transmission rack is fixedly connected to the placement base, the equipment placement frame is slidably sleeved on the lifting transmission rack, and the sliding direction of the equipment placement frame is the same as the drilling direction of the drilling assembly; the lifting motor is fixedly arranged on the equipment placement frame, the lifting transmission gear is fixedly arranged on the output shaft of the lifting motor, and the lifting transmission gear is meshed with the lifting transmission rack; the drilling assembly is arranged on the equipment placement frame.

2. A tunnel boring device according to claim 1, characterized in that: The placement base includes: a first slide rail platform and two second slide rail platforms, the two second slide rail platforms are slidably arranged on the first slide rail platform; the sliding direction of the first slide rail platform and the sliding direction of the second slide rail platform are perpendicular to each other; the two lifting transmission racks are respectively arranged on the two second slide rail platforms.

3. A tunnel boring device according to claim 2, characterized in that: The first slide rail platform and the second slide rail platform both include: a slide rail and a sliding platform; the sliding platform is slidably disposed on the slide rail; The slide rail of the second slide rail platform is fixedly connected to the sliding platform of the first slide rail platform.

4. A tunnel boring device according to claim 2, characterized in that: The lifting transmission rack is vertically arranged on the second slide rail platform.

5. A tunnel boring device according to claim 3, characterized in that: The placement base includes: a level meter, and the level meter is arranged on the sliding platform of the second slide rail platform.

6. A tunnel boring device according to claim 3, characterized in that: The lifting control assembly further includes: a lifting base; The lifting transmission rack is vertically arranged on the lifting base, and the lifting base is connected to the sliding platform of the second slide rail platform.

7. A tunnel boring device according to claim 1, characterized in that: The drilling assembly includes an electric hammer and a limit rod; The limit rod and the electric hammer are both arranged on the equipment mounting frame, and the limit rod is used to limit the drilling depth of the electric hammer.

8. A tunnel boring device according to claim 1, characterized in that: Also includes: Controller and sound collection sensor; The sound collection sensor and the lifting motor are both connected to the controller in communication; the controller is used to perform the following steps: Generate one-dimensional recognition feature information corresponding to each frame of audio information according to the drilling audio information of each frame of the drilling component and the working parameters of the drilling component acquired by the sound collection sensor; The one-dimensional identification feature information includes short-time energy, zero-crossing rate, Mel frequency cepstrum coefficient, drill type coefficient, drill working type coefficient and drill speed corresponding to the current frame punching audio information; Generate two-dimensional recognition feature information corresponding to the current moment according to the punched audio information of multiple adjacent historical frames corresponding to the current moment; The two-dimensional recognition feature information includes a spectrogram corresponding to a time window of punctured audio information of a plurality of adjacent historical frames; the frame length of each audio frame is 30 milliseconds and the frame shift is 20 milliseconds; Inputting one-dimensional recognition feature information corresponding to a plurality of adjacent historical frames into a first classification model respectively, and generating classification results corresponding to each historical frame respectively; The classification result includes a category identifier and a confidence level, wherein the category identifier includes: a drill bit contacting concrete identifier, a drill bit partially contacting steel bar identifier, and a drill bit completely contacting steel bar identifier; the first classification model is an MLP model; Inputting the two-dimensional recognition feature information into a second classification model to generate a classification result corresponding to the two-dimensional recognition feature information; the second classification model is a CNN model; If the weighted confidence mean corresponding to the drill bit completely contacting the steel bar mark in the classification result is the largest, the lifting motor is controlled to stop the lifting feed; The weighted confidence mean satisfies the following conditions: Among them, Pi is the weighted confidence mean corresponding to the i-th category identification, A i is the number of category identifiers in the classification result; A sum Avg is the number of all category identifiers in the classification results; pi is the confidence mean corresponding to the i-th category identification.

9. A tunnel boring device according to claim 8, characterized in that: The controller is also used to perform the following steps: If the weighted confidence mean corresponding to the mark of the drill bit partially contacting the steel bar in the classification result is the largest, the lifting motor is controlled to reduce the lifting feed speed.

10. The tunnel boring device according to claim 1, characterized in that: The controller is also used to perform the following steps: Before the one-dimensional identification feature information is input into the first classification model, the elements in the one-dimensional identification feature information are normalized.

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