A tunneling device

Abstract

The present application relates to the field of tunnel drilling equipment, in particular to a tunnel drilling device. It comprises a placing base, two lifting control assemblies and two drilling assemblies. The two lifting control assemblies are arranged on the placing base in a spaced manner, and the lifting directions of the two lifting control assemblies are the same. The drilling directions of the drilling assemblies are the same as the lifting directions of the lifting control assemblies. In the present application, two lifting control assemblies are arranged on the placing base to control the two drilling assemblies to drill holes respectively. Thus, manual operation can be replaced by mechanical equipment, and the operation difficulty of drilling holes in the tunnel can be reduced. In addition, the lifting transmission racks in the two lifting control assemblies are parallel to each other, and the drilling directions of the drilling assemblies fixed on the equipment placing frame are the same as the lifting directions. Thus, under the guidance and limitation of the lifting transmission racks and the equipment placing frame, the drilling feeding directions are consistent, and the axial parallelism of the two hole positions is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of tunnel drilling equipment, in particular to a tunnel drilling device. BACKGROUND

[0002] Tunnel is a passageway through mountains, ridges or underground, mainly used for transportation, water conservancy, mining and other purposes. Usually in the process of tunnel construction, in order to support and reinforce the tunnel structure, equipment installation and pipeline arrangement, etc., it is necessary to drill holes on the inner wall of the tunnel for installing channel steel. In the process of installing channel steel, holes need to be drilled on both sides of the channel steel to facilitate more secure installation of the channel steel.

[0003] In the prior art, workers usually hold 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 may easily cause the axes of the two holes drilled at the same installation position to be non-parallel, and thus the two holes to be arranged in the form of "inner eight" or "outer eight". Ultimately, it is difficult to install the channel steel in the later stage, or even impossible to install. SUMMARY

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

[0005] According to one aspect of the present application, a tunnel drilling device is provided, which comprises:

[0006] a mounting base, two lifting control assemblies and two drilling assemblies;

[0007] The two lifting control assemblies are arranged on the mounting base in a spaced manner, 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 directions of the drilling assemblies are the same as the lifting directions of the lifting control assemblies.

[0008] The lifting control assembly comprises a lifting transmission rack, a lifting motor, a lifting transmission gear and a device mounting rack.

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

[0010] Further, the mounting base comprises a first sliding rail platform and two second sliding rail platforms, and the two second sliding rail platforms are slidably arranged on the first sliding rail platform. The sliding direction of the first sliding rail platform is perpendicular to the sliding direction of the second sliding rail platform. The two lifting transmission racks are respectively arranged on the two second sliding rail platforms.

[0011] Further, the first sliding rail platform and the second sliding rail platform each comprise a sliding rail and a sliding platform; the sliding platform is slidingly arranged on the sliding rail;

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

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

[0014] Further, the installation base comprises a level meter, and the level meter is arranged on the sliding platform of the second sliding rail platform.

[0015] Further, the lifting control assembly further comprises 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 sliding rail platform.

[0017] Further, the drilling assembly comprises an electric hammer and a limiting rod;

[0018] The limiting rod and the electric hammer are arranged on the equipment installation rack, and the limiting rod is used for limiting the drilling depth of the electric hammer.

[0019] Further, the device further comprises a controller and a sound collection sensor;

[0020] The sound collection sensor and the lifting motor are in communication connection with the controller; the controller is used for performing the following steps:

[0021] According to the drilling audio information of each frame of the drilling assembly and the working parameters of the drilling assembly obtained by the sound collection sensor, one-dimensional identification feature information corresponding to each frame of audio information is generated; the one-dimensional identification feature information comprises short-time energy, zero-crossing rate, mel-frequency cepstral coefficient, drill bit type coefficient, drill bit working type coefficient and drill bit rotating speed corresponding to the current frame of drilling audio information;

[0022] According to the drilling audio information of a plurality of adjacent historical frames corresponding to the current time, two-dimensional identification feature information corresponding to the current time is generated; the two-dimensional identification feature information comprises a spectrogram of a time window corresponding to the drilling 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;

[0023] The one-dimensional identification feature information corresponding to a plurality of adjacent historical frames is respectively input into a first classification model, and a classification result corresponding to each historical frame is respectively generated; the classification result comprises a category identifier and a confidence degree, and the category identifier comprises a drill bit contact concrete identifier, a drill bit partial contact steel bar identifier and a drill bit complete contact steel bar identifier; the first classification model is an MLP model;

[0024] Input the two-dimensional identification feature information into the second classification model to generate a classification result corresponding to the two-dimensional identification 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 identification in the classification result is the maximum, the lifting motor is controlled to stop ascending feeding;

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

[0027]

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

[0029] Further, the controller is further configured to perform the following steps:

[0030] If the weighted confidence mean corresponding to the drill bit partially contacting the steel bar identification in the classification result is the maximum, the lifting motor is controlled to reduce the ascending feeding speed.

[0031] Further, the controller is further configured to perform the following steps:

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

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

[0034] In the present application, two lifting control assemblies are arranged on the base to control the two drilling assemblies to drill holes respectively, so that manual operation can be replaced by mechanical equipment, thereby avoiding the problem that manual holding cannot grasp the drilling direction, and the operation difficulty of drilling in the tunnel (especially in the dome area) can be reduced.

[0035] In addition, the lifting transmission racks in the two lifting control assemblies are parallel to each other, and the drilling direction of the drilling assembly fixed on the equipment mounting frame is the same as the lifting direction. Therefore, the consistency of the drilling feeding direction can be ensured as much as possible under the guidance and limitation of the lifting transmission racks and the equipment mounting frame when the two drilling assemblies drill holes, thereby improving the parallelism of the axes of the two hole positions. BRIEF DESCRIPTION OF DRAWINGS

[0036] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

[0038] Figure 2 This is a schematic diagram illustrating the usage state of a tunnel drilling device provided in an embodiment of the present invention.

[0039] Figure 3 This is a schematic diagram of a lifting motor control method provided in an embodiment of the present invention. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

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

[0042] The system includes a base, two lifting control components, and two drilling components.

[0043] Two lifting control components are spaced apart on the mounting base, and both lifting control components move in the same direction. Two drilling components are respectively installed on the two lifting control components, and the drilling direction of the drilling components is the same as the lifting direction of the lifting control components.

[0044] By installing two lifting control components on the mounting base, two drilling components can be controlled separately for drilling. This allows mechanical equipment to replace manual operation, avoiding the problem of not being able to control the drilling direction when manually holding the drill bit, and reducing the difficulty of drilling in tunnels (especially in dome areas). At the same time, by controlling the lifting direction of the two lifting control components to be the same, the parallelism between the drilling axes of the two drilling components is ensured.

[0045] Specifically, the lifting control components include: lifting transmission rack 10, lifting base 13, lifting motor 11, lifting transmission gear and equipment mounting frame 12.

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

[0047] In this embodiment, the drilling feed speed and drilling depth are controlled by the lifting motor 11 driving the lifting transmission gear to reciprocate on the lifting transmission rack 10.

[0048] The lifting transmission rack 10 is vertically mounted on the mounting base, so that when drilling vertical holes in the tunnel dome, it is only necessary to place the mounting base on a horizontal surface. Figure 2 As shown, the placement height of the base can usually be adjusted significantly by using the lifting scaffold 40 to achieve the corresponding drilling height.

[0049] Specifically, the mounting base includes: a level 24, a first slide rail platform 20, and two second slide rail platforms 21, both of which are slidably mounted 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 platforms 21. Two lifting transmission racks 10 are respectively mounted on the two second slide rail platforms 21.

[0050] In this embodiment, the first slide rail platform 20 and the second slide rail platform 21 are connected to each other and their sliding directions are perpendicular to each other. This allows the relative positions of the two drilling components to be adjusted arbitrarily within a limited two-dimensional plane area, thereby improving the flexibility of the drilling position.

[0051] Both the first slide rail platform 20 and the second slide rail platform 21 include a slide rail 22 and a sliding platform 23. The sliding platform 23 is slidably mounted 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 mounted on the sliding platform 23 of the second slide rail platform 21. In this embodiment, the sliding platform 23 is specifically a flat plate structure, and when drilling vertical holes, it is necessary to ensure that the sliding platform 23 of the second slide rail platform 21 is in a horizontal state. Therefore, the level 24 is used to assist in adjusting the posture of the sliding platform 23.

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

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

[0054] Both the sound acquisition sensor and the lifting motor 11 are communicatively connected to the controller. The controller is used to perform the following steps:

[0055] During tunnel excavation using a tunnel boring machine (TBM), precast concrete lining is typically used, where precast concrete slabs are spliced ​​onto the inner side of the tunnel wall to form a more robust and smooth inner wall. The drilling device in this invention is usually used to drill holes in this concrete inner wall. However, because reinforcing steel bars are present in the concrete, the drill bit may hit these bars during drilling. It is usually necessary to determine whether to continue drilling based on the extent of contact between the drill bit and the reinforcing steel. If the drill bit is completely in contact with the reinforcing steel, drilling must be stopped to prevent breakage. If only a small portion of the drill bit is in contact with the reinforcing steel, the drilling feed rate must be reduced to continue drilling to avoid breakage. Based on the above, this embodiment proposes the following method to control the operation of the lifting motor 11 to prevent drill bit breakage.

[0056] S100: Based on 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, generate one-dimensional recognition feature information corresponding to each frame of audio information. The one-dimensional recognition feature information includes the short-time energy, zero-crossing rate, Mel frequency cepstral coefficient, drill bit type coefficient, drill bit working type coefficient, and drill bit rotation speed corresponding to the current frame of drilling audio information.

[0057] Specifically, in this embodiment, a sound acquisition sensor is used to collect the sound emitted during drilling. The sound emitted when the drill bit drills through concrete differs significantly from the sound emitted when drilling into reinforcing steel. Furthermore, the size of the contact area between the drill bit and the reinforcing steel also affects the sound. Therefore, this embodiment uses this characteristic to distinguish whether the drill bit has hit the reinforcing steel and the extent of contact, ultimately generating control commands 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 audio signals, it is necessary to perform frame segmentation processing on the acquired continuous audio information to divide the continuous sound signal into short segments (called frames). In this embodiment, during frame segmentation processing, each audio frame has a length of 30 milliseconds and a frame shift of 20 milliseconds. This creates a mechanism similar to a sliding window, dividing the audio signal over a period of time into different audio frames.

[0059] In this embodiment, the characteristics of each audio signal can be obtained by analyzing individual audio frames, thereby generating relevant recognition features. Specifically, short-time energy in the recognition features is used to distinguish between silent and non-silent frames, reflecting changes in signal intensity. 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 (MFCCs) are a vector, typically 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 Coefficients is 20.

[0060] The aforementioned short-time energy and zero-crossing rate belong to the time-domain features of audio, while the Mel-frequency cepstral coefficients belong to the frequency-domain features. Additionally, the operating parameters of the drilling components are used as feature inputs, thus reflecting the current drilling characteristics of the drill bit from multiple dimensions. The sound emitted by the drill bit when drilling through concrete differs significantly from that when drilling through rebar. Furthermore, the size of the contact area between the drill bit and the rebar also affects the sound. Therefore, the recognition features corresponding to different situations will differ considerably. Based on these differences in recognition features, a deep learning network can be used for alignment and classification to determine the current operating status of the drill bit.

[0061] S200: Based on the punch-hole audio information of multiple adjacent historical frames corresponding to the current moment, generate two-dimensional recognition feature information corresponding to the current moment. The two-dimensional recognition feature information includes a spectrogram of the time window corresponding to the punch-hole 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 performing a Fourier transform on the audio information of each historical frame. Then, the amplitude spectrum in the time-frequency spectrum is visualized to form the corresponding spectrogram. This identification feature belongs to the time-frequency domain feature of the audio. Therefore, by collecting feature information of audio in the time domain, frequency domain, time-frequency domain, and corresponding dimensions of operating conditions, audio under different operating conditions can be distinguished more accurately.

[0063] S300: Input the one-dimensional recognition feature information corresponding to multiple adjacent historical frames into the first classification model respectively, and generate the classification result for each historical frame. The classification result includes a category identifier and a confidence score. The category identifier includes: drill bit contacting concrete, drill bit partially contacting rebar, and drill bit completely contacting rebar. The first classification model is an MLP model.

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

[0065] Typically, the drill bit hitting the rebar is a continuous process. Therefore, to improve recognition accuracy, this step uses information from multiple adjacent historical frames to participate in the judgment, thereby improving recognition accuracy. In this embodiment, there can be three adjacent historical frames.

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

[0067] Since one-dimensional recognition feature information is input in the form of a one-dimensional vector, a corresponding deep neural network classification model needs to be selected. In this embodiment, a fully connected neural network MLP (Multi-Layer Perceptron) is chosen. Of course, other existing classification networks, such as Support Vector Machines (SVM), can also be selected. Similarly, two-dimensional recognition feature information is input in the form of a two-dimensional image, and therefore a CNN (Convolutional Neural Network) is selected accordingly.

[0068] During model training, background sounds present during the drilling process (such as human voices, background noise, and other tool sounds) can be collected as negative samples, while positive samples are the sounds recorded by the drill bit during drilling under various working conditions. Therefore, by training with both positive and negative samples simultaneously, the model's recognition accuracy can be further improved.

[0069] S500: If the weighted confidence mean value corresponding to the mark indicating that the drill bit is in complete contact with the rebar is the largest in the classification results, then control the lifting motor 11 to stop the upward feed.

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

[0071]

[0072] Where Pi is the weighted confidence mean corresponding to the i-th category identifier, and A i A represents the number of i-th category identifiers in the classification results; sum The number of all species category identifiers in the classification results; Avg pi Let be the mean confidence level corresponding to the i-th category identifier.

[0073] For example, the classification results generated by the one-dimensional recognition feature information corresponding to the three historical frames are a1: drill bit contacting concrete, confidence level 0.86; a2: drill bit partially contacting steel bar, confidence level 0.7; a3: drill bit partially contacting steel bar, confidence level 0.9; and the classification results generated by the two-dimensional recognition feature information are a4: drill bit partially contacting steel bar, confidence level 0.87.

[0074] Correspondingly, the weighted confidence level of the drill bit contacting the rebar markings is [3×(0.7+0.9+0.87) / 3] / 4=0.6175. The weighted confidence level of the drill bit contacting the concrete markings is [1×0.86] / 4=0.215.

[0075] S600: If the weighted confidence mean value corresponding to the drill bit contacting the rebar marking in the classification results is the largest, then control the lifting motor 11 to reduce the upward feed speed.

[0076] In this embodiment, when making the final judgment, the number of classification results and the confidence level are combined. The number can reflect the duration of continuous contact with the steel bar, and the confidence level can reflect whether there is contact with the steel bar. 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] Furthermore, although the steps of the method in this disclosure are described in a specific order in the accompanying drawings, this does not require or imply that the steps must be performed in that specific order, or that all the steps shown must be performed to achieve the desired result. Additional or alternative steps may be omitted, multiple steps may be combined into one step, and / or a step may be broken down into multiple steps.

[0078] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, mobile terminal, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

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

[0080] Those skilled in the art will understand that various aspects of the present invention can be implemented as systems, methods, or program products. Therefore, various aspects of the present invention can be specifically implemented in the following forms: entirely hardware implementations, entirely software implementations (including firmware, microcode, etc.), or implementations combining hardware and software aspects, collectively referred to herein as “circuits,” “modules,” or “systems.”

[0081] An electronic device according to this embodiment of the invention. The electronic device is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the invention.

[0082] Electronic devices are manifested in the form of general-purpose computing devices. Components of an electronic device may include, but are not limited to: at least one processor, at least one memory, and buses connecting different system components (including memory and processor).

[0083] The memory stores program code that can be executed by a processor, causing the processor to perform the steps described in the "Exemplary Methods" section above, according to various exemplary embodiments of the present invention.

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

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

[0086] A bus can represent one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus that uses any of the various bus architectures.

[0087] The electronic device can also communicate with one or more external devices (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., routers, modems, etc.). This communication can be performed via input / output (I / O) interfaces. Furthermore, the electronic device can communicate with one or more networks (e.g., local area networks (LANs), wide area networks (WANs), and / or public networks, such as the Internet) via a network adapter. The network adapter communicates with other modules of the electronic device via a bus. It should be understood that, although not shown in the figures, other hardware and / or software modules can 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.

[0088] From the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein can be implemented by software or by combining software with necessary hardware. Therefore, the technical solutions according to the embodiments of this disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (such as a CD-ROM, USB flash drive, external hard drive, etc.) or on a network, including several instructions to cause a computing device (such as a personal computer, server, terminal device, or network device, etc.) to execute the methods according to the embodiments of this disclosure.

[0089] In exemplary embodiments of this disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the methods described above is stored. In some possible embodiments, various aspects of the present invention may also be implemented as a program product comprising program code that, when the program product is run on a terminal device, causes the terminal device to perform the steps of the various exemplary embodiments of the present invention described in the "Exemplary Methods" section above.

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

[0091] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A readable signal medium may also be any readable medium other than a readable storage medium, capable of sending, propagating, or transmitting programs for use by or in conjunction with an instruction execution system, apparatus, or device.

[0092] The program code contained on the readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical fiber, RF, etc., or any suitable combination thereof.

[0093] Program code for performing the operations of this invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, and conventional procedural programming languages ​​such as C or similar languages. The program code can execute entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0094] Furthermore, the above figures are merely illustrative of the processes included in the method according to exemplary embodiments of the present invention, and are not intended to be limiting. It is readily understood that the processes shown in the above figures do not indicate or limit the temporal order of these processes. Additionally, it is readily understood that these processes may be executed synchronously or asynchronously, for example, in multiple modules.

[0095] It should be noted that although several modules or units for the device used to perform actions have been mentioned in the detailed description above, this division is not mandatory. In fact, according to embodiments of this disclosure, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided and embodied by multiple modules or units.

[0096] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A tunnel drilling device, characterized in that, The device includes: The system includes a base, two lifting control components, and two drilling components. Two lifting control components are spaced apart on the mounting base, 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 components is the same as the lifting direction of the lifting control components. The lifting control assembly includes: a lifting transmission rack, a lifting motor, a lifting transmission gear, and an equipment mounting frame; The lifting transmission rack is fixedly connected to the mounting base, and the equipment mounting frame is slidably sleeved on the lifting transmission rack. The sliding direction of the equipment mounting frame is the same as the drilling direction of the drilling assembly. The lifting motor is fixedly mounted on the equipment mounting frame, and the lifting transmission gear is fixedly mounted on the output shaft of the lifting motor. The lifting transmission gear meshes with the lifting transmission rack. The drilling assembly is mounted on the equipment mounting frame. It also includes: a controller and a sound acquisition sensor; Both the sound acquisition sensor and the lifting motor are communicatively connected to the controller; the controller is used to perform the following steps: Based on the drilling audio information of each frame of the drilling component and the working parameters of the drilling component obtained by the sound acquisition sensor, one-dimensional recognition feature information corresponding to each frame of audio information is generated; the one-dimensional recognition feature information includes the short-time energy, zero-crossing rate, Mel frequency cepstral coefficient, drill bit type coefficient, drill bit working type coefficient and drill bit rotation speed corresponding to the current frame of drilling audio information. Based on the punched audio information of multiple adjacent historical frames corresponding to the current moment, two-dimensional recognition feature information corresponding to the current moment is generated; the two-dimensional recognition feature information includes the spectrogram of the time window corresponding to 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. The one-dimensional recognition feature information corresponding to multiple adjacent historical frames is input into the first classification model to generate a classification result for each historical frame. The classification result includes a category identifier and a confidence level. The category identifier includes: drill bit contacting concrete, drill bit partially contacting steel bar, and drill bit completely contacting steel bar. The first classification model is an MLP model. The two-dimensional recognition feature information is input into the second classification model to generate the classification result corresponding to the two-dimensional recognition feature information; the second classification model is a CNN model. If the weighted confidence mean value corresponding to the mark indicating that the drill bit is in complete contact with the rebar is the largest in the classification results, then control the lifting motor to stop the upward feed; The weighted confidence mean satisfies the following condition: ； in, Let A be the weighted confidence mean corresponding to the i-th category identifier. i A represents the number of i-th category identifiers in the classification results; sum The number of all species category identifiers in the classification results; Avg pi Let be the mean confidence level corresponding to the i-th category identifier.

2. The tunnel drilling device according to claim 1, characterized in that, The mounting base includes: a first slide rail platform and two second slide rail platforms, both of which are slidably mounted on the first slide rail platform; the sliding direction of the first slide rail platform is perpendicular to the sliding direction of the second slide rail platforms; and the two lifting transmission racks are respectively mounted on the two second slide rail platforms.

3. The tunnel drilling device according to claim 2, characterized in that, Both the first slide rail platform and the second slide rail platform 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 drilling device according to claim 2, characterized in that, The lifting transmission rack is vertically mounted on the second slide rail platform.

5. A tunnel drilling device according to claim 3, characterized in that, The mounting base includes a level, which is mounted on the sliding platform of the second slide rail platform.

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

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

8. A tunnel drilling device according to claim 1, characterized in that, The controller is also configured to perform the following steps: If the weighted confidence mean value corresponding to the drill bit contacting the rebar marking in the classification results is the largest, then control the lifting motor to reduce the upward feed speed.

9. A tunnel drilling device according to claim 1, characterized in that, The controller is also configured to perform the following steps: Before inputting the one-dimensional recognition feature information into the first classification model, the elements in the one-dimensional recognition feature information are normalized.

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